Jemin Hwangbo

収録論文 25本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• TRACE: 不確実な接触条件下での脚式ロボットのための学習型固有受容オドメトリ
  オドメトリ/脚式ロボット2026/8/6

  脚式ロボットの接触状態が不確実な状況下で、IMUと関節測定値から相対変位・回転・速度を直接推定するエンドツーエンドの学習型オドメトリ推定器を提案。足認識クロスアテンションと物理に基づく補助損失で頑健性を向上させ、シミュレーションから実機への転移も考慮している。

• TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions
  2026/8/1
• PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
  2026/7/1
• Learning Dynamic Pick-and-Place for a Legged Manipulator
  2026/5/1
• Learning Quadrupedal Locomotion for a Heavy Hydraulic Robot Using an Actuator Model
  2026/1/1
• High-speed control and navigation for quadrupedal robots on complex and discrete terrain
  2025/6/1
• Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
  2025/5/1
• Learning Rapid Turning, Aerial Reorientation, and Balancing using Manipulator as a Tail
  2024/7/1
• Learning Semantic Traversability with Egocentric Video and Automated Annotation Strategy
  2024/6/1
• Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network
  2024/2/1
• Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
  2023/11/1
• ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation
  2023/9/1
• Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains
  2023/9/1
• Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
  2023/8/1
• Learning Whole-body Manipulation for Quadrupedal Robot
  2023/8/1
• Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
  2022/5/1
• Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation
  2022/4/1
• Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
  2022/2/1
• Learning robust perceptive locomotion for quadrupedal robots in the wild
  2022/1/1
• D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactions
  2021/12/1
• Learning Quadrupedal Locomotion over Challenging Terrain
  2020/10/1
• Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning
  2019/1/1
• Learning agile and dynamic motor skills for legged robots
  2019/1/1
• Cable-Driven Actuation for Highly Dynamic Robotic Systems
  2018/6/1
• Control of a Quadrotor with Reinforcement Learning
  2017/7/1