Sehoon Ha

153 papers A* 23A 15B 1Misc 4Journal 97Unranked 12
YearRankTypeTitle / Venue / Authors
2026 J jnl
AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation.
CoRR
Morgan Byrd, Donghoon Baek, Kartik Garg, Hyunyoung Jung, Daesol Cho, Maks Sorokin, Robert Wright, Sehoon Ha
2026 — conf
Designing a Robotic Guide Dog for Trustworthy Human-Robot Coexistence.
HRI Companion
Joanne Taery Kim, Sehoon Ha
2026 J jnl
EMMA: Scaling Mobile Manipulation via Egocentric Human Data.
IEEE Robotics Autom. Lett.
Lawrence Y. Zhu, Pranav Kuppili, Ryan Punamiya, Patcharapong Aphiwetsa, Dhruv Patel, Simar Kareer, Sehoon Ha, Danfei Xu
2026 J jnl
EgoAVFlow: Robot Policy Learning with Active Vision from Human Egocentric Videos via 3D Flow.
CoRR
Daesol Cho, Youngseok Jang, Danfei Xu, Sehoon Ha
2026 J jnl
Flip Stunts on Bicycle Robots using Iterative Motion Imitation.
CoRR
Jeonghwan Kim, Shamel Fahmi, Seungeun Rho, Sehoon Ha, Gabriel Nelson
2026 A* conf
MotionSmith: A Sketch-Based Design System for Automata Making.
CHI
DoangJoo Synn, Zhifan Guo, Sehoon Ha, HyunJoo Oh
2026 J jnl
Partial Motion Imitation for Learning Cart Pushing with Legged Manipulators.
CoRR
Mili Das, Morgan Byrd, Donghoon Baek, Sehoon Ha
2026 J jnl
RobotDesignGPT: Automated Robot Design Synthesis using Vision Language Models.
CoRR
Nitish Sontakke, K. Niranjan Kumar, Sehoon Ha
2025 J jnl
A Design Co-Pilot for Task-Tailored Manipulators.
CoRR
Jonathan Külz, Sehoon Ha, Matthias Althoff
2025 J jnl
Deep Reinforcement Learning for Multi-Agent Coordination.
CoRR
Kehinde O. Aina, Sehoon Ha
2025 A* conf
Do Looks Matter? Exploring Functional and Aesthetic Design Preferences for a Robotic Guide Dog.
ICRA
Aviv L. Cohav, A. Xinran Gong, Joanne Taery Kim, Clint Zeagler, Sehoon Ha, Bruce N. Walker
2025 J jnl
Do Looks Matter? Exploring Functional and Aesthetic Design Preferences for a Robotic Guide Dog.
CoRR
Aviv L. Cohav, A. Xinran Gong, Joanne Taery Kim, Clint Zeagler, Sehoon Ha, Bruce N. Walker
2025 J jnl
Dynamic Policy Learning for Legged Robot with Simplified Model Pretraining and Model Homotopy Transfer.
CoRR
Dongyun Kang, Min-Gyu Kim, Tae-Gyu Song, Hajun Kim, Sehoon Ha, Hae-Won Park
2025 J jnl
EMMA: Scaling Mobile Manipulation via Egocentric Human Data.
CoRR
Lawrence Y. Zhu, Pranav Kuppili, Ryan Punamiya, Patcharapong Aphiwetsa, Dhruv Patel, Simar Kareer, Sehoon Ha, Danfei Xu
2025 J jnl
FiLM-Nav: Efficient and Generalizable Navigation via VLM Fine-tuning.
CoRR
Naoki Yokoyama, Sehoon Ha
2025 A* conf
Language Guided Skill Discovery.
ICLR
Seungeun Rho, Laura Smith, Tianyu Li, Sergey Levine, Xue Bin Peng, Sehoon Ha
2025 J jnl
Learning Physical Interaction Skills from Human Demonstrations.
CoRR
Tianyu Li, Hengbo Ma, Sehoon Ha, Kwonjoon Lee
2025 A* conf
Learning a High-Quality Robotic Wiping Policy Using Systematic Reward Analysis and Visual-Language Model Based Curriculum.
