Author

Hyunjung Kim

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Preprint Sep 2026

EquiGQNet: Fast Grasp Quality Evaluation via Shared Equivariant Point Cloud Encoding

Planning six-degree-of-freedom (6-DoF) grasps for unseen objects in cluttered tabletop scenes from a single-view depth image requires accurate and efficient evaluation of diverse grasp candidates. Existing early-fusion methods capture local object geometry relative to each grasp candidate but repeatedly encode the scen...

Sungwon Seo, Jaeseog Won, Ji-You Shin et al. · 0 citations

Jul 2026

URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation

Learning-based manipulation policies usually predict robot actions from sensory observations and leave their execution to a separate low-level controller. In rigid contact, this separation can be problematic: the same motion to a virtual target or compliant motion command can lead to unstable contact, tracking error, e...

Ji-You Shin, Youngjin Seo, Jaeseog Won et al. · arXiv.org · 0 citations