Prime the Search: Using Large Language Models for Guiding Geometric Task and Motion Planning by Warm-starting Tree Search. Dongryung Lee*, Sejune Joo*, Kimin Lee, and Beomjoon Kim. [Paper] [video] [project]

DEF-oriCORN: efficient 3D scene understanding for robust language-directed manipulation without demonstrations. Dongwon Son, Sanghyeon Son, Jaehyung Kim, Beomjoon Kim. [Paper] [project]

ICLR 2024

CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects. Yoonyoung Cho, Junhyek Han, Yoontae Cho, and Beomjoon Kim. [Paper] [video] [project]

ICLR 2024

An Intuitive Multi-Frequency Feature Representation for SO(3)-Equivariant Networks. Dongwon Son, Jaehyung Kim, Sanghyeon Son, and Beomjoon Kim. [Paper] [video] [project]

ICRA 2024

Open X-Embodiment: Robotic Learning Datasets and RT-X Models. Open X-Embodiment Collaboration (Beomjoon Kim, Yoonyoung Cho, Junhyek Han, Jaehyung Kim) [Paper] [dataset] [project]

RA-L 2023

Learning whole-body manipulation for quadrupedal robot. Seunghun Jeon, Moonkyu Jung, Suyoung Choi, Beomjoon Kim, Jemin Hwangbo. [Paper] [video]

CoRL 2023

Preference learning for guiding the tree search in continuous POMDPs. Jiyong Ahn, Sanghyeon Son, Dongryung Lee, Jisu Han, Dongwon Son, and Beomjoon Kim. [Paper] [video] [project]

IROS 2023

Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer. Minchan Kim, Junhyek Han, Jaehyung Kim, and Beomjoon Kim. [arXiv] [video] [project]

RSS 2023

Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulators. Dongwon Son and Beomjoon Kim. [arXiv] [video] [project]

IROS 2022

Ohm^2: Optimal hierarchical planner for object search in large environments via mobile manipulation. Yoonyoung Cho*, Donghoon Shin*, and Beomjoon Kim. [pdf]