Sehoon Ha

ORCID

Publication Activity (10 Years)

Years Active: 2011-2024
Publications (10 Years): 101

Top Venues

CoRR

ICRA

IROS

IEEE Robotics Autom. Lett.

Publications

Seungeun Rho, Laura M. Smith, Tianyu Li, Sergey Levine, Xue Bin Peng, Sehoon Ha
Language Guided Skill Discovery. CoRR (2024)
Naoki Yokoyama, Alexander Clegg, Joanne Truong, Eric Undersander, Tsung-Yen Yang, Sergio Arnaud, Sehoon Ha, Dhruv Batra, Akshara Rai
ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation. IEEE Robotics Autom. Lett. 9 (1) (2024)
Naoki Yokoyama, Sehoon Ha, Dhruv Batra, Jiuguang Wang, Bernadette Bucher
VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation. ICRA (2024)
Deniz Kerimoglu, Daniel Soto, Malone Lincoln Hemsley, Joseph Brunner, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman
Learning manipulation of steep granular slopes for fast Mini Rover turning. ICRA (2024)
Tianyu Li, Calvin Qiao, Guanqiao Ren, KangKang Yin, Sehoon Ha
AAMDM: Accelerated Auto-regressive Motion Diffusion Model. CoRR (2024)
Tianyu Li, Hyunyoung Jung, Matthew C. Gombolay, Yong Kwon Cho, Sehoon Ha
CrossLoco: Human Motion Driven Control of Legged Robots via Guided Unsupervised Reinforcement Learning. ICLR (2024)
J. Taery Kim, Archit Naik, Isuru Jayarathne, Sehoon Ha, Jouh Yeong Chew
Modeling social interaction dynamics using temporal graph networks. CoRR (2024)
Arielle Maignan, Derek Xie, Sehoon Ha, Jennifer Kim, Chung Hyuk Park
Emotion-Behavior Interplay in Human Animal-Robot Interaction (HARI). HRI (Companion) (2024)
Sehoon Ha, Joonho Lee, Michiel van de Panne, Zhaoming Xie, Wenhao Yu, Majid Khadiv
Learning-based legged locomotion; state of the art and future perspectives. CoRR (2024)
Arnaud Klipfel, Nitish Sontakke, Ren Liu, Sehoon Ha
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot Using Scalable Motion Imitation. IROS (2023)
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement. CoRR (2023)
Tianle Huang, Nitish Sontakke, K. Niranjan Kumar, Irfan Essa, Stefanos Nikolaidis, Dennis W. Hong, Sehoon Ha
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning. CoRR (2023)
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo, Hae-Won Park, Sehoon Ha
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 8 (11) (2023)
Anthony G. Francis, Claudia Pérez-D'Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, Rachid Alami, Aniket Bera, Abhijat Biswas, Joydeep Biswas, Rohan Chandra, Hao-Tien Lewis Chiang, Michael Everett, Sehoon Ha, Justin W. Hart, Jonathan P. How, Haresh Karnan, Tsang-Wei Edward Lee, Luis J. Manso, Reuth Mirsky, Sören Pirk, Phani-Teja Singamaneni, Peter Stone, Ada V. Taylor, Peter Trautman, Nathan Tsoi, Marynel Vázquez, Xuesu Xiao, Peng Xu, Naoki Yokoyama, Alexander Toshev, Roberto Martin Martin
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms. CoRR (2023)
Joanne Taery Kim, Wenhao Yu, Jie Tan, Greg Turk, Sehoon Ha
How to Train Your Guide Dog: Wayfinding and Safe Navigation with Human-Robot Modeling. HRI (Companion) (2023)
Laura M. Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
Learning and Adapting Agile Locomotion Skills by Transferring Experience. Robotics: Science and Systems (2023)
Nitish Sontakke, Hosik Chae, Sangjoon Lee, Tianle Huang, Dennis W. Hong, Sehoon Ha
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots. IROS (2023)
Ung Hee Lee, Varun S. Shetty, Patrick W. Franks, Jie Tan, Georgios Evangelopoulos, Sehoon Ha, Elliott J. Rouse
User preference optimization for control of ankle exoskeletons using sample efficient active learning. Sci. Robotics 8 (83) (2023)
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
Cascaded Compositional Residual Learning for Complex Interactive Behaviors. IEEE Robotics Autom. Lett. 8 (8) (2023)
