Sung-Kyun Kim

54 papers A* 10A 9B 1C 2Journal 24Unranked 8
YearRankTypeTitle / Venue / Authors
2025 J jnl
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments.
CoRR
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Sung-Kyun Kim, Muhammad Fadhil Ginting, Xianmei Lei, Jeffrey A. Edlund, Seyed Abolfazl Fakoorian, Amanda Bouman, Fernando Chavez, Taeyeon Kim, Gustavo J. Correa, Maira Saboia, Angel Santamaria-Navarro, Brett T. Lopez, Boseong Kim, Chanyoung Jung, Mamoru Sobue, Oriana Peltzer, Joshua Ott, Robert Trybula, Thomas Touma, Marcel Kaufmann, Tiago Stegun Vaquero, Torkom Pailevanian, Matteo Palieri, Yun Chang, Andrzej Reinke, Matthew Anderson, Frederik E. T. Schöller, Patrick Spieler, Lillian Clark, Avak Archanian, Kenny Chen, Hovhannes Melikyan, Anushri Dixit, Harrison Delecki, Daniel Pastor, Barry Ridge, Nicolas Marchal, Jose Uribe, Sharmita Dey, Kamak Ebadi, Kyle Coble, Alexander Nikitas Dimopoulos, Vivek Thangavelu, Vivek Shankar Varadharajan, Nicholas Palomo, Antoni Rosinol, Arghya Chatterjee, Christoforos Kanellakis, Björn Lindqvist, Micah Corah, Kyle Strickland, Ryan Stonebraker, Michael Milano, Christopher E. Denniston, Sami Sahnoune, Thomas Claudet, Seungwook Lee, Gautam Salhotra, Edward Terry, Rithvik Musuku, Robin Schmid, Tony Tran, Ara Kourchians, Justin Schachter, Héctor Azpúrua, Levi Resende, Arash Kalantari, Jeremy Nash, Josh Lee, Christopher Patterson, Jennifer G. Blank, Kartik Patath, Yuki Kubo, Ryan Alimo, Yasin Almalioglu, Aaron Curtis, Jacqueline H. Sly, Tesla Wells, Nhut T. Ho, Mykel J. Kochenderfer, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2025 J jnl
Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering.
CoRR
Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng, Andrzej Reinke, Bandi Jai Krishna, Navid Kayhani, Oriana Peltzer, David D. Fan, Amirreza Shaban, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi, Shayegan Omidshafiei
2025 — conf
Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding.
CASE
Antonello Longo, Chanyoung Chung, Matteo Palieri, Sung-Kyun Kim, Ali Agha, Cataldo Guaragnella, Shehryar Khattak
2025 J jnl
Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding.
CoRR
Antonello Longo, Chanyoung Chung, Matteo Palieri, Sung-Kyun Kim, Ali-Akbar Agha-Mohammadi, Cataldo Guaragnella, Shehryar Khattak
2025 A* conf
SayComply: Grounding Field Robotic Tasks in Operational Compliance Through Retrieval-Based Language Models.
ICRA
Muhammad Fadhil Ginting, Dong-Ki Kim, Sung-Kyun Kim, Bandi Jai Krishna, Mykel J. Kochenderfer, Shayegan Omidshafiei, Ali-Akbar Agha-Mohammadi
2024 — conf
Efficient Line-of-Sight Viewpoint Sampling in Complex Environments for Autonomous Surface Inspection.
SSRR
Sangwoo Moon, Sung-Kyun Kim, Oriana Peltzer, Mykel J. Kochenderfer, Shehryar Khattak
2024 C conf
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty.
CoDIT
Joshua Ott, Sung-Kyun Kim, Amanda Bouman, Oriana Peltzer, Mamoru Sobue, Harrison Delecki, Mykel J. Kochenderfer, Joel Burdick, Ali-Akbar Agha-Mohammadi
2024 — conf
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks.
Robotics: Science and Systems
Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan, Matteo Palieri, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2024 J jnl
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks.
CoRR
Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan, Matteo Palieri, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2024 J jnl
SayComply: Grounding Field Robotic Tasks in Operational Compliance through Retrieval-Based Language Models.
CoRR
Muhammad Fadhil Ginting, Dong-Ki Kim, Sung-Kyun Kim, Bandi Jai Krishna, Mykel J. Kochenderfer, Shayegan Omidshafiei, Ali-Akbar Agha-Mohammadi
2024 A conf
Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments.
IROS
Muhammad Fadhil Ginting, David D. Fan, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2024 J jnl
Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments.
CoRR
Muhammad Fadhil Ginting, David D. Fan, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2024 J jnl
Staircase Localization for Autonomous Exploration in Urban Environments.
