Legged Robot State Estimation With Dynamic Contact Event Information. - Joon-Ha Kim; Seungwoo Hong; Gwanghyeon Ji; Seunghun Jeon; Jemin Hwangbo; Jun-Ho Oh; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2021)

Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion. - Gwanghyeon Ji; Juhyeok Mun; Hyeongjun Kim; Jemin Hwangbo (IEEE Robotics Autom. Lett., 2022)

Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion. - Young-Ha Shin; Tae-Gyu Song; Gwanghyeon Ji; Hae-Won Park 002 (CoRR, 2023)

Learning quadrupedal locomotion on deformable terrain. - Suyoung Choi; Gwanghyeon Ji; Jeongsoo Park; Hyeongjun Kim; Juhyeok Mun; Jeonghyun Lee; Jemin Hwangbo (Sci. Robotics, 2023)

Not Only Rewards but Also Constraints: Applications on Legged Robot Locomotion. - Yunho Kim; Hyunsik Oh; Jeonghyun Lee; Jinhyeok Choi; Gwanghyeon Ji; Moonkyu Jung; Donghoon Youm; Jemin Hwangbo (IEEE Trans. Robotics, 2024)

Reinforcement Learning for High-Speed Quadrupedal Locomotion With Motor Operating Region Constraints: Mitigating Motor Model Discrepancies through Torque Clipping in Realistic Motor Operating Region. - Young-Ha Shin; Tae-Gyu Song; Gwanghyeon Ji; Hae-Won Park 002 (IEEE Robotics Autom. Mag., 2025)