Publications
Journal Articles
[8] Jaehwi Jang, Minjae Song, Daehyung Park . "Inverse Constraint Learning and Generalization by Transferable Reward Decomposition," IEEE Robotics and Automation Letters (RA-L), 2024. [PDF][Arxiv][Video]
[7] Yeseung Kim, Jinwoo Kim, Daehyung Park. "GraphDistNet: A Graph-based Collision-distance Estimator for Gradient-based Trajectory," IEEE Robotics and Automation Letters (RA-L), 2022. [PDF][Video]
[6] T. M. Howard, E. Stump, J. Fink, J. Arkin, R. Paul, D. Park, S. Roy, D. Barber, R. Bendell, K. Schmeckpeper,J. Tian, J. Oh, M. Wigness, L. Quang, B. Rothrock, J. Nash, M. R. Walter, F. Jentsch, N. Roy. "An Intelligence Architecture for Grounded Language Communication with Field Robots," Field Robotics, 2022. [PDF]
[5] Jacob Arkin*, Daehyung Park*, Subhro Roy, Matthew R. Walter, Nicholas Roy, Thomas M. Howard, and Rohan Paul. "Multi-Modal Estimation and Communication of Latent Semantic Knowledge for Robust Execution of Robot Instructions", The International Journal of Robotics Research (IJRR), 2020. (*- authors contributed equally) [PDF] [Video]
[4] Daehyung Park, Yuuna Hoshi, Harshar P. Mahajan, Ho Keun Kim, Zackory Erickson, Wendy A. Rogers, and Charles C. Kemp. “Active Robot-Assisted Feeding with a General-Purpose Mobile Manipulator: Design, Evaluation, and Lessons Learned”, Robotics and Autonomous Systems (RAS), 2019. [PDF][Video]
[3] Ariel Kapusta, Philip Grice, Henry Clever, Yash Chitalia, Daehyung Park, and Charles C. Kemp. “A System for Bedside Assistance that Integrates a Robotic Bed and a Mobile Manipulator,” PLoS ONE, 2019. [PDF][Video]
[2] Daehyung Park, Yuuna Hoshi, and Charles C. Kemp. “A Multimodal Anomaly Detector for Robot-Assisted Feeding Using an LSTM-based Variational Autoencoder”, IEEE Robotics and Automation Letters (RA-L), 2018. [PDF][Video] (presentation in ICRA 2018)
[1] Daehyung Park, Hokeun Kim, and Charles C. Kemp. “Multimodal Anomaly Detection for Assistive Robots”, Autonomous Robots, 2018. [PDF]
International Conference Articles
[21] Dohyun Kim, Nayoung Oh, Deokmin Hwang, Daehyung Park, "LINGO-Space: Language-conditioned Incremental Grounding for Space." AAAI Association for the Advancement of Artificial Intelligence, 2024. (AAAI2024) [Accepted]
[20] Dohyun Kim, Yeseung Kim, Jang Jaehwi, Minjae Song, Woojin Choi, Daehyung Park, "SGGNet2: Speech-Scene Graph Grounding Network for Speech-guided Navigation." IEEE International Conference on Robot & Human Interactive Communication, 2023. (ROMAN2023) [PDF][Video]
[19] Kanghyun Kim, Daehyung Park, Min Jun Kim, "A Reachability Tree-Based Algorithm for Robot Task and Motion Planning." IEEE International Conference on Robotics and Automation, 2023. (ICRA2023) [PDF]
[18] Minsung Yoon, Mincheul Kang, Daehyung Park, and Sung-Eui Yoon, "Learning-Based Initialization of Trajectory Optimization for Path-Following Problems of Redundant Manipulators." IEEE International Conference on Robotics and Automation, 2023. (ICRA2023) (Outstanding Planning Paper Award) [PDF][Video]
[17] Dohyun Kim*, Jinwoo Kim*, Minwoo Cho, Daehyung Park. "Natural Language-Guided Navigation using Scene Graph", Conference on Robot Intelligence Technology and Applications (RiTA 2022) (*- authors contributed equally), (Best Student Paper Award) [PDF][Video]