ICRA
Yihong Liu, Dongyeop Kang, Sehoon Ha
2025 J jnl
Learning a High-quality Robotic Wiping Policy Using Systematic Reward Analysis and Visual-Language Model Based Curriculum.
CoRR
Yihong Liu, Dongyeop Kang, Sehoon Ha
2025 J jnl
Learning-based legged locomotion: State of the art and future perspectives.
Int. J. Robotics Res.
Sehoon Ha, Joonho Lee, Michiel van de Panne, Zhaoming Xie, Wenhao Yu, Majid Khadiv
2025 J jnl
MoReFlow: Motion Retargeting Learning through Unsupervised Flow Matching.
CoRR
Wontaek Kim, Tianyu Li, Sehoon Ha
2025 J jnl
Opt2Skill: Imitating Dynamically-Feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation.
IEEE Robotics Autom. Lett.
Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, Hyunyoung Jung, Jaehwi Jang, Shijie Zhao, Sehoon Ha, Yue Chen, Danfei Xu, Ye Zhao
2025 J jnl
PPF: Pre-Training and Preservative Fine-Tuning of Humanoid Locomotion via Model-Assumption-Based Regularization.
IEEE Robotics Autom. Lett.
Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao, Hae-Won Park, Sehoon Ha
2025 J jnl
PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization.
CoRR
Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao, Hae-Won Park, Sehoon Ha
2025 J jnl
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms.
ACM Trans. Hum. Robot Interact.
Anthony G. Francis, Claudia Pérez-D'Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, Rachid Alami, Aniket Bera, Abhijat Biswas, Joydeep Biswas, Rohan Chandra, Hao-Tien Lewis Chiang, Michael Everett, Sehoon Ha, Justin W. Hart, Jonathan P. How, Haresh Karnan, Tsang-Wei Edward Lee, Luis J. Manso, Reuth Mirsky, Sören Pirk, Phani-Teja Singamaneni, Peter Stone, Ada V. Taylor, Peter Trautman, Nathan Tsoi, Marynel Vázquez, Xuesu Xiao, Peng Xu, Naoki Yokoyama, Alexander Toshev, Roberto Martín-Martín
2025 A* conf
Privileged-Dreamer: Explicit Imagination of Privileged Information for Rapid Adaptation of Learned Policies.
ICRA
Morgan Byrd, Jack L. Crandell, Mili Das, Jessica Inman, Robert Wright, Sehoon Ha
2025 J jnl
PrivilegedDreamer: Explicit Imagination of Privileged Information for Rapid Adaptation of Learned Policies.
CoRR
Morgan Byrd, Jack L. Crandell, Mili Das, Jessica Inman, Robert Wright, Sehoon Ha
2025 J jnl
Reference Grounded Skill Discovery.
CoRR
Seungeun Rho, Aaron Trinh, Danfei Xu, Sehoon Ha
2025 J jnl
RobotMover: Learning to Move Large Objects by Imitating the Dynamic Chain.
CoRR
Tianyu Li, Joanne Truong, Jimmy Yang, Alexander Clegg, Akshara Rai, Sehoon Ha, Xavier Puig
2025 J jnl
Switch-JustDance: Benchmarking Whole Body Motion Tracking Policies Using a Commercial Console Game.
CoRR
Jeonghwan Kim, Wontaek Kim, Yidan Lu, Jin Cheng, Fatemeh Zargarbashi, Zicheng Zeng, Zekun Qi, Zhiyang Dou, Nitish Sontakke, Donghoon Baek, Sehoon Ha, Tianyu Li
2025 J jnl
Switch4EAI: Leveraging Console Game Platform for Benchmarking Robotic Athletics.
CoRR
Tianyu Li, Jeonghwan Kim, Wontaek Kim, Donghoon Baek, Seungeun Rho, Sehoon Ha
2025 — conf
TGN-PL: Learning to Socialize Using Privileged Information and Temporal Graph Networks.
ICMI Companion
Jouh Yeong Chew, Joanne Taery Kim, Sehoon Ha
2025 J jnl
Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots.
CoRR
Juntao He, Baxi Chong, Massimiliano Iaschi, Vincent R. Nienhusser, Sehoon Ha, Daniel I. Goldman
2025 A* conf
Understanding Expectations for a Robotic Guide Dog for Visually Impaired People.