Nitish Sontakke, Hosik Chae, Sangjoon Lee, Tianle Huang, Dennis W. Hong, Sehoon Ha
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots. CoRR (2023)
Yunbo Zhang, Alexander Clegg, Sehoon Ha, Greg Turk, Yuting Ye
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum. CoRR (2023)
Jeonghwan Kim, Tianyu Li, Sehoon Ha
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments. IROS (2023)
Tianyu Li, Jungdam Won, Jeongwoo Cho, Sehoon Ha, Akshara Rai
FastMimic: Model-Based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion. Robotics 12 (3) (2023)
Simar Kareer, Naoki Yokoyama, Dhruv Batra, Sehoon Ha, Joanne Truong
ViNL: Visual Navigation and Locomotion Over Obstacles. ICRA (2023)
Tianyu Li, Jungdam Won, Alexander Clegg, Jeonghwan Kim, Akshara Rai, Sehoon Ha
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters. SIGGRAPH Asia (2023)
Joanne Taery Kim, Wenhao Yu, Yash Kothari, Jie Tan, Greg Turk, Sehoon Ha
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism. CoRR (2023)
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim, Jemin Hwangbo, Hae-Won Park, Sehoon Ha
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion. CoRR (2023)
Tianyu Li, Jungdam Won, Alexander Clegg, Jeonghwan Kim, Akshara Rai, Sehoon Ha
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters. CoRR (2023)
Naoki Yokoyama, Sehoon Ha, Dhruv Batra, Jiuguang Wang, Bernadette Bucher
VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation. CoRR (2023)
Maks Sorokin, Chuyuan Fu, Jie Tan, C. Karen Liu, Yunfei Bai, Wenlong Lu, Sehoon Ha, Mohi Khansari
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning. CoRR (2023)
Naoki Yokoyama, Alexander William Clegg, Eric Undersander, Sehoon Ha, Dhruv Batra, Akshara Rai
Adaptive Skill Coordination for Robotic Mobile Manipulation. CoRR (2023)
Laura M. Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
Learning and Adapting Agile Locomotion Skills by Transferring Experience. CoRR (2023)
Yunbo Zhang, Alexander Clegg, Sehoon Ha, Greg Turk, Yuting Ye
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum. Comput. Graph. Forum 42 (2) (2023)
Arnaud Klipfel, Nitish Sontakke, Ren Liu, Sehoon Ha
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation. CoRR (2023)
Jeonghwan Kim, Tianyu Li, Sehoon Ha
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments. CoRR (2023)
Maks Sorokin, Chuyuan Fu, Jie Tan, C. Karen Liu, Yunfei Bai, Wenlong Lu, Sehoon Ha, Mohi Khansari
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning. IROS (2023)
Joanne Taery Kim, Wenhao Yu, Yash Kothari, Bruce Walker, Jie Tan, Greg Turk, Sehoon Ha
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism. CoRL (2023)
Tianyu Li, Hyunyoung Jung, Matthew Gombolay, Yong Kwon Cho, Sehoon Ha
CrossLoco: Human Motion Driven Control of Legged Robots via Guided Unsupervised Reinforcement Learning. CoRR (2023)
Deniz Kerimoglu, Daniel Soto, Malone Lincoln Hemsley, Joseph Brunner, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman
Learning manipulation of steep granular slopes for fast Mini Rover turning. CoRR (2023)
Naoki Yokoyama, Qian Luo, Dhruv Batra, Sehoon Ha
Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge. IROS (2022)
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning. ICRA (2022)
Simar Kareer, Naoki Yokoyama, Dhruv Batra, Sehoon Ha, Joanne Truong
ViNL: Visual Navigation and Locomotion Over Obstacles. CoRR (2022)
Hao-Lun Hsu, Qiuhua Huang, Sehoon Ha
Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning. ICRA (2022)
Sunwoo Kim, Maks Sorokin, Jehee Lee, Sehoon Ha
HumanConQuad: Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning. SIGGRAPH ASIA Emerging Technologies (2022)
Sunwoo Kim, Maks Sorokin, Jehee Lee, Sehoon Ha
