15 citations · 35 across the 12 of their papers we have counts for
10 papers · 1 filter
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…
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…
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…
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang +4
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation task…
Vision and Control for Grasping Clear Plastic Bags
Joohwan Seo, Jackson Wagner, Anuj Raicura +1
We develop two novel vision methods for planning effective grasps for clear plastic bags, as well as a control method to enable a Sawyer arm with a parallel gripper to execute the…
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…