Publications

Group-Invariant Unsupervised Skill Discovery: Symmetry-aware Skill Representations for Generalizable Behavior

Junwoo Chang, Joseph Park, Roberto Horowitz, Jongmin Lee, Jongeun Choi

Preprint

Paper

EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks

Joohwan Seo, Arvind Kruthiventy, Soomi Lee, Megan Teng, Seoyeon Choi, Xiang Zhang, Jongeun Choi, Roberto Horowitz

Preprint

Paper · Website

Partially Equivariant Reinforcement Learning in Symmetry-Breaking Environments

Junwoo Chang, Minwoo Park, Joohwan Seo, Roberto Horowitz, Jongmin Lee^†, Jongeun Choi^†

ICLR 2026

Paper · Website

Multi-Robot Motion Planning from Vision and Language using Heat-Inspired Diffusion

Jebeom Chae^*, Junwoo Chang^*, Seungho Yeom, Yujin Kim, Jongeun Choi

IEEE RA-L

Paper · Website · Code

Symmetry-Aware Steering of Equivariant Diffusion Policies — Benefits and Limits

Minwoo Park^*, Junwoo Chang^*, Jongeun Choi, Roberto Horowitz

IFAC 2026

Paper · Code

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators

Joohwan Seo, Nikhil Potu Surya Prakash, Soomi Lee, Arvind Kruthiventy, Megan Teng, Jongeun Choi, Roberto Horowitz

IFAC 2026

Paper · Code

SE(3)-equivariant Robot Learning and Control: A Tutorial Survey

Joohwan Seo, Soochul Yoo, Junwoo Chang, Hyunseok An, Hyunwoo Ryu, Soomi Lee, Arvind Kruthiventy, Jongeun Choi, Roberto Horowitz

Int. Journal of Control, Automation and Systems (IJCAS)

Paper

Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation

Hyunwoo Ryu, Jiwoo Kim, Hyunseok An, Junwoo Chang, Joohwan Seo, Taehan Kim, Yubin Kim, Chaewon Hwang, Jongeun Choi, Roberto Horowitz

CVPR 2024Highlight

Paper · Website · Code

Contact-Rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control

Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka, Roberto Horowitz

IEEE RA-L

Paper

A Comparison between Lie Group- and Lie Algebra-based Potential Functions for Geometric Impedance Control

Joohwan Seo, Nikhil Potu Surya Prakash, Jongeun Choi, Roberto Horowitz

ACC 2024

Paper

Variable Impedance Control using Deep Geometric Potential Fields

Nikhil Potu Surya Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, Roberto Horowitz

IFAC-PapersOnLine

Paper

Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning

Hyunwoo Ryu, Hong-in Lee, Jeong-Hoon Lee, Jongeun Choi

ICLR 2023

Paper · Code

Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning

Junwoo Chang^*, Hyunwoo Ryu^*, Jiwoo Kim, Soochul Yoo, Jongeun Choi, Joohwan Seo, Nikhil Prakash, Roberto Horowitz

NeurIPS 2023 Workshop on Diffusion Models

Paper · Website · Code

Robotic Manipulation Learning with Equivariant Descriptor Fields: Generative Modeling, Bi-equivariance, Steerability, and Locality

Jiwoo Kim^*, Hyunwoo Ryu^*, Jongeun Choi, Joohwan Seo, Nikhil Potu Surya Prakash, Ruolin Li, Roberto Horowitz

RSS 2023 Workshop on Symmetries in Robot LearningOral · Best Paper Award

Paper

Geometric Impedance Control on SE(3) for Robotic Manipulators

Joohwan Seo, Nikhil Potu Surya Prakash, Alexander Rose, Jongeun Choi, Roberto Horowitz

IFAC-PapersOnLine

Paper

Distributional and Hierarchical Reinforcement Learning for Physical Systems with Noisy State Observations and Exogenous Perturbations

Jehyun Park, Jongeun Choi, Sungjae Nah, Dohee Kim

Engineering Applications of Artificial Intelligence (EAAI)

Paper

Hierarchical Primitive Composition: Simultaneous Activation of Skills with Inconsistent Action Dimensions in Multiple Hierarchies

Jeong-Hoon Lee, Jongeun Choi

IEEE RA-L

Paper

Policy Design for an Ankle-Foot Orthosis Using Simulated Physical Human–Robot Interaction via Deep Reinforcement Learning

Jong In Han, Jeong-Hoon Lee, Ho Seon Choi, Jung-Hoon Kim, Jongeun Choi

IEEE Trans. on Neural Systems and Rehabilitation Engineering

Paper

Behavior Tree-Based Task Planning for Multiple Mobile Robots using a Data Distribution Service

Seungwoo Jeong, Taekwon Ga, Inhwan Jeong, Jongeun Choi

IEEE AIM 2022

Paper

Efficient Sampling for Rapid Estimation of 3-D Stiffness Distribution via Active Tactile Exploration

Shiyi Yang, Soo Jeon, Jongeun Choi

IEEE/ASME Trans. on Mechatronics

Paper

Multifidelity Sampling for Fast Bayesian Shape Estimation with Tactile Exploration

Shiyi Yang, Soo Jeon, Jongeun Choi

IEEE Trans. on Industrial Informatics

Paper