Human Motion Reconstruction from Force Sensors. - Sehoon Ha; Yunfei Bai; C. Karen Liu (Symposium on Computer Animation, 2011)

Falling and landing motion control for character animation. - Sehoon Ha; Yuting Ye; C. Karen Liu (ACM Trans. Graph., 2012)

Physics Storyboards. - Sehoon Ha; Jim McCann; C. Karen Liu; Jovan Popovic (Comput. Graph. Forum, 2013)

Iterative Training of Dynamic Skills Inspired by Human Coaching Techniques. - Sehoon Ha; C. Karen Liu (ACM Trans. Graph., 2014)

Reducing hardware experiments for model learning and policy optimization. - Sehoon Ha; Katsu Yamane (ICRA, 2015)

Multiple contact planning for minimizing damage of humanoid falls. - Sehoon Ha; C. Karen Liu (IROS, 2015)

Evolutionary optimization for parameterized whole-body dynamic motor skills. - Sehoon Ha; C. Karen Liu (ICRA, 2016)

Task-based limb optimization for legged robots. - Sehoon Ha; Stelian Coros; Alexander Alspach; Joohyung Kim; Katsu Yamane (IROS, 2016)

Developing agile motor skills on virtual and real humanoids. - Sehoon Ha (2016)

Learning a unified control policy for safe falling. - Visak C. V. Kumar; Sehoon Ha; C. Karen Liu (IROS, 2017)

Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem. - Sehoon Ha; Stelian Coros; Alexander Alspach; Joohyung Kim; Katsu Yamane (Robotics: Science and Systems, 2017)

Expanding Motor Skills through Relay Neural Networks. - Visak C. V. Kumar; Sehoon Ha; C. Karen Liu (CoRR, 2017)

Expanding Motor Skills using Relay Networks. - Visak C. V. Kumar; Sehoon Ha; C. Karen Liu (CoRL, 2018)

Improving Model-Based Balance Controllers Using Reinforcement Learning and Adaptive Sampling. - Visak C. V. Kumar; Sehoon Ha; Katsu Yamane (ICRA, 2018)

Learning Hardware Dynamics Model from Experiments for Locomotion Optimization. - Kuo Chen; Sehoon Ha; Katsu Yamane (IROS, 2018)

Automated Deep Reinforcement Learning Environment for Hardware of a Modular Legged Robot. - Sehoon Ha; Joohyung Kim; Katsu Yamane (UR, 2018)

Soft Actor-Critic Algorithms and Applications. - Tuomas Haarnoja; Aurick Zhou; Kristian Hartikainen; George Tucker; Sehoon Ha; Jie Tan 001; Vikash Kumar; Henry Zhu; Abhishek Gupta 004; Pieter Abbeel; Sergey Levine (CoRR, 2018)

Computational co-optimization of design parameters and motion trajectories for robotic systems. - Sehoon Ha; Stelian Coros; Alexander Alspach; Joohyung Kim; Katsu Yamane (Int. J. Robotics Res., 2018)

DART: Dynamic Animation and Robotics Toolkit. - Jeongseok Lee; Michael X. Grey; Sehoon Ha; Tobias Kunz; Sumit Jain; Yuting Ye; Siddhartha S. Srinivasa; Mike Stilman; C. Karen Liu (J. Open Source Softw., 2018)

Computational Design of Robotic Devices From High-Level Motion Specifications. - Sehoon Ha; Stelian Coros; Alexander Alspach; James M. Bern; Joohyung Kim; Katsu Yamane (IEEE Trans. Robotics, 2018)

Learning to Walk Via Deep Reinforcement Learning. - Tuomas Haarnoja; Sehoon Ha; Aurick Zhou; Jie Tan 001; George Tucker; Sergey Levine (Robotics: Science and Systems, 2019)

Learning to Walk in the Real World with Minimal Human Effort. - Sehoon Ha; Peng Xu 010; Zhenyu Tan; Sergey Levine; Jie Tan 001 (CoRL, 2020)

Learning a Control Policy for Fall Prevention on an Assistive Walking Device. - Visak C. V. Kumar; Sehoon Ha; Gregory Sawicki; C. Karen Liu (ICRA, 2020)

Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation. - Xinlei Pan; Tingnan Zhang; Brian Ichter; Aleksandra Faust; Jie Tan 001; Sehoon Ha (ICRA, 2020)

Learning to be Safe: Deep RL with a Safety Critic. - Krishnan Srinivasan; Benjamin Eysenbach; Sehoon Ha; Jie Tan 001; Chelsea Finn (CoRR, 2020)

Learning Fast Adaptation With Meta Strategy Optimization. - Wenhao Yu 003; Jie Tan 001; Yunfei Bai; Erwin Coumans; Sehoon Ha (IEEE Robotics Autom. Lett., 2020)

Quadrupedal robots trot into the wild. - Sehoon Ha (Sci. Robotics, 2020)

Visual-Locomotion: Learning to Walk on Complex Terrains with Vision. - Wenhao Yu 003; Deepali Jain; Alejandro Escontrela; Atil Iscen; Peng Xu 010; Erwin Coumans; Sehoon Ha; Jie Tan 001; Tingnan Zhang (CoRL, 2021)

PODS: Policy Optimization via Differentiable Simulation. - Miguel Zamora; Momchil Peychev; Sehoon Ha; Martin T. Vechev; Stelian Coros (ICML, 2021)

Observation Space Matters: Benchmark and Optimization Algorithm. - Joanne Taery Kim; Sehoon Ha (ICRA, 2021)

A Few Shot Adaptation of Visual Navigation Skills to New Observations using Meta-Learning. - Qian Luo; Maks Sorokin; Sehoon Ha (ICRA, 2021)

Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation. - Naoki Yokoyama; Sehoon Ha; Dhruv Batra (IROS, 2021)

Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments. - Visak C. V. Kumar; Sehoon Ha; C. Karen Liu (Robotics: Science and Systems