Publications

International

2024

  1. Lee, Jeong Hyun; Choi, Jinhyeok; Ryu, Simo; Oh, Hyunsik; Choi, Suyoung; Hwangbo, Jemin; Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains, IEEE Robotics and Automation Letters

2023

  1. Lee, Seokju; Jeon, Seunghun; Hwangbo, Jemin; Learning Legged Mobile Manipulation Using Reinforcement Learning, Robot Intelligence Technology and Applications 7: Results from the 10th International Conference on Robot Intelligence Technology and Applications.

  2. Choi, Suyoung; Ji, Gwanghyeon; Park, Jeongsoo; Kim, Hyeongjun; Mun, Juhyeok; Lee, Jeong Hyun; Hwangbo, Jemin; Learning quadrupedal locomotion on deformable terrain, Science Robotics.

  3. Jeon, Seunghun; Jung, Moonkyu; Choi, Suyoung; Kim, Beomjoon; Hwangbo, Jemin; Learning Whole-body Manipulation for Quadrupedal Robot, IEEE Robotics and Automation Letters

  4. Youm, Donghoon; Jung, Hyunyoung; Kim, Hyeongjun; Hwangbo, Jemin; Park, Hae-Won; Ha, Sehoon; Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion, IEEE Robotics and Automation Letters

2022

  1. Shin, Young-Ha; Hong, Seungwoo; Woo, Sangyoung; Choe, JongHun; Son, Harim; Kim, Gijeong; Kim, Joon-Ha; Lee, KangKyu; Hwangbo, Jemin; Park, Hae-Won; Design of KAIST HOUND, a quadruped robot platform for fast and efficient locomotion with mixed-integer nonlinear optimization of a gear train, 2022 International Conference on Robotics and Automation (ICRA)

  2. Amatucci, Lorznzo; Kim, Joon-Ha; Hwangbo, Jemin; Park, Hae-Won; Monte carlo tree search gait planner for non-gaited legged system control, 2022 International Conference on Robotics and Automation (ICRA)

  3. Kim, Yunho; Kim, Chanyoung; Hwangbo, Jemin; Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation, Robotics: Science and Systems (RSS) 2022

  4. Byun, Joo Woong; Youm, Donghoon; Jeon, Seunghoon; Hwangbo, Jemin; Park, Hae-Won; Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control Robot Intelligence Technology and Applications 6: Results from the 9th International Conference on Robot Intelligence Technology and Applications

  5. Ji, Gwanghyeon; Mun, Juhyeok; Kim, Hyeongjun; Hwangbo, Jemin; Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion, IEEE Robotics and Automation Letters

  6. Miki, Takahiro; Lee, Joonho; Hwangbo, Jemin; Wellhausen, Lorenz; Koltun, Vladlen; Hutter, Marco; Learning robust perceptive locomotion for quadrupedal robots in the wild, Science Robotics

  7. Christen, Sammy; Kocabas, Muhammed; Aksan, Emre; Hwangbo, Jemin; Song, Jie; Hilliges, Otmar; D-grasp: Physically plausible dynamic grasp synthesis for hand-object interactions, Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition

  8. Kim, Sung-Woo; Cho, Buyoun; Shin, Seunghoon; Oh, Jun-Ho; Hwangbo, Jemin; Park, Hae-Won; Force control of a hydraulic actuator with a neural network inverse model, IEEE Robotics and Automation Letters

2021

  1. Kim, Joon-Ha; Hong, Seungwoo; Ji, Gwanghyeon; Jeon, Seunghun; Hwangbo, Jemin; Oh, Jun-Ho; Park, Hae-Won; Legged robot state estimation with dynamic contact event information, IEEE Robotics and Automation Letters

2020

  1. Lee, Joonho; Hwangbo, Jemin; Wellhausen, Lorenz; Koltun, Vladlen; Hutter, Marco; Learning quadrupedal locomotion over challenging terrain, Science robotics

2019

  1. Jenelten, Fabian; Hwangbo, Jemin; Tresoldi, Fabian; Bellicoso, C Dario; Hutter, Marco; Dynamic locomotion on slippery ground, IEEE Robotics and Automation Letters

  2. Lee, Joonho; Hwangbo, Jemin; Hutter, Marco; Robust recovery controller for a quadrupedal robot using deep reinforcement learning, arXiv preprint arXiv:1901.07517

  3. Hwangbo, Jemin; Lee, Joonho; Dosovitskiy, Alexey; Bellicoso, Dario; Tsounis, Vassilios; Koltun, Vladlen; Hutter, Marco; Learning agile and dynamic motor skills for legged robots, Science Robotics

