Publications

2026

SNU-Avatar Haptic Arm: A Hybrid QDD/DD Operator Interface for Teleoperation

Eunho Sung, Seungbin You, Jaeyong Shin, Suhan Park, Sungmoon Hur, Jaehun Kim, Seunghwan Byun, Chaiyong Mun, Haeseong Lee, Dongjun Kim, Jaeheung Park

IEEE Access 2026 Journal

Paper

Connectivity-Aware Representations for Constrained Motion Planning via Multi-Scale Contrastive Learning

Suhyun Jeon, Yumin Lim, Woo-Jeong Baek, Hyeonseo Kim, Suhan Park, Jaeheung Park

IEEE ICRA 2026 Conference

arXiv

2025

LiPo: A Lightweight Post-optimization Framework for Smoothing Action Chunks Generated by Learned Policies

Dongwoo Son, Suhan Park

IJCAS 2025 Journal SCIE

Paper arXiv Project Code

2024

A Constrained Motion Planning Method Exploiting Learned Latent Space for High-Dimensional State and Constraint Spaces

Suhan Park, Suhyun Jeon, Jaeheung Park

IEEE/ASME T-MECH 2024 Journal

Paper Project Code

Intuitive and Interactive Robotic Avatar System for Tele-Existence: TEAM SNU in the ANA Avatar XPRIZE Finals

TEAM SNU Members

IJSR 2024 Journal

Paper

2023

Dual-Channel EtherCAT Control System for 33-DOF Humanoid Robot TOCABI

Junewhee Ahn, Suhan Park, Jaehoon Sim, Jaeheung Park

IEEE Access 2023 Journal

Paper

2022

Motion Planning for Closed-Chain Constraints Based on Probabilistic Roadmap With Improved Connectivity

Keunwoo Jang, Jiyeong Baek, Suhan Park, Jaeheung Park

IEEE/ASME T-MECH 2022 Journal

Paper

Scalable Learned Geometric Feasibility for Cooperative Grasp and Motion Planning

Suhan Park, Hyoung Cheol Kim, Jiyeong Baek, Jaeheung Park

IEEE RA-L 2022 Journal

Paper Code

Contact State Estimation for Peg-in-Hole Assembly Using Gaussian Mixture Model

Haeseong Lee, Suhan Park, Keunwoo Jang, Seungyeon Kim, Jaeheung Park

IEEE RA-L 2022 Journal

Paper

Robotic furniture assembly: task abstraction, motion planning, and control

Suhan Park, Haeseong Lee, Seungyeon Kim, Jiyeong Baek, Keunwoo Jang, Hyoung Cheol Kim, Myeongsoo Kim, Jaeheung Park

ISR 2022 Journal

Paper

NODE IK: Solving Inverse Kinematics with Neural Ordinary Differential Equations for Path Planning

Suhan Park, Mathew Schwartz, Jaeheung Park

ICCAS 2022 Conference

Paper arXiv Code

2020

Rigid Grasp Candidate Generation for Assembly Tasks

Suhan Park, Jiyeong Baek, Seungyeon Kim, Jaeheung Park

IEEE/ASME AIM 2020 Conference

Paper Code

2019

Continuous Task Transition Approach for Robot Controller Based on Hierarchical Quadratic Programming

Sanghyun Kim, Keunwoo Jang, Suhan Park, Yisoo Lee, Sang Yup Lee, Jaeheung Park

IEEE RA-L 2019 Journal

Paper