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning. Robotics: Science and Systems (2022)
Ren Liu, Nitish Sontakke, Sehoon Ha
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion. IROS (2022)
Maks Sorokin, Jie Tan, C. Karen Liu, Sehoon Ha
Learning to Navigate Sidewalks in Outdoor Environments. IEEE Robotics Autom. Lett. 7 (2) (2022)
Tsung-Yen Yang, Tingnan Zhang, Linda Luu, Sehoon Ha, Jie Tan, Wenhao Yu
Safe Reinforcement Learning for Legged Locomotion. IROS (2022)
Laura M. Smith, J. Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World. ICRA (2022)
Taylor Hearn, Sravan Jayanthi, Sehoon Ha
Unified State Representation Learning under Data Augmentation. CoRR (2022)
Tsung-Yen Yang, Tingnan Zhang, Linda Luu, Sehoon Ha, Jie Tan, Wenhao Yu
Safe Reinforcement Learning for Legged Locomotion. CoRR (2022)
Sunwoo Kim, Maks Sorokin, Jehee Lee, Sehoon Ha
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning. CoRR (2022)
Andras Karsai, Deniz Kerimoglu, Daniel Soto, Sehoon Ha, Tingnan Zhang, Daniel I. Goldman
Real-Time Remodeling of Granular Terrain for Robot Locomotion. Adv. Intell. Syst. 4 (12) (2022)
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
Cascaded Compositional Residual Learning for Complex Interactive Behaviors. CoRR (2022)
Joanne Taery Kim, Sehoon Ha
Observation Space Matters: Benchmark and Optimization Algorithm. ICRA (2021)
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments. CoRR (2021)
Naoki Yokoyama, Sehoon Ha, Dhruv Batra
Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation. CoRR (2021)
Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu
Learning Human Search Behavior from Egocentric Visual Inputs. Comput. Graph. Forum 40 (2) (2021)
Maks Sorokin, Jie Tan, C. Karen Liu, Sehoon Ha
Learning to Navigate Sidewalks in Outdoor Environments. CoRR (2021)
Laura Smith, J. Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World. CoRR (2021)
Nitish Sontakke, Sehoon Ha
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning. CoRR (2021)
Hao-Lun Hsu, Qiuhua Huang, Sehoon Ha
Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning. CoRR (2021)
Naoki Yokoyama, Sehoon Ha, Dhruv Batra
Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation. IROS (2021)
Naoki Yokoyama, Qian Luo, Dhruv Batra, Sehoon Ha
Learning Robust Agents for Visual Navigation in Dynamic Environments: The Winning Entry of iGibson Challenge 2021. CoRR (2021)
Ren Liu, Nitish Sontakke, Sehoon Ha
Finite State Machine Policies Modulating Trajectory Generator. CoRR (2021)
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments. Robotics: Science and Systems (2021)
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning. CoRR (2021)
Qian Luo, Maks Sorokin, Sehoon Ha
A Few Shot Adaptation of Visual Navigation Skills to New Observations using Meta-Learning. ICRA (2021)
Joanne Taery Kim, Jeongeun Park, Sungjoon Choi, Sehoon Ha
Learning Robot Structure and Motion Embeddings using Graph Neural Networks. CoRR (2021)
Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, Tingnan Zhang
Visual-Locomotion: Learning to Walk on Complex Terrains with Vision. CoRL (2021)
Miguel Zamora, Momchil Peychev, Sehoon Ha, Martin T. Vechev, Stelian Coros
PODS: Policy Optimization via Differentiable Simulation. ICML (2021)
Tianyu Li, Jungdam Won, Sehoon Ha, Akshara Rai
Model-based Motion Imitation for Agile, Diverse and Generalizable Quadupedal Locomotion. CoRR (2021)
Sehoon Ha, Peng Xu, Zhenyu Tan, Sergey Levine, Jie Tan
Learning to Walk in the Real World with Minimal Human Effort. CoRL (2020)
Joanne Taery Kim, Sehoon Ha
Observation Space Matters: Benchmark and Optimization Algorithm. CoRR (2020)
Qian Luo, Maks Sorokin, Sehoon Ha
A Few Shot Adaptation of Visual Navigation Skills to New Observations using Meta-Learning. CoRR (2020)
