Sangbae Kim
収録論文 33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
- WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $LDL^\top$ Factorization2026/7/1
- Learning Reactive Dexterous Grasping via Hierarchical Task-Space RL Planning and Joint-Space QP Control2026/5/1
- Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers2026/4/1
- System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot2026/2/1
- Residual MPC: Blending Reinforcement Learning with GPU-Parallelized Model Predictive Control2025/10/1
- High-Bandwidth Tactile-Reactive Control for Grasp Adjustment2025/9/1
- Hierarchical Reactive Grasping via Task-Space Velocity Fields and Joint-Space Quadratic Programming2025/9/1
- Learning Humanoid Arm Motion via Centroidal Momentum Regularized Multi-Agent Reinforcement Learning2025/7/1
- High Speed Robotic Table Tennis Swinging Using Lightweight Hardware with Model Predictive Control2025/5/1
- URDF+: An Enhanced URDF for Robots with Kinematic Loops2024/11/1
- CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control2024/8/1
- Probabilistic Homotopy Optimization for Dynamic Motion Planning2024/8/1
- Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion2024/8/1
- Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots2024/7/1
- Learning Quadruped Locomotion Using Differentiable Simulation2024/3/1
- FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning2024/2/1
- Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback2024/2/1
- A Propagation Perspective on Recursive Forward Dynamics for Systems with Kinematic Loops2023/11/1
- How to Model Brushless Electric Motors for the Design of Lightweight Robotic Systems2023/10/1
- Benchmarking Potential Based Rewards for Learning Humanoid Locomotion2023/7/1
- Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control2023/5/1
- Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation2022/9/1
- Design of a Multimodal Fingertip Sensor for Dynamic Manipulation2022/9/1
- Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform2022/8/1
- Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions2022/7/1
- Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking2022/5/1
- Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping2021/11/1
- Learning to Jump from Pixels2021/10/1
- Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot2021/10/1
- Real-time Optimal Landing Control of the MIT Mini Cheetah2021/10/1
- The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors2021/4/1
- Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control2019/9/1
- Linear Matrix Inequalities for Physically-Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution2017/1/1