15 citations · 35 across the 12 of their papers we have counts for
4 papers · 1 filter
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…