2018

  1. Hwangbo, Jemin; Tsounis, Vassilios; Kolvenbach, Hendrik; Hutter, Marco; Cable-driven actuation for highly dynamic robotic systems, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

  2. Hwangbo, Jemin; Lee, Joonho; Hutter, Marco; Per-contact iteration method for solving contact dynamics, IEEE Robotics and Automation Letters

2017

  1. Bellicoso, C Dario; Jenelten, Fabian; Fankhauser, Peter; Gehring, Christian; Hwangbo, Jemin; Hutter, Marco; Dynamic locomotion and whole-body control for quadrupedal robots, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

  2. Hwangbo, Jemin; Hutter, Marco; Gehring, Christian; Bellicoso, Dario; Fankhauser, Peter; Siegwart, Roland; Foothold Selection Using Direct State-to-Action Mapping, Humanoids

Older

  1. Hwangbo, Jemin; Gehring, Christian; Sommer, Hannes; Siegwart, Roland; Buchli, Jonas; Policy learning with an efficient black-box optimization algorithm, International journal of humanoid robotics

  2. Hwangbo, Jemin; Bellicoso, Carmine Dario; Fankhauser, Péter; Hutter, Marco; Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

  3. Hwangbo, Jemin; Sa, Inkyu; Siegwart, Roland; Hutter, Marco; Control of a quadrotor with reinforcement learning IEEE Robotics and Automation Letter

  4. Hwangbo, Jemin; Gehring, Christian; Bellicoso, Dario; Fankhauser, Péter; Siegwart, Roland; Hutter, Marco; Direct state-to-action mapping for high DOF robots using ELM, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

  5. Bellicoso, C Dario; Gehring, Christian; Hwangbo, Jemin; Fankhauser, Péter; Hutter, Marco; Perception-less terrain adaptation through whole body control and hierarchical optimization 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

  6. Digumarti, Krishnamanaswi M; Gehring, Christian; Coros, Stelian; Hwangbo, J; Siegwart, Roland; Concurrent optimization of mechanical design and locomotion control of a legged robot, Mobile Service Robotics

  7. Hwangbo, Jemin; Gehring, Christian; Sommer, Hannes; Siegwart, Roland; Buchli, Jonas; ROCK—Efficient black-box optimization for policy learning 2014 IEEE-RAS International Conference on Humanoid Robots

  8. Bloesch, Michael; Omari, Sammy; Fankhauser, Péter; Sommer, Hannes; Gehring, Christian; Hwangbo, Jemin; Hoepflinger, Mark A; Hutter, Marco; Siegwart, Roland; Fusion of optical flow and inertial measurements for robust egomotion estimation, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

  9. Gehring, Christian; Coros, Stelian; Hutter, Marco; Bellicoso, Carmine Dario; Heijnen, Huub; Diethelm, Remo; Bloesch, Michael; Fankhauser, Péter; Hwangbo, Jemin; Hoepflinger, Mark; Practice makes perfect: An optimization-based approach to controlling agile motions for a quadruped robot, IEEE Robotics & Automation Magazine

  10. Hutter, Marco; Gehring, Christian; Jud, Dominic; Lauber, Andreas; Bellicoso, C Dario; Tsounis, Vassilios; Hwangbo, Jemin; Bodie, Karen; Fankhauser, Peter; Bloesch, Michael; Anymal-a highly mobile and dynamic quadrupedal robot, 2016 IEEE/RSJ international conference on intelligent robots and systems (IROS)

Domestic

  1. 전승훈, 황보제민, 학습 기반 4족 로봇 동적 행동 제어, Quadrupedal robot dynamic motion control based on learning, The Korea Robotics Society Annual Conference, 2021, (한국로봇종합학술대회, 2021)

  2. 전승훈, 황보제민, 학습 기반 4족 보행과 2족 보행간 전환식 제어, Learning based switchable multimodal locomotion control between quadrupedal and bipedal locomotion modes, The Korea Robotics Society Annual Conference, 2021, (한국로봇종합학술대회, 2021), Best Paper Award

  3. 이정현, 최진혁, 황보제민, 강화학습을 사용한 험지 자율주행 경로계획 알고리즘 연구, Research on Rough Terrain Autonomous Driving Path Planning Algorithm Using Reinforcement Learning, (한국로봇종합학술대회, 2023)

  4. 최진혁, 이정현, 황보제민, 비포장 야지 자율주행을 위한 애커먼 스티어링 차륜 플랫폼 개발, Development of Ackermann Steering Car Platform for Autonomous Driving in Rough terrain, (한국로봇종합학술대회, 2023)