HRI
Joanne Taery Kim, Morgan Byrd, Jack L. Crandell, Bruce N. Walker, Greg Turk, Sehoon Ha
2025 J jnl
Understanding Expectations for a Robotic Guide Dog for Visually Impaired People.
CoRR
Joanne Taery Kim, Morgan Byrd, Jack L. Crandell, Bruce N. Walker, Greg Turk, Sehoon Ha
2025 J jnl
Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion.
CoRR
Seungeun Rho, Kartik Garg, Morgan Byrd, Sehoon Ha
2024 A* conf
AAMDM: Accelerated Auto-Regressive Motion Diffusion Model.
CVPR
Tianyu Li, Calvin Qiao, Guanqiao Ren, KangKang Yin, Sehoon Ha
2024 J jnl
AAMDM: Accelerated Auto-regressive Motion Diffusion Model.
CoRR
Tianyu Li, Calvin Qiao, Guanqiao Ren, KangKang Yin, Sehoon Ha
2024 J jnl
ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation.
IEEE Robotics Autom. Lett.
Naoki Yokoyama, Alexander Clegg, Joanne Truong, Eric Undersander, Tsung-Yen Yang, Sergio Arnaud, Sehoon Ha, Dhruv Batra, Akshara Rai
2024 A conf
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning.
IROS
Tianle Huang, Nitish Sontakke, K. Niranjan Kumar, Irfan Essa, Stefanos Nikolaidis, Dennis W. Hong, Sehoon Ha
2024 A conf
Co-designing Robot Dogs with and for Neurodivergent Individuals: Opportunities and Challenges.
ASSETS
Ha Kyung Kong, Derek Xie, Ankith Chandra, Rachel Lowy, Arielle F. Maignan, Sehoon Ha, Chung Hyuk Park, Jennifer G. Kim
2024 A* conf
CrossLoco: Human Motion Driven Control of Legged Robots via Guided Unsupervised Reinforcement Learning.
ICLR
Tianyu Li, Hyunyoung Jung, Matthew C. Gombolay, Yong Kwon Cho, Sehoon Ha
2024 — conf
Emotion-Behavior Interplay in Human Animal-Robot Interaction (HARI).
HRI (Companion)
Arielle Maignan, Derek Xie, Sehoon Ha, Jennifer G. Kim, Chung Hyuk Park
2024 A conf
HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigation.
IROS
Naoki Yokoyama, Ram Ramrakhya, Abhishek Das, Dhruv Batra, Sehoon Ha
2024 J jnl
HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigation.
CoRR
Naoki Yokoyama, Ram Ramrakhya, Abhishek Das, Dhruv Batra, Sehoon Ha
2024 J jnl
Language Guided Skill Discovery.
CoRR
Seungeun Rho, Laura Smith, Tianyu Li, Sergey Levine, Xue Bin Peng, Sehoon Ha
2024 J jnl
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller.
CoRR
Jeonghwan Kim, Yunhai Han, Harish Ravichandar, Sehoon Ha
2024 A* conf
Learning manipulation of steep granular slopes for fast Mini Rover turning.
ICRA
Deniz Kerimoglu, Daniel Soto, Malone Lincoln Hemsley, Joseph Brunner, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman
2024 J jnl
Learning to enhance multi-legged robot on rugged landscapes.
CoRR
Juntao He, Baxi Chong, Zhaochen Xu, Sehoon Ha, Daniel I. Goldman
2024 J jnl
Learning-based legged locomotion; state of the art and future perspectives.
CoRR
Sehoon Ha, Joonho Lee, Michiel van de Panne, Zhaoming Xie, Wenhao Yu, Majid Khadiv
2024 B conf
Modeling social interaction dynamics using temporal graph networks.
RO-MAN
Joanne Taery Kim, Archit Naik, Isuru Jayarathne, Sehoon Ha, Jouh Yeong Chew
2024 J jnl
Modeling social interaction dynamics using temporal graph networks.
CoRR
Joanne Taery Kim, Archit Naik, Isuru Jayarathne, Sehoon Ha, Jouh Yeong Chew
2024 J jnl
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation.
