4 papers
Natural Functional Gradients for Smooth Trajectory Optimization
Kisang Park, Chanwoo Kim, Kyungjae Lee +1
Generating collision-free and smooth motions remains a central challenge in robotic manipulation, particularly in cluttered environments and narrow passages where feasible regions…
LEGO: Latent-space Exploration for Geometry-aware Optimization of Humanoid Kinematic Design
Jihwan Yoon, Taemoon Jeong, Jeongeun Park +5
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path to…
Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications
Chanwoo Kim, Jihwan Yoon, Hyeonseong Kim +9
Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that in…
Learning-based Dynamic Robot-to-Human Handover
Hyeonseong Kim, Chanwoo Kim, Matthew Pan +2
This paper presents a novel learning-based approach to dynamic robot-to-human handover, addressing the challenges of delivering objects to a moving receiver. We hypothesize that dy…