CoRR
Jinrae Kim, Sunggoo Jung, Sung-Kyun Kim, Youdan Kim, Ali-Akbar Agha-Mohammadi
2023 J jnl
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments.
CoRR
Amanda Bouman, Joshua Ott, Sung-Kyun Kim, Kenny Chen, Mykel J. Kochenderfer, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Joel Burdick
2023 A* conf
Fast and Scalable Signal Inference for Active Robotic Source Seeking.
ICRA
Christopher E. Denniston, Oriana Peltzer, Joshua Ott, Sangwoo Moon, Sung-Kyun Kim, Gaurav S. Sukhatme, Mykel J. Kochenderfer, Mac Schwager, Ali-Akbar Agha-Mohammadi
2023 J jnl
Fast and Scalable Signal Inference for Active Robotic Source Seeking.
CoRR
Christopher E. Denniston, Oriana Peltzer, Joshua Ott, Sangwoo Moon, Sung-Kyun Kim, Gaurav S. Sukhatme, Mykel J. Kochenderfer, Mac Schwager, Ali-Akbar Agha-Mohammadi
2023 A* conf
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs.
ICRA
Muhammad Fadhil Ginting, Sung-Kyun Kim, Oriana Peltzer, Joshua Ott, Sunggoo Jung, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2023 J jnl
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs.
CoRR
Muhammad Fadhil Ginting, Sung-Kyun Kim, Oriana Peltzer, Joshua Ott, Sunggoo Jung, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2023 A conf
Semantics-Aware Mission Adaptation for Autonomous Exploration in Urban Environments.
IROS
Sangwoo Moon, Oriana Peltzer, Joshua Ott, Sung-Kyun Kim, Ali-Akbar Agha-Mohammadi
2022 J jnl
ACHORD: Communication-Aware Multi-Robot Coordination With Intermittent Connectivity.
IEEE Robotics Autom. Lett.
Maira Saboia, Lillian Clark, Vivek Thangavelu, Jeffrey A. Edlund, Kyohei Otsu, Gustavo J. Correa, Vivek Shankar Varadharajan, Angel Santamaria-Navarro, Thomas Touma, Amanda Bouman, Hovhannes Melikyan, Torkom Pailevanian, Sung-Kyun Kim, Avak Archanian, Tiago Stegun Vaquero, Giovanni Beltrame, Nils Napp, Gustavo Pessin, Ali-Akbar Agha-Mohammadi
2022 J jnl
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity.
CoRR
Maira Saboia, Lillian Clark, Vivek Thangavelu, Jeffrey A. Edlund, Kyohei Otsu, Gustavo J. Correa, Vivek Shankar Varadharajan, Angel Santamaria-Navarro, Thomas Touma, Amanda Bouman, Hovhannes Melikyan, Torkom Pailevanian, Sung-Kyun Kim, Avak Archanian, Tiago Stegun Vaquero, Giovanni Beltrame, Nils Napp, Gustavo Pessin, Ali-Akbar Agha-Mohammadi
2022 A conf
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments.
IROS
Amanda Bouman, Joshua Ott, Sung-Kyun Kim, Kenny Chen, Mykel J. Kochenderfer, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Joel Burdick
2022 A conf
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget.
IROS
Oriana Peltzer, Amanda Bouman, Sung-Kyun Kim, Ransalu Senanayake, Joshua Ott, Harrison Delecki, Mamoru Sobue, Mykel J. Kochenderfer, Mac Schwager, Joel Burdick, Ali-Akbar Agha-Mohammadi
2022 J jnl
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget.
CoRR
Oriana Peltzer, Amanda Bouman, Sung-Kyun Kim, Ransalu Senanayake, Joshua Ott, Harrison Delecki, Mamoru Sobue, Mykel J. Kochenderfer, Mac Schwager, Joel Burdick, Ali-Akbar Agha-Mohammadi
2022 J jnl
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge.
Field Robotics
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2022 J jnl
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty.
CoRR
Joshua Ott, Sung-Kyun Kim, Amanda Bouman, Oriana Peltzer, Mamoru Sobue, Harrison Delecki, Mykel J. Kochenderfer, Joel Burdick, Ali-Akbar Agha-Mohammadi
2021 J jnl
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge.
CoRR
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2021 A* conf
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments.
ICAPS
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-Akbar Agha-Mohammadi
2021 J jnl
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments.
CoRR
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-Akbar Agha-Mohammadi
2020 A conf
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion.
IROS
Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-Akbar Agha-Mohammadi
2020 J jnl
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion.
