33 citations · 63 across the 6 of their papers we have counts for
8 papers
Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators
Minsung Yoon, Mincheul Kang, Daehyung Park +1
Trajectory optimization (TO) is an efficient tool to generate a redundant manipulator's joint trajectory following a 6-dimensional Cartesian path. The optimization performance larg…
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…
GraphDistNet: A Graph-based Collision-distance Estimator for Gradient-based Trajectory Optimization
Yeseung Kim, Jinwoo Kim, Daehyung Park
Trajectory optimization (TO) aims to find a sequence of valid states while minimizing costs. However, its fine validation process is often costly due to computationally expensive c…
Reactive Task and Motion Planning under Temporal Logic Specifications
Shen Li, Daehyung Park, Yoonchang Sung +2
We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan a…
Active Robot-Assisted Feeding with a General-Purpose Mobile Manipulator: Design, Evaluation, and Lessons Learned
Daehyung Park, Yuuna Hoshi, Harshal P. Mahajan +4
Eating is an essential activity of daily living (ADL) for staying healthy and living at home independently. Although numerous assistive devices have been introduced, many people wi…
3D Human Pose Estimation on a Configurable Bed from a Pressure Image
Henry M. Clever, Ariel Kapusta, Daehyung Park +3
Robots have the potential to assist people in bed, such as in healthcare settings, yet bedding materials like sheets and blankets can make observation of the human body difficult f…
A Multimodal Anomaly Detector for Robot-Assisted Feeding Using an LSTM-based Variational Autoencoder
Daehyung Park, Yuuna Hoshi, Charles C. Kemp
The detection of anomalous executions is valuable for reducing potential hazards in assistive manipulation. Multimodal sensory signals can be helpful for detecting a wide range of…
Towards Assistive Feeding with a General-Purpose Mobile Manipulator
Daehyung Park, You Keun Kim, Zackory M. Erickson +1
General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of bei…