Author

Yoonchang Sung

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Preprint Sep 2026

CaSCo: Cascade-Aware Soft-Collision Motion Planning

Conventional motion planning treats collision as a binary constraint, although contact with different objects can have drastically different consequences. A robot may safely brush against a cardboard box while even minor contact with a glass, laptop, or unstable object may be undesirable. Moreover, a direct robot--obje...

Shiv Kumar, Gao-Yuan Liu, Yoonchang Sung · 0 citations

Preprint Aug 2026

StochSIPP: Safe Interval Path Planning in Stochastic Dynamic Environments

StochSIPP is presented, an exact contingent planner for temporal roadmaps with uncertain edge and vertex statuses revealed locally during execution that preserves the observed success of safe fixed-path baselines while reducing arrival time, and solves gated scenarios in which conservative fixed-path planners return no...

Ajith Kemisetti, Shahaf S. Shperberg, Yoonchang Sung · 0 citations

Preprint Sep 2026

Imagine-TAMP: Imagination-Guided Task and Motion Planning in Partial Observability

Robots operating in cluttered environments must often manipulate objects whose locations are only partially observable. A central challenge is deciding whether to acquire another observation or to first manipulate objects that may occlude the target. Conventional task and motion planning (TAMP) approaches typically mak...

Antareep Singha, Shiv Kumar, Yoonwoo Kim et al. · 0 citations