CoRR
Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, Shijie Zhao, Hyunyoung Jung, Sehoon Ha, Yue Chen, Danfei Xu, Ye Zhao
2024 A* conf
VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation.
ICRA
Naoki Yokoyama, Sehoon Ha, Dhruv Batra, Jiuguang Wang, Bernadette Bucher
2023 A* conf
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters.
SIGGRAPH Asia
Tianyu Li, Jungdam Won, Alexander Clegg, Jeonghwan Kim, Akshara Rai, Sehoon Ha
2023 J jnl
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters.
CoRR
Tianyu Li, Jungdam Won, Alexander Clegg, Jeonghwan Kim, Akshara Rai, Sehoon Ha
2023 A conf
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments.
IROS
Jeonghwan Kim, Tianyu Li, Sehoon Ha
2023 J jnl
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments.
CoRR
Jeonghwan Kim, Tianyu Li, Sehoon Ha
2023 J jnl
Adaptive Skill Coordination for Robotic Mobile Manipulation.
CoRR
Naoki Yokoyama, Alexander William Clegg, Eric Undersander, Sehoon Ha, Dhruv Batra, Akshara Rai
2023 J jnl
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning.
CoRR
Tianle Huang, Nitish Sontakke, K. Niranjan Kumar, Irfan Essa, Stefanos Nikolaidis, Dennis W. Hong, Sehoon Ha
2023 J jnl
Cascaded Compositional Residual Learning for Complex Interactive Behaviors.
IEEE Robotics Autom. Lett.
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
2023 J jnl
CrossLoco: Human Motion Driven Control of Legged Robots via Guided Unsupervised Reinforcement Learning.
CoRR
Tianyu Li, Hyunyoung Jung, Matthew C. Gombolay, Yong Kwon Cho, Sehoon Ha
2023 J jnl
FastMimic: Model-Based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion.
Robotics
Tianyu Li, Jungdam Won, Jeongwoo Cho, Sehoon Ha, Akshara Rai
2023 — conf
How to Train Your Guide Dog: Wayfinding and Safe Navigation with Human-Robot Modeling.
HRI (Companion)
Joanne Taery Kim, Wenhao Yu, Jie Tan, Greg Turk, Sehoon Ha
2023 J jnl
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion.
CoRR
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo, Hae-Won Park, Sehoon Ha
2023 J jnl
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion.
IEEE Robotics Autom. Lett.
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo, Hae-Won Park, Sehoon Ha
2023 A conf
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot Using Scalable Motion Imitation.
IROS
Arnaud Klipfel, Nitish Sontakke, Ren Liu, Sehoon Ha
2023 J jnl
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation.
CoRR
Arnaud Klipfel, Nitish Sontakke, Ren Liu, Sehoon Ha
2023 — conf
Learning and Adapting Agile Locomotion Skills by Transferring Experience.
Robotics: Science and Systems
Laura Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
2023 J jnl
Learning and Adapting Agile Locomotion Skills by Transferring Experience.
CoRR
Laura Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
2023 J jnl
Learning manipulation of steep granular slopes for fast Mini Rover turning.
CoRR
Deniz Kerimoglu, Daniel Soto, Malone Lincoln Hemsley, Joseph Brunner, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman
2023 J jnl
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum.
Comput. Graph. Forum
Yunbo Zhang, Alexander Clegg, Sehoon Ha, Greg Turk, Yuting Ye
2023 J jnl
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum.
CoRR
Yunbo Zhang, Alexander Clegg, Sehoon Ha, Greg Turk, Yuting Ye
2023 A conf
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning.
IROS
Maks Sorokin, Chuyuan Fu, Jie Tan, C. Karen Liu, Yunfei Bai, Wenlong Lu, Sehoon Ha, Mohi Khansari
2023 J jnl
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning.
CoRR
Maks Sorokin, Chuyuan Fu, Jie Tan, C. Karen Liu, Yunfei Bai, Wenlong Lu, Sehoon Ha, Mohi Khansari
2023 J jnl
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms.