CoRR
Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-Akbar Agha-Mohammadi
2020 A* conf
Planning, Learning and Reasoning Framework for Robot Truck Unloading.
ICRA
Fahad Islam, Anirudh Vemula, Sung-Kyun Kim, Andrew Dornbush, Oren Salzman, Maxim Likhachev
2020 J jnl
Selective Generation of Lamb Wave Modes in a Finite-Width Plate by Angle-Beam Excitation Method.
Sensors
Sang-Jin Park, Young-Sang Joo, Hoe-Woong Kim, Sung-Kyun Kim
2019 J jnl
Bi-Directional Value Learning for Risk-Aware Planning Under Uncertainty.
IEEE Robotics Autom. Lett.
Sung-Kyun Kim, Rohan Thakker, Ali-Akbar Agha-Mohammadi
2019 J jnl
Bi-directional Value Learning for Risk-aware Planning Under Uncertainty.
CoRR
Sung-Kyun Kim, Rohan Thakker, Ali-Akbar Agha-Mohammadi
2019 A conf
Escaping Local Minima in Search-Based Planning using Soft Duplicate Detection.
IROS
Wei Du, Sung-Kyun Kim, Oren Salzman, Maxim Likhachev
2019 A* conf
POMHDP: Search-Based Belief Space Planning Using Multiple Heuristics.
ICAPS
Sung-Kyun Kim, Oren Salzman, Maxim Likhachev
2019 J jnl
Planning, Learning and Reasoning Framework for Robot Truck Unloading.
CoRR
Fahad Islam, Anirudh Vemula, Sung-Kyun Kim, Andrew Dornbush, Oren Salzman, Maxim Likhachev
2019 J jnl
Task-Informed Fidelity Management for Speeding Up Robotics Simulation.
CoRR
Abhijeet Tallavajhula, Adrian Schoisengeier, Sung-Kyun Kim, Anirudh Vemula, Levi Lister, Oren Salzman
2018 J jnl
SLAP: Simultaneous Localization and Planning Under Uncertainty via Dynamic Replanning in Belief Space.
IEEE Trans. Robotics
Ali-Akbar Agha-Mohammadi, Saurav Agarwal, Sung-Kyun Kim, Suman Chakravorty, Nancy M. Amato
2017 A* conf
Parts assembly planning under uncertainty with simulation-aided physical reasoning.
ICRA
Sung-Kyun Kim, Maxim Likhachev
2016 A* conf
Planning for grasp selection of partially occluded objects.
ICRA
Sung-Kyun Kim, Maxim Likhachev
2014 A conf
Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis.
IROS
Sung-Kyun Kim, Joonhee Jo, Yonghwan Oh, Sang-Rok Oh, Siddhartha S. Srinivasa, Maxim Likhachev
2013 A conf
From human motion analysis to whole-body control of a dual-arm robot for pick-and-place tasks.
IROS
Sung-Kyun Kim, Dong-hyun Lee, Seokmin Hong, Yonghwan Oh, Sang-Rok Oh
2013 C conf
Grasping force control of a robotic hand based on a torque-velocity transformation using F/T sensors with gravity compensation.
IECON
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
2013 — conf
Strategy of internal force design without object com information.
URAI
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
2012 — conf
Contact force control of a robotic hand using F/T sensory feedback with a rigid object.
CASE
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
2012 B conf
Joint torque servo of a high friction robot manipulator based on time-delay control with feed-forward friction compensation.
RO-MAN
Sung-moon Hur, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
2012 A* conf
Object manipulation in 3d space by two cone-shaped finger robots based on finger-thumb opposability without object sensing.
ICRA
Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
2011 — conf
Compliance control of a position controlled robotic hand using F/T sensors.
URAI
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
2011 A* conf
Concurrent control of position/orientation of a redundant manipulator based on virtual spring-damper hypothesis.
ICRA
Sung-Kyun Kim, Ji-Hun Bae, Yonghwan Oh, Sang-Rok Oh
2011 — conf
Online remote control of a robotic hand configurations using sEMG signals on a forearm.
ROBIO
Hanjin Lee, Sin-Jung Kim, Keehoon Kim, Myoung Soo Park, Sung-Kyun Kim, Jong Hyeon Park, Sang-Rok Oh
2010 A conf
Online footprint imitation of a humanoid robot by walking motion parameterization.
IROS
Sung-Kyun Kim, Seokmin Hong, Doik Kim, Yonghwan Oh, Bum-Jae You, Sang-Rok Oh
2009 — conf
A walking motion imitation framework of a humanoid robot by human walking recognition from IMU motion data.
Humanoids
Sung-Kyun Kim, Seokmin Hong, Doik Kim