[16] Hyeongyeol Ryu, Minsung Yoon, Daehyung Park, and Sung-Eui Yoon, "Confidence-Based Robot Navigation Under Sensor Occlusion with Deep Reinforcement Learning ." IEEE International Conference on Robotics and Automation, 2022. (ICRA2022) (Outstanding Navigation Award Finalist) [PDF][Video]
[15] Shen Li*, Daehyung Park*, Yoonchang Sung*, Julie A. Shah, and Nicholas Roy, "Reactive Task and Motion Planning under Temporal Logic Specifications", IEEE Int'l. Conf. on Robotics and Automation, 2021. (ICRA2021) (*- authors contributed equally) [PDF] [Arxiv][Video]
[14] Daehyung Park, Michael Noseworthy, Rohan Paul, Subhro Roy, and Nicholas Roy. "Inferring Task Goals and Constraints using Bayesian Nonparametric Inverse Reinforcement Learning", Conference on Robot Learning (CoRL2019) [PDF][Video] (Oral presentation, 5% oral acceptance rate)
[13] Michael Noseworthy, Rohan Paul, Subhro Roy, Daehyung Park, and Nicholas Roy. "Task-Conditioned Variational Autoencoders for Learning Movement Primitives", Conference on Robot Learning (CoRL2019) [PDF] (27.6% Acceptance Rate)
[12] Subhro Roy, Michael Noseworthy, Rohan Paul, Daehyung Park and Nicholas Roy. "Leveraging Past References for Robust Language Grounding", Conference on Computational Natural Language Learning (CoNLL 2019) [PDF]
[11] Daniel Nyga, Subhro Roy, Rohan Paul, Daehyung Park, Mihai Pomarlan, Michael Beetz, and Nicholas Roy. "Grounding Robot Plans from Natural Language Instructions with Incomplete World Knowledge", Conference on Robot Learning (CoRL2018) [PDF][Video] (31% Acceptance Rate)
[10] Jacob Arkin, Rohan Paul, Daehyung Park, Subhro Roy, Nicholas Roy and Thomas M. Howard. "Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments", Int'l. Symp. on Experimental Robotics (ISER2018) [PDF][Video]
[9] Henry M. Clever, Ariel Kapusta, Daehyung Park, Zackory Erickson, Yash Chitalia, and Charles C. Kemp. “3D Human Pose Estimation on a Configurable Bed from a Pressure Image”, IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2018). [PDF]
[8] Daehyung Park, Hokeun Kim, Yuuna Hoshi, Zackory Erickson, Ariel Kapusta, and Charles C. Kemp. “A Multimodal Execution Monitor with Anomaly Classification for Robot-Assisted Feeding”, IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2017) [PDF][Video]
[7] Daehyung Park, Zackory Erickson, Tapomayukh Bhattacharjee, and Charles C. Kemp. “Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation”, IEEE Int'l. Conf. on Robotics and Automation, 2016. (ICRA2016) [PDF][Video] (34% Acceptance Rate)
[6] Tapomayukh Bhattacharjee, Ashwin A Shenoi, Daehyung Park, James M. Rehg, and Charles C. Kemp, "Combining Tactile Sensing and Vision for Rapid Haptic Mapping", IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2015) [PDF]
[5] Ariel Kapusta, Daehyung Park, and Charles C. Kemp, "Task-Centric Selection of Robot and Environment Initial Configurations to Perform Assistive Tasks", IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2015) [PDF]
[4] Daehyung Park, Ariel Kapusta, Jeffrey Hawke, and Charles C. Kemp. “Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments”, IEEE-RAS Int'l. Conf. on Humanoid Robots (Humanoids 2014) [PDF][Video]
[3] Daehyung Park, Ariel Kapusta, Youkeun Kim, James M. Rehg, and Charles C. Kemp. “Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter”, IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2014) [PDF][Video]