CoRR
Anthony G. Francis, Claudia Pérez-D'Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, Rachid Alami, Aniket Bera, Abhijat Biswas, Joydeep Biswas, Rohan Chandra, Hao-Tien Lewis Chiang, Michael Everett, Sehoon Ha, Justin W. Hart, Jonathan P. How, Haresh Karnan, Tsang-Wei Edward Lee, Luis J. Manso, Reuth Mirsky, Sören Pirk, Phani-Teja Singamaneni, Peter Stone, Ada V. Taylor, Peter Trautman, Nathan Tsoi, Marynel Vázquez, Xuesu Xiao, Peng Xu, Naoki Yokoyama, Alexander Toshev, Roberto Martin Martin
2023 A conf
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots.
IROS
Nitish Sontakke, Hosik Chae, Sangjoon Lee, Tianle Huang, Dennis W. Hong, Sehoon Ha
2023 J jnl
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots.
CoRR
Nitish Sontakke, Hosik Chae, Sangjoon Lee, Tianle Huang, Dennis W. Hong, Sehoon Ha
2023 Misc conf
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism.
CoRL
Joanne Taery Kim, Wenhao Yu, Yash Kothari, Bruce N. Walker, Jie Tan, Greg Turk, Sehoon Ha
2023 J jnl
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism.
CoRR
Joanne Taery Kim, Wenhao Yu, Yash Kothari, Jie Tan, Greg Turk, Sehoon Ha
2023 J jnl
User preference optimization for control of ankle exoskeletons using sample efficient active learning.
Sci. Robotics
Ung Hee Lee, Varun S. Shetty, Patrick W. Franks, Jie Tan, Georgios Evangelopoulos, Sehoon Ha, Elliott J. Rouse
2023 J jnl
VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation.
CoRR
Naoki Yokoyama, Sehoon Ha, Dhruv Batra, Jiuguang Wang, Bernadette Bucher
2023 A* conf
ViNL: Visual Navigation and Locomotion Over Obstacles.
ICRA
Simar Kareer, Naoki Yokoyama, Dhruv Batra, Sehoon Ha, Joanne Truong
2023 J jnl
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement.
CoRR
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
2022 A conf
Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge.
IROS
Naoki Yokoyama, Qian Luo, Dhruv Batra, Sehoon Ha
2022 J jnl
Cascaded Compositional Residual Learning for Complex Interactive Behaviors.
CoRR
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
2022 A* conf
Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning.
ICRA
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
2022 — conf
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning.
Robotics: Science and Systems
Sunwoo Kim, Maks Sorokin, Jehee Lee, Sehoon Ha
2022 J jnl
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning.
CoRR
Sunwoo Kim, Maks Sorokin, Jehee Lee, Sehoon Ha
2022 — conf
HumanConQuad: Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning.
SIGGRAPH ASIA Emerging Technologies
Sunwoo Kim, Maks Sorokin, Jehee Lee, Sehoon Ha
2022 A* conf
Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning.
ICRA
Hao-Lun Hsu, Qiuhua Huang, Sehoon Ha
2022 J jnl
Learning to Navigate Sidewalks in Outdoor Environments.
IEEE Robotics Autom. Lett.
Maks Sorokin, Jie Tan, C. Karen Liu, Sehoon Ha
2022 A* conf
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World.
ICRA
Laura Smith, J. Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
2022 A conf
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion.
IROS
Ren Liu, Nitish Sontakke, Sehoon Ha
2022 J jnl
Real-Time Remodeling of Granular Terrain for Robot Locomotion.
Adv. Intell. Syst.
Andras Karsai, Deniz Kerimoglu, Daniel Soto, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman
2022 A conf
Safe Reinforcement Learning for Legged Locomotion.
IROS
Tsung-Yen Yang, Tingnan Zhang, Linda Luu, Sehoon Ha, Jie Tan, Wenhao Yu
2022 J jnl
Safe Reinforcement Learning for Legged Locomotion.
CoRR
Tsung-Yen Yang, Tingnan Zhang, Linda Luu, Sehoon Ha, Jie Tan, Wenhao Yu
2022 J jnl
Unified State Representation Learning under Data Augmentation.
CoRR
Taylor Hearn, Sravan Jayanthi, Sehoon Ha
2022 J jnl
ViNL: Visual Navigation and Locomotion Over Obstacles.
