Publications (Journal & Proceedings)

1. "EquiContact: A Hierarchical SE (3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks."
   Joohwan Seo, Arvind Kruthiventy, Soomi Lee, Megan Teng, Xiang Zhang, Seoyeon Choi, Jongeun Choi, and Roberto Horowitz
   arXiv preprint arXiv:2507.10961 (2025), submitted to Robotics and Automation Letters (RA-L)

2. "Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators"
   Joohwan Seo, Nikhil P.S. Prakash, Soomi Lee, Arvind Kruthiventy, Megan Teng, Jongeun Choi, and Roberto Horowitz
   To be submitted soon

3. "SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey"
   Joohwan Seo, Soochul Yoo, Junwoo Chang, Hyunseok An, Hyunwoo Ryu, Soomi Lee, Arvind Kruthiventy, Jongeun Choi, and Roberto Horowitz
   Accepted to International Journal of Control, Automation and Systems (IJCAS)

4. "Deep Geometric Potential Functions for Tracking on Manifolds"
   Nikhil P.S. Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, and Roberto Horowitz,
   International Conference on Intelligent Robots and Systems (IROS) 2024, Abu-Dhabi, United Arab Emirates (UAE)

5. "Variable Impedance Control using Deep Geometric Potential Fields"
   Nikhil P.S. Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, and Roberto Horowitz,
   Modeling, Estimation, and Control Conference (MECC) 2024, Chicago, USA

6. "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
   CVPR 2024, Highlight Presentation

7. "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
   American Control Conference 2024, Toronto, Canada

8. "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

9. "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

10. "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

11. "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

12. "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

13. "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

14. "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

15. "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 

16. "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

17. "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. 

18. "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 

19. "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 

20. "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.

21. "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