3 papers
cs.RO2026
Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera
Seoyoon Kim, Kanghyun Kim, Dongwoo Ko +2
Recent visual imitation learning systems have widely adopted multi-camera setups with wrist-mounted cameras as the de facto standard. However, manipulation from a single global vie…
cs.RO2024
SPLIT: SE(3)-diffusion via Local Geometry-based Score Prediction for 3D Scene-to-Pose-Set Matching Problems
Kanghyun Kim, Min Jun Kim
To enable versatile robot manipulation, robots must detect task-relevant poses for different purposes from raw scenes. Currently, many perception algorithms are designed for specif…
cs.RO2023
A Reachability Tree-Based Algorithm for Robot Task and Motion Planning
Kanghyun Kim, Daehyung Park, Min Jun Kim
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and…