Research

LiPo: A Lightweight Post-optimization Framework for Smoothing Action Chunks Generated by Learned Policies
Dongwoo Son, Suhan Park
Under Review
Webpage, Arxiv, Code

A Constrained Motion Planning Method Exploiting Learned Latent Space for High-Dimensional State and Constraint Spaces
Suhan Park, Suhyun Jeon, Jaeheung Park
IEEE/ASME T-MECH 2024
Webpage, Paper, Code

Intuitive and Interactive Robotic Avatar System for Tele-Existence: TEAM SNU in the ANA Avatar XPRIZE Finals
TEAM SNU Members
IJSR 2024
Paper

Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI
Junewhee Ahn, Suhan Park, Jaehoon Sim, Jaeheung Park
IEEE Access 2023
Paper

Motion Planning for Closed-Chain Constraints Based on Probabilistic Roadmap With Improved Connectivity
Keunwoo Jang, Jiyeong Baek, Suhan Park, Jaeheung Park
IEEE/ASME T-MECH 2022
Paper

Scalable Learned Geometric Feasibility for Cooperative Grasp and Motion Planning
Suhan Park, Hyoung Cheol Kim, Jiyeong Baek, Jaeheung Park
IEEE RA-L 2022
Paper, Code

Contact State Estimation for Peg-in-Hole Assembly Using Gaussian Mixture Model
Haeseong Lee, Suhan Park, Keunwoo Jang, Seungyeon Kim, Jaeheung Park
IEEE RA-L 2022
Paper

Robotic furniture assembly: task abstraction, motion planning, and control
Suhan Park, Haeseong Lee, Seungyeon Kim, Jiyeong Baek, Keunwoo Jang, Hyoung Cheol Kim, Myeongsoo Kim, Jaeheung Park
ISR 2022
Paper

NODE IK: Solving Inverse Kinematics with Neural Ordinary Differential Equations for Path Planning
Suhan Park, Mathew Schwartz, Jaeheung Park
ICCAS 2022
Arxiv, Paper, Code

Rigid Grasp Candidate Generation for Assembly Tasks
Suhan Park, Jiyeong Baek, Seungyeon Kim, Jaeheung Park
IEEE/ASME AIM 2020
Paper, Code

Continuous Task Transition Approach for Robot Controller Based on Hierarchical Quadratic Programming
Sanghyun Kim, Keunwoo Jang, Suhan Park, Yisoo Lee, Sang Yup Lee, Jaeheung Park
IEEE RA-L 2019
Paper