Publications (Journal & Proceedings)

1. "Diffusion-EDFs: Bi-equivariant denoising generative modeling on SE(3) for visual robotic manipulation"
   Hyunwoo Ryu, Jiwoo Kim, Junwoo Chang, Hyun Seok Ahn, Joohwan Seo, Taehan Kim, Jongeun Choi, Roberto Horowitz
   Accepted at CVPR 2024

2. "A Comparison between Lie Group- and Lie Algebra- based Potential Functions for Geometric Impedance Control"
   Joohwan Seo, Nikhil P.S. Prakash, Jongeun Choi, and Roberto Horowitz
   Accepted at ACC 2024

3. "Contact-rich SE(3) Equivariant Robot Manipulation Task Learning via Geometric Impedance Control"
   Joohwan Seo, Nikhil P.S. Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka, and Roberto Horowitz
   IEEE Robotics and Automation Letters 9.2 (2024): 1508-1515

4. "Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning"
   Junwoo Chang, Hyunwoo Ryu, Jiwoo Kim, Soochul Yoo, Joohwan Seo, Nikhil P.S. Prakash, Jongeun Choi, Roberto Horowitz
   NeurlIPS 2023 Workshop Paper

5. "Clustering Techniques for Stable Linear Dynamical Systems with applications to Hard Disk Drives"
   Nikhil Potu Surya Prakash, Joohwan Seo, Jongeun Choi, and Roberto Horowitz
   IFAC Modeling, Estimation and Control Conference (MECC) 2023, Lake Tahoe, USA

6. "Geometric Impedance Control on SE(3) for Robotic Manipulators"
   Joohwan Seo, Nikhil P.S. Prakash, Alexander Rose, and Roberto Horowitz
   Proceedings of International Federation of Automatic Control (IFAC) World Congress 2023, Yokohama, Japan

7. "Data-Driven Track Following Control for Dual Stage-Actuator Hard Disk Drives"
   Nikhil P.S. Prakash, Joohwan Seo, Alexander Rose, and Roberto Horowitz
   Proceedings of International Federation of Automatic Control (IFAC) World Congress 2023, Yokohama, Japan

8. "Robotic Manipulation Learning with Equivariant Descriptor Fields: Generative Modeling, Bi-equivariance, Steerability, and Locality"
   Jiwoo Kim, Hyunwoo Ryu, Jongeun Choi, Joohwan Seo, Nikhil P.S. Prakash, Ruolin Li, and Roberto Horowitz
   Robotics: Science and Systems (RSS) 2023 Workshop, Daegu, Korea

9. "Output feedback control design for quadrotor using recursive least square dynamic inversion"
   Seongwon Lee, Joohwan Seo, Joonho Lee, Connor J. Boss, and Jongeun Choi
   Elsevier Mechatronics 92 (2023): 102981

10. "Suspension control strategies using switched soft actor-critic models for real roads"
    Hwanmoo Yong, Joohwan Seo, Jaeyoung Kim, Myounghoe Kim, and Jongeun Choi
    IEEE Transactions on Industrial Electronics 70.1 (2022): 824-832 

11. "Safety-critical control with nonaffine control inputs via a relaxed control barrier function for an autonomous vehicle"
    Joohwan Seo, Joonho Lee, Eunkyu Baik, Roberto Horowitz, and Jongeun Choi
    IEEE Robotics and Automation Letters 7.2 (2022): 1944-1951

12. "Output feedback control design using Extended High-Gain Observers and dynamic inversion with projection for a small scaled helicopter"
    Joonho Lee, Joohwan Seo, and Jongeun Choi
    Automatica 133 (2021): 109883. 

13. "State reconstruction in a nonlinear vehicle suspension system using deep neural networks"
    Hwanmoo Yong, Joohwan Seo, Jungkyu Kim, and Jongeun Choi
    Nonlinear Dynamics 105 (2021): 439-455 

14. "Vision-based uncertainty-aware lane keeping strategy using deep reinforcement learning"
    Myounghoe Kim, Joohwan Seo, Mingoo Lee, and Jongeun Choi 
    Journal of Dynamic Systems, Measurement, and Control 143.8 (2021): 084503 

15. "Nonaffine helicopter control design and implementation based on a robust explicit nonlinear model predictive control"
    Joohwan Seo, Seongwon Lee,  Joonho Lee, and Jongeun Choi  
    IEEE Transactions on Control Systems Technology 30.2 (2021): 811-818.

16. "Output feedback control synthesis for a helicopter using explicit nonlinear model predictive control, dynamic inversion, and extended high-gain observers"
    Joohwan Seo, Jongeun Choi
    ASME Dynamic Systems and Control Conference (DSCC) 2019

Conference Presentations 

1. "Output feedback control synthesis for a helicopter using explicit nonlinear model predictive control, dynamic inversion and extended high gain observers"
   Joohwan Seo, and Jongeun Choi
   Dynamic Systems and Control Conference 2019, Park City, USA

2. "Safety-critical control with nonaffine control inputs via a relaxed control barrier function for an autonomous vehicle"
   Joohwan Seo, Joonho Lee, Eunkyu Baik, Roberto Horowitz, and Jongeun Choi
   IEEE International Conference on Robotics and Automation  (ICRA) 2022, Philadelphia, USA 

3. "Geometric Impedance Control on SE(3) for Robotic Manipulators"
   Joohwan Seo, Nikhil P.S. Prakash, Alexander Rose, and Roberto Horowitz
   International Federation of Automatic Control (IFAC) World Congress 2023, Yokohama, Japan

Research Talks

Geometric Learning and Control on SE(3) for Robotic Manipulators

1. Korea Institutes x Berkeley International Research Forum, 10/23/2023

2. Stanford x Berkeley Korean Research Conference, 11/4/2023

3. Hybrid Robotics Lab @ UC Berkeley (Prof. Koushil Sreenath), 12/2/2023

4. Control Seminar Series @ UC Berkeley, Mechanical Engineering, 3/1/2024
   with Prof. Koushil Sreenath, Negar Mehr, Kameshwar Poolla, Mark Mueller, and Francesco Borrelli

5. Hong Kong Center for Construction Robotics (HKCRC), 3/19/2024

Project Workshop / Poster Presentations

1. "Geometric Impedance Control on SE(3) for Robotic Manipulators"
   Tsinghua-Berkeley-Shenzhen Institute (TBSI) Annual Workshop 2023

2. "Contact-rich SE(3) Equivariant Robot Manipulation Task Learning via Geometric Impedance Control"
   Tsinghua-Berkeley-Shenzhen Institute (TBSI) Annual Workshop 2024

3. "SE(3) Equivariant Vision-based Skill Acquisition for Robotic Manipulation in Contact-rich Environments"
   Berkeley Deep Drive (BDD) Workshop 2024

In Preparations

1. Diffusion-EDF + GIC Learning is ongoing...

2. "Deep Geometric Potential Functions for Tracking on Manifolds",
   Nikhil P.S. Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, and Roberto Horowitz, Submitted to IROS 2024

3. "Variable Impedance Control using Deep Geometric Potential Fields",
   Nikhil P.S. Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, and Roberto Horowitz, Submitted to MECC 2024

4. And more to come!