3 citations · 5 across the 5 of their papers we have counts for
4 papers · 1 filter
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6
In this paper, we propose Adversarial Dynamics Priors (ADP) for perturbation-resilient humanoid locomotion control. Existing motion prior-based methods induce natural motion styles…
RAY-TOLD: Ray-Based Latent Dynamics for Dense Dynamic Obstacle Avoidance with TDMPC
Seungho Han, Seokju Lee, Jeonguk Kang
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail…
Attention-Based Neural-Augmented Kalman Filter for Legged Robot State Estimation
Seokju Lee, Kyung-Soo Kim
In this letter, we propose an Attention-Based Neural-Augmented Kalman Filter (AttenNKF) for state estimation in legged robots. Foot slip is a major source of estimation error: when…
Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator
Seokju Lee, Hyun-Bin Kim, Kyung-Soo Kim
This paper presents an algorithm to improve state estimation for legged robots. Among existing model-based state estimation methods for legged robots, the contact-aided invariant e…