[2] Heiko Hoffmann, Peter Pastor, Daehyung Park, and Stefan Schaal. “Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance”, IEEE Int'l. Conf. on Robotics and Automation, 2009. [PDF]
[1] Daehyung Park, Heiko Hoffmann, Peter Pastor, and Stefan Schaal. “Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields”, IEEE-RAS Int'l. Conf. on Humanoid Robots (Humanoids 2008, Oral presentation) [PDF]
International Workshop papers, Abstracts, and Posters
[1] Daehyung Park, Michael Noseworthy, Rohan Paul, Subhro Roy, and Nicholas Roy, "Joint Goal and Constraint Inference using Bayesian Nonparametric Inverse Reinforcement Learning," The 4th Multidisciplinary Conf. on Reinforcement Learning and Decision Making, 2019 [PDF]
[2] Daehyung Park, Yuuna Hoshi, Harshal P. Mahajan, Wendy Rogers, and Charles C. Kemp, "Active Feeding System using a General-purpose Manipulator," Int'l. Symp. on Medical Robotics (ISMR), 2018 [PDF]
[3] Daehyung Park and Charles C. Kemp, "Multimodal Execution Monitoring for Robot-Assisted Feeding," TechSAge State of the Science Conference, 2017 [PDF]
[4] Ariel Kapusta, Yash Chitalia, Daehyung Park, and Charles C. Kemp. "Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities," IEEE ROMAN workshop on Behavior, Adaptation and Learning for Assistive Robotics" (BAILAR), 2016 [PDF]
[5] Daehyung Park, Youkeun Kim, Zackory Erickson, and Charles C. Kemp. “Towards Assistive Feeding with a General-Purpose Mobile Manipulator”, ICRA workshop on Human-Robot Interfaces for Enhanced Physical Interactions, 2016 [PDF]
[6] T. Bhattacharjee*, P. M. Grice*, A. Kapusta*, M. D. Killpack*, D. Park*, and C. C. Kemp. “A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning”, IROS workshop on Robots In Clutter, 2014 (*- authors contributed equally) [PDF][Video]
[7] Daehyung Park, Heiko Hoffmann, and Stefan Schaal. “Combining dynamic movement primitives and potential fields for online obstacle avoidance”, Adaptive Motion of Animals and Machines (AMAM08), 2008 [PDF]
Domestic Conference Articles
[5] Jinwoo Kim, Dohyun Kim, and Daehyung Park, "A Framework for Natural Language-guided Semantic Mapping and Mobile Navigation ," Korea Robotics Society Annual Conference (KRoC), 2022 [PDF]
[4] Jaehwi Jang and Daehyung Park, "Transferable-Reward Decomposition for Inverse Reinforcement Learning ," Korea Robotics Society Annual Conference (KRoC), 2022 [PDF]
[3] Ulzhalgas Rakhman, Jaehoon Yoo, Yeseung Kim, Deokmin Hwang, Seunghoon Hong, and Daehyung Park, "Reactive Task Planning using Scene Graph for Robust Robotic Manipulation," Korea Robotics Society Annual Conference (KRoC), 2022 [PDF] (Outstanding Paper Award)
[2] 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]
[1] Hyeongyeol Ryu1, 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]
Patents
[1] D. Park, K. Lee, C. An, and Y. Hong. “Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same.” US Patent 12 923 650, Apr. 21, 2011. [PDF]
[2] K. Lee, Y. Hong, C. An, and D. Park. “Motor control apparatus and motor control method thereof.” US Patent 13 009 961, Jan. 20, 2011. [PDF]
[3] K. Lee, Y. Hong, C. An, and D. Park. “모터 제어장치 및 모터 제어 방법(MOTOR CONTROL APPARATUS AND CONTROL METHOD THE SAME),” KR Patent App. 1,020,100,006,682, Aug. 2, 2011
[4] D. Park, K. Lee, C. An, and Y. Hong. “여유자유도 제어를 이용한 로봇의 교시 및 재현 방법 (TEACHING AND PLAYBACK METHOD USING REDUNDANCY RESOLUTION CONTROL FOR MANIPULATOR),” KR Patent App. 1,020,090,099,003, Apr. 22, 2011