4 papers
SAFER-Nav: Enhancing Safety for Visual Robot Navigation via Segmentation-Aware Fine-Tuning
Geonyeong Ko, Giung Lee, Changjoo Nam
Vision-based navigation models, particularly foundation models, generate viable trajectories from RGB observations alone. However, even state-of-the-art transformer- and diffusion-…
A Hierarchical Bin Packing Framework with Dual Manipulators via Heuristic Search and Deep Reinforcement Learning
Beomjoon Lee, Changjoo Nam
We address the bin packing problem (BPP), which aims to maximize bin utilization when packing a variety of items. The offline problem, where the complete information about the item…
Repulsive Trajectory Modification and Conflict Resolution for Efficient Multi-Manipulator Motion Planning
Junhwa Hong, Beomjoon Lee, Woojin Lee +1
We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant…
Understanding Physical Properties of Unseen Deformable Objects by Leveraging Large Language Models and Robot Actions
Changmin Park, Beomjoon Lee, Haechan Jung +2
In this paper, we consider the problem of understanding the physical properties of unseen objects through interactions between the objects and a robot. Handling unseen objects with…