15 citations · 35 across the 12 of their papers we have counts for
6 papers · 1 filter
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…
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…
Data-Driven Track Following Control for Dual Stage-Actuator Hard Disk Drives
Nikhil Potu Surya Prakash, Joohwan Seo, Alexander Rose +1
In this paper, we present a frequency domain data-driven feedback control design methodology for the design of tracking controllers for hard disk drives with two-stage actuator as…