Sehoon Ha, Peng Xu, Zhenyu Tan, Sergey Levine, Jie Tan
Learning to Walk in the Real World with Minimal Human Effort. CoRR (2020)
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, Sehoon Ha
Learning Fast Adaptation With Meta Strategy Optimization. IEEE Robotics Autom. Lett. 5 (2) (2020)
Xinlei Pan, Tingnan Zhang, Brian Ichter, Aleksandra Faust, Jie Tan, Sehoon Ha
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation. ICRA (2020)
Visak C. V. Kumar, Sehoon Ha, Gregory Sawicki, C. Karen Liu
Learning a Control Policy for Fall Prevention on an Assistive Walking Device. ICRA (2020)
Sehoon Ha
Quadrupedal robots trot into the wild. Sci. Robotics 5 (47) (2020)
Krishnan Srinivasan, Benjamin Eysenbach, Sehoon Ha, Jie Tan, Chelsea Finn
Learning to be Safe: Deep RL with a Safety Critic. CoRR (2020)
Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu
Learning Human Search Behavior from Egocentric Visual Inputs. CoRR (2020)
Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker, Sergey Levine
Learning to Walk Via Deep Reinforcement Learning. Robotics: Science and Systems (2019)
Xinlei Pan, Tingnan Zhang, Brian Ichter, Aleksandra Faust, Jie Tan, Sehoon Ha
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation. CoRR (2019)
Visak C. V. Kumar, Sehoon Ha, Gregory Sawicki, C. Karen Liu
Learning a Control Policy for Fall Prevention on an Assistive Walking Device. CoRR (2019)
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, Sehoon Ha
Learning Fast Adaptation with Meta Strategy Optimization. CoRR (2019)
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
Computational co-optimization of design parameters and motion trajectories for robotic systems. Int. J. Robotics Res. 37 (13-14) (2018)
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
Expanding Motor Skills using Relay Networks. CoRL (2018)
Kuo Chen, Sehoon Ha, Katsu Yamane
Learning Hardware Dynamics Model from Experiments for Locomotion Optimization. IROS (2018)
Tuomas Haarnoja, Aurick Zhou, Sehoon Ha, Jie Tan, George Tucker, Sergey Levine
Learning to Walk via Deep Reinforcement Learning. CoRR (2018)
Sehoon Ha, Stelian Coros, Alexander Alspach, James M. Bern, Joohyung Kim, Katsu Yamane
Computational Design of Robotic Devices From High-Level Motion Specifications. IEEE Trans. Robotics 34 (5) (2018)
Tuomas Haarnoja, Aurick Zhou, Kristian Hartikainen, George Tucker, Sehoon Ha, Jie Tan, Vikash Kumar, Henry Zhu, Abhishek Gupta, Pieter Abbeel, Sergey Levine
Soft Actor-Critic Algorithms and Applications. CoRR (2018)
Jeongseok Lee, Michael X. Grey, Sehoon Ha, Tobias Kunz, Sumit Jain, Yuting Ye, Siddhartha S. Srinivasa, Mike Stilman, C. Karen Liu
DART: Dynamic Animation and Robotics Toolkit. J. Open Source Softw. 3 (22) (2018)
Visak C. V. Kumar, Sehoon Ha, Katsu Yamane
Improving Model-Based Balance Controllers Using Reinforcement Learning and Adaptive Sampling. ICRA (2018)
Sehoon Ha, Joohyung Kim, Katsu Yamane
Automated Deep Reinforcement Learning Environment for Hardware of a Modular Legged Robot. UR (2018)
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
Expanding Motor Skills through Relay Neural Networks. CoRR (2017)
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem. Robotics: Science and Systems (2017)
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
Learning a unified control policy for safe falling. IROS (2017)
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu
Learning a Unified Control Policy for Safe Falling. CoRR (2017)
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
Task-based limb optimization for legged robots. IROS (2016)

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Publication Activity (10 Years)

Top Topics

Top Venues

Sehoon Ha