CoRR
Simar Kareer, Naoki Yokoyama, Dhruv Batra, Sehoon Ha, Joanne Truong
2021 A* conf
A Few Shot Adaptation of Visual Navigation Skills to New Observations using Meta-Learning.
ICRA
Qian Luo, Maks Sorokin, Sehoon Ha
2021 — conf
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments.
Robotics: Science and Systems
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
2021 J jnl
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments.
CoRR
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
2021 J jnl
Finite State Machine Policies Modulating Trajectory Generator.
CoRR
Ren Liu, Nitish Sontakke, Sehoon Ha
2021 J jnl
Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning.
CoRR
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
2021 J jnl
Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning.
CoRR
Hao-Lun Hsu, Qiuhua Huang, Sehoon Ha
2021 J jnl
Learning Human Search Behavior from Egocentric Visual Inputs.
Comput. Graph. Forum
Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu
2021 J jnl
Learning Robot Structure and Motion Embeddings using Graph Neural Networks.
CoRR
Joanne Taery Kim, Jeongeun Park, Sungjoon Choi, Sehoon Ha
2021 J jnl
Learning Robust Agents for Visual Navigation in Dynamic Environments: The Winning Entry of iGibson Challenge 2021.
CoRR
Naoki Yokoyama, Qian Luo, Dhruv Batra, Sehoon Ha
2021 J jnl
Learning to Navigate Sidewalks in Outdoor Environments.
CoRR
Maks Sorokin, Jie Tan, C. Karen Liu, Sehoon Ha
2021 J jnl
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World.
CoRR
Laura Smith, J. Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
2021 J jnl
Model-based Motion Imitation for Agile, Diverse and Generalizable Quadupedal Locomotion.
CoRR
Tianyu Li, Jungdam Won, Sehoon Ha, Akshara Rai
2021 A* conf
Observation Space Matters: Benchmark and Optimization Algorithm.
ICRA
Joanne Taery Kim, Sehoon Ha
2021 A* conf
PODS: Policy Optimization via Differentiable Simulation.
ICML
Miguel Zamora, Momchil Peychev, Sehoon Ha, Martin T. Vechev, Stelian Coros
2021 J jnl
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning.
CoRR
Nitish Sontakke, Sehoon Ha
2021 A conf
Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation.
IROS
Naoki Yokoyama, Sehoon Ha, Dhruv Batra
2021 J jnl
Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation.
CoRR
Naoki Yokoyama, Sehoon Ha, Dhruv Batra
2021 Misc conf
Visual-Locomotion: Learning to Walk on Complex Terrains with Vision.
CoRL
Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, Tingnan Zhang
2020 J jnl
A Few Shot Adaptation of Visual Navigation Skills to New Observations using Meta-Learning.
CoRR
Qian Luo, Maks Sorokin, Sehoon Ha
2020 J jnl
Learning Fast Adaptation With Meta Strategy Optimization.
IEEE Robotics Autom. Lett.
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, Sehoon Ha
2020 J jnl
Learning Human Search Behavior from Egocentric Visual Inputs.
CoRR
Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu
2020 A* conf
Learning a Control Policy for Fall Prevention on an Assistive Walking Device.
ICRA
Visak C. V. Kumar, Sehoon Ha, Gregory S. Sawicki, C. Karen Liu
2020 Misc conf
Learning to Walk in the Real World with Minimal Human Effort.
CoRL
Sehoon Ha, Peng Xu, Zhenyu Tan, Sergey Levine, Jie Tan
2020 J jnl
Learning to Walk in the Real World with Minimal Human Effort.
CoRR
Sehoon Ha, Peng Xu, Zhenyu Tan, Sergey Levine, Jie Tan
2020 J jnl
Learning to be Safe: Deep RL with a Safety Critic.
CoRR
Krishnan Srinivasan, Benjamin Eysenbach, Sehoon Ha, Jie Tan, Chelsea Finn
2020 J jnl
Observation Space Matters: Benchmark and Optimization Algorithm.
CoRR
Joanne Taery Kim, Sehoon Ha
2020 J jnl
Quadrupedal robots trot into the wild.
Sci. Robotics
Sehoon Ha
2020 A* conf
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation.
