15 citations · 21 across the 14 of their papers we have counts for
16 papers
CoHuB: A Simulation Benchmark for Multi-Humanoid Collaboration
Hyunjin Park, Jebeom Chae, Minwoo Park +11
Many physical tasks in human environments require collaboration, from assisting a partner to jointly manipulating an object. Yet, existing humanoid benchmarks largely focus on sing…
Collision Snapshot Guided Time-Reversed Safety-Critical Scenario Generation
Taehyung Kim, Jongeun Choi
The generation of safety-critical traffic scenarios is essential for training and evaluating autonomous vehicles. Prior approaches typically perturb the trajectories of existing ag…
To Go Far, Go Together: Diverse Preferences Induce a Curriculum for Reward Optimization
Taehyung Kim, Jongeun Choi
Learning a reward model from human feedback and optimizing a policy against it is one approach to aligning AI systems with individual users. From a fairness perspective, existing w…
Deployable Human Preference Alignment in Robotics: Learning Representative Rewards from Diverse Human Preferences
Taehyung Kim, Gwangmo Lee, Minjun Chang +2
Aligning robot policies with human preferences is essential for deployment to diverse end users. In per-user alignment approach, preference feedback is often sparse, so learning be…
Group-Invariant Unsupervised Skill Discovery: Symmetry-aware Skill Representations for Generalizable Behavior
Junwoo Chang, Joseph Park, Roberto Horowitz +2
Unsupervised skill discovery aims to acquire behavior primitives that improve exploration and accelerate downstream task learning. However, existing approaches often ignore the geo…
Symmetry-Aware Steering of Equivariant Diffusion Policies: Benefits and Limits
Minwoo Park, Junwoo Chang, Jongeun Choi +1
Equivariant diffusion policies (EDPs) combine the generative expressivity of diffusion models with the strong generalization and sample efficiency afforded by geometric symmetries.…
Multi-Robot Motion Planning from Vision and Language using Heat-Inspired Diffusion
Jebeom Chae, Junwoo Chang, Seungho Yeom +2
Diffusion models have recently emerged as powerful tools for robot motion planning by capturing the multi-modal distribution of feasible trajectories. However, their extension to m…
Partially Equivariant Reinforcement Learning in Symmetry-Breaking Environments
Junwoo Chang, Minwoo Park, Joohwan Seo +3
Group symmetries provide a powerful inductive bias for reinforcement learning (RL), enabling efficient generalization across symmetric states and actions via group-invariant Markov…
EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks
Joohwan Seo, Arvind Kruthiventy, Soomi Lee +5
This paper presents a framework for learning vision-based robotic policies for contact-rich manipulation tasks that generalize spatially across task configurations. We focus on ach…
SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey
Joohwan Seo, Soochul Yoo, Junwoo Chang +6
Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-ba…
Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators
Joohwan Seo, Nikhil Potu Surya Prakash, Soomi Lee +4
In this paper, we present an impedance control framework on the SE(3) manifold, which enables force tracking while guaranteeing passivity. Building upon the unified force-impedance…
A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Jongeun Choi +1
In this paper, a comparison analysis between geometric impedance controls (GICs) derived from two different potential functions on SE(3) for robotic manipulators is presented. The…
Clustering Techniques for Stable Linear Dynamical Systems with applications to Hard Disk Drives
Nikhil Potu Surya Prakash, Joohwan Seo, Jongeun Choi +1
In Robust Control and Data Driven Robust Control design methodologies, multiple plant transfer functions or a family of transfer functions are considered and a common controller is…
Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning
Junwoo Chang, Hyunwoo Ryu, Jiwoo Kim +5
Diffusion models have risen as a powerful tool in robotics due to their flexibility and multi-modality. While some of these methods effectively address complex problems, they often…
Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation
Hyunwoo Ryu, Jiwoo Kim, Hyunseok An +7
Diffusion generative modeling has become a promising approach for learning robotic manipulation tasks from stochastic human demonstrations. In this paper, we present Diffusion-EDFs…
Geometric Impedance Control on SE(3) for Robotic Manipulators
Joohwan Seo, Nikhil Potu Surya Prakash, Alexander Rose +2
After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While imp…