Domestic Conference Articles
    Reactive Task Planning using Scene Graph for Robust Robotic Manipulation
    Ulzhalgas Rakhman, Jaehoon Yoo, Yeseung Kim, Deokmin Hwang, Seunghoon Hong, and Daehyung Park
    Korea Robotics Society Annual Conference (KRoC), 2022
    A reactive task planning-and-execution framework adopting scene-graph for automatic abstraction and behavior tree for robust task execution. We demonstrate the effectiveness and efficiency of our framework against human interventions in robotic assembly scenarios.
    [PDF]
    Outstanding Paper Award
    Transferable-Reward Decomposition for Inverse Reinforcement Learning
    Jaehwi Jang and Daehyung Park
    Korea Robotics Society Annual Conference (KRoC), 2022
    A transferable reward-decomposition method for inverse reinforcement learning (IRL) that returns a unique pair of primary goal and its residual rewards, separately. Our method lowers the computational complexity of reward decomposition by reusing the exploration results of IRL.
    [PDF]
    A Telemanipulation Suite for Deformable Object Manipulation
    Bonggyeong Park, Chanyoung Ahn, and Daehyung Park
    Korean Artificial intelligence Association (KAIA), 2022
    Deformable object manipulation with learning from demonstration requires a dataset that absorbs human intelligence. We propose a virtual reality-based telemanipulation suite that allows an expert hand to manipulate simulated deformable objects while recording complete observations.
    A Framework for Natural Language-guided Semantic Mapping and Mobile Navigation
    Jinwoo Kim, Dohyun Kim, and Daehyung Park
    Korea Robotics Society Annual Conference (KRoC), 2022
    A novel method for natural language-driven location labeling and mobile navigation. Our approach automatically labels the location description on a metric map via natural language grounding. By associating the semantic map with a world model, our method enables the robot to understand natural language instruction for indoor delivery navigation.
    [PDF]
  1. Minsung Yoon, Daehyung Park, Sung-Eui Yoon, "Bias tree expansion using reinforcement learning for efficient motion planning," Korea Robotics Society Annual Conference (KRoC), 2021 [PDF]
  2. Hyeongyeol Ryu, Minsung Yoon, Daehyung Park, Sung-Eui Yoon, "Robust Robot Navigation against External Disturbance using Deep Reinforcement Learning," Korea Robotics Society Annual Conference (KRoC), 2021 [PDF]