ICRA
Xinlei Pan, Tingnan Zhang, Brian Ichter, Aleksandra Faust, Jie Tan, Sehoon Ha
2019 J jnl
Learning Fast Adaptation with Meta Strategy Optimization.
CoRR
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, Sehoon Ha
2019 J jnl
Learning a Control Policy for Fall Prevention on an Assistive Walking Device.
CoRR
Visak C. V. Kumar, Sehoon Ha, Gregory S. Sawicki, C. Karen Liu
2019 — conf
Learning to Walk Via Deep Reinforcement Learning.
Robotics: Science and Systems
Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker, Sergey Levine
2019 J jnl
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation.
CoRR
Xinlei Pan, Tingnan Zhang, Brian Ichter, Aleksandra Faust, Jie Tan, Sehoon Ha
2018 — conf
Automated Deep Reinforcement Learning Environment for Hardware of a Modular Legged Robot.
UR
Sehoon Ha, Joohyung Kim, Katsu Yamane
2018 J jnl
Computational Design of Robotic Devices From High-Level Motion Specifications.
IEEE Trans. Robotics
Sehoon Ha, Stelian Coros, Alexander Alspach, James M. Bern, Joohyung Kim, Katsu Yamane
2018 J jnl
Computational co-optimization of design parameters and motion trajectories for robotic systems.
Int. J. Robotics Res.
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
2018 J jnl
DART: Dynamic Animation and Robotics Toolkit.
J. Open Source Softw.
Jeongseok Lee, Michael X. Grey, Sehoon Ha, Tobias Kunz, Sumit Jain, Yuting Ye, Siddhartha S. Srinivasa, Mike Stilman, C. Karen Liu
2018 Misc conf
Expanding Motor Skills using Relay Networks.
CoRL
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
2018 A* conf
Improving Model-Based Balance Controllers Using Reinforcement Learning and Adaptive Sampling.
ICRA
Visak C. V. Kumar, Sehoon Ha, Katsu Yamane
2018 A conf
Learning Hardware Dynamics Model from Experiments for Locomotion Optimization.
IROS
Kuo Chen, Sehoon Ha, Katsu Yamane
2018 J jnl
Learning to Walk via Deep Reinforcement Learning.
CoRR
Tuomas Haarnoja, Aurick Zhou, Sehoon Ha, Jie Tan, George Tucker, Sergey Levine
2018 J jnl
Soft Actor-Critic Algorithms and Applications.
CoRR
Tuomas Haarnoja, Aurick Zhou, Kristian Hartikainen, George Tucker, Sehoon Ha, Jie Tan, Vikash Kumar, Henry Zhu, Abhishek Gupta, Pieter Abbeel, Sergey Levine
2017 J jnl
Expanding Motor Skills through Relay Neural Networks.
CoRR
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
2017 — conf
Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem.
Robotics: Science and Systems
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
2017 J jnl
Learning a Unified Control Policy for Safe Falling.
CoRR
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
2017 A conf
Learning a unified control policy for safe falling.
IROS
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
2016 — —
Developing agile motor skills on virtual and real humanoids.
Sehoon Ha
2016 A* conf
Evolutionary optimization for parameterized whole-body dynamic motor skills.
ICRA
Sehoon Ha, C. Karen Liu
2016 A conf
Task-based limb optimization for legged robots.
IROS
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
2015 A conf
Multiple contact planning for minimizing damage of humanoid falls.
IROS
Sehoon Ha, C. Karen Liu
2015 A* conf
Reducing hardware experiments for model learning and policy optimization.
ICRA
Sehoon Ha, Katsu Yamane
2014 J jnl
Iterative Training of Dynamic Skills Inspired by Human Coaching Techniques.
ACM Trans. Graph.
Sehoon Ha, C. Karen Liu
2013 J jnl
Physics Storyboards.
Comput. Graph. Forum
Sehoon Ha, Jim McCann, C. Karen Liu, Jovan Popovic
2012 J jnl
Falling and landing motion control for character animation.
ACM Trans. Graph.
Sehoon Ha, Yuting Ye, C. Karen Liu
2011 — conf
Human Motion Reconstruction from Force Sensors.
Symposium on Computer Animation
Sehoon Ha, Yunfei Bai, C. Karen Liu