Robotics

Self-Supervised Visual Odometry via Frame Interpolation프레임 보간을 이용한 자기지도학습 기반 영상 주행기록계
https://sgvr.kaist.ac.kr/publication/%ed%94%84%eb%a0%88%ec%9e%84-%eb%b3%b4%ea%b0%84%ec%9d%84-%ec%9d%b4%ec%9a%a9%ed%95%9c-%ec%9e%90%ea%b8%b0%ec%a7%80%eb%8f%84%ed%95%99%ec%8a%b5-%ea%b8%b0%eb%b0%98-%ec%98%81%ec%83%81-%ec%a3%bc%ed%96%89/
이세빈, 임우빈, and 윤성의
한국로봇종합학술대회(KRoC), 2021
KRoC2021_SebinLee_Final_submission_version
Publication: Domestic Conference
Bias tree expansion using reinforcement learning for efficient motion planning모션계획을 위한 강화학습 기반 트리 편향 확장 기술
https://sgvr.kaist.ac.kr/publication/rlrrtstar/
윤민성, 박대형, and 윤성의
Korea Robotics Society Annual Conference (KRoC), 2021
paper presentation slide
Abstract: Motion Planning is a computational problem to find a valid and optimal path from the given start to the goal configuration. During the last few decades, sampling-based motion planning … Continue reading "모션계획을 위한 강화학습 기반 트리 편향 확장 기술"
Publication: Domestic Conference, Domestic Papers, Papers
Robust Robot Navigation against External Disturbance using Deep Reinforcement Learning외란에 강인한 심층 강화학습 기반 로봇 주행
https://sgvr.kaist.ac.kr/publication/2442/
유형열, 윤민성, 박대형, and 윤성의
한국로봇종합학술대회(KRoC), 2021
paper
Abstract: With recent advances of deep reinforcement learning (DRL) in complex robotic navigation, mobile robots have worked in diverse places. Nonetheless, as the robots operate in a wider set of … Continue reading "외란에 강인한 심층 강화학습 기반 로봇 주행"
Publication: Domestic Conference, Domestic Papers, Papers
Deep Neural Network-based Fast Motion Planning Framework for Quadrupedal Robot*
https://sgvr.kaist.ac.kr/publication/2670/
Jinhyeok Jang, Heechan Shin, Minsung Yoon, Seungwoo Hong, Hae-Won Park, and Sung-Eui Yoon
Machine Learning for Motion Planning (MLMP) @ ICRA2021, 2021
Publication: International Conference, International Papers
Optimization-based Path Planning for Person Following using Following Field
https://sgvr.kaist.ac.kr/publication/optimization-based-path-planning-for-person-following-using-following-field/
Heechan Shin and Sung-eui Yoon
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020
Publication: International Conference
TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path
https://sgvr.kaist.ac.kr/publication/torm-fast-and-accurate-trajectory-optimization-of-redundant-manipulator-given-an-end-effector-path/
Mincheul Kang, Heechan Shin, Donghyuk Kim, and Sung-Eui Yoon
TopIEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020
Source code: Github ZIP
Publication: International Conference, International Papers, Papers
Adaptive Kernel Inference for Dense and Sharp Occupancy Grids
https://sgvr.kaist.ac.kr/publication/akimap/
Youngsun Kwon, Bochang Moon, and Sung-Eui Yoon
TopIEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020
Source code: Github ZIP
Publication: International Conference, International Papers, Papers
학습 기반 상태 전이 함수를 사용한 Kinodynamic 플래닝
https://sgvr.kaist.ac.kr/publication/%ed%95%99%ec%8a%b5-%ea%b8%b0%eb%b0%98-%ec%83%81%ed%83%9c-%ec%a0%84%ec%9d%b4-%ed%95%a8%ec%88%98%eb%a5%bc-%ec%82%ac%ec%9a%a9%ed%95%9c-kinodynamic-%ed%94%8c%eb%9e%98%eb%8b%9d/
장진혁 and 윤성의
대한전자공학회(IEIE), 2020
Publication: Domestic Conference, Domestic Papers, Papers
Robust Sound Source Localization considering Similarity of Back-Propagation Signals
https://sgvr.kaist.ac.kr/publication/robust-sound-source-localization-considering-similarity-of-back-propagation-signals-2/
Inkyu An, Byeongho-Jo, Youngsun Kwon, Jung-woo Choi, and and Sung-Eui Yoon
TopIEEE Int. Conf. on Robotics and Automation (ICRA), 2020
Publication: International Conference, International Papers, Papers
Simultaneous Planning of Sampling and OptimizationStudy on Lazy Evaluation and Configuration Free Space Approximation for Optimal Motion Planning Algorithm
https://sgvr.kaist.ac.kr/publication/simultaneous-planning-of-sampling-and-optimization/
Donghyuk Kim and Sung-Eui Yoon
Autonomous Robots, 2020
Publication: International Journal, International Papers
Real-time 3-D Mapping with Estimating Acoustic Materials
https://sgvr.kaist.ac.kr/publication/real-time-3-d-mapping-with-estimating-acoustic-materials/
Taeyoung Kim, Youngsun Kwon, and Sung-eui Yoon
IEEE/SICE International Symposium on System Integration (SII), 2020
Paper arXiv
Publication: International Conference
An Objectness Score for Accurate and Fast Detection during Navigation
https://sgvr.kaist.ac.kr/publication/an-objectness-score-for-accurate-and-fast-detection-during-navigation/
Hongsun Choi, Mincheul Kang, Youngsun Kwon, and Sung-eui Yoon
The World Congress on Advances in Nano, Bio, Robotics and Energy (ANBRE), 2019
paper arXiv source code
Publication: International Conference, International Papers, Papers
Volumetric Tree*: Adaptive Sparse Graph for Effective Exploration of Homotopy Classes
https://sgvr.kaist.ac.kr/publication/volumetric-tree-adaptive-sparse-graph-for-effective-exploration-of-homotopy-classes/
Donghyuk Kim, Mincheul Kang, and Sung-Eui Yoon
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2019
Publication: International Conference, International Papers
Harmonious Sampling for Mobile Manipulation Planning
https://sgvr.kaist.ac.kr/publication/harmonious-sampling-for-mobile-manipulation-planning/
Mincheul Kang, Donghyuk Kim, and Sung-Eui Yoon
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2019
Source code: Github ZIP
Publication: International Conference, International Papers, Papers
Intrinsic Motivation Driven Intuitive Physics Learning using Deep Reinforcement Learning with Intrinsic Reward Normalization
https://sgvr.kaist.ac.kr/publication/intrinsic-motivation-driven-intuitive-physics-learning-using-deep-reinforcement-learning-with-intrinsic-reward-normalization-2/
JaeWon Choi and Sung-eui Yoon
Arxiv, 2019
Publication: International Conference, International Papers
Diffraction-Aware Sound Localization for a Non-Line-of-Sight Source
https://sgvr.kaist.ac.kr/publication/diffraction-aware-sound-localization-for-a-non-line-of-sight-source/
Inkyu An, Doheon Lee, Jung-woo Choi, Dinesh Manocha, and Sung-Eui Yoon
TopIEEE Int. Conf. on Robotics and Automation (ICRA), 2019
Publication: International Conference