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cs.RO2026
TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
Dongwon Son, Florian Shkurti, Jason Lee +3
A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robo…
cs.RO2025
NeuralSVCD for Efficient Swept Volume Collision Detection
Dongwon Son, Hojin Jung, Beomjoon Kim
Robot manipulation in unstructured environments requires efficient and reliable Swept Volume Collision Detection (SVCD) for safe motion planning. Traditional discrete methods poten…
cs.RO2024
DEF-oriCORN: efficient 3D scene understanding for robust language-directed manipulation without demonstrations
Dongwon Son, Sanghyeon Son, Jaehyung Kim +1
We present DEF-oriCORN, a framework for language-directed manipulation tasks. By leveraging a novel object-based scene representation and diffusion-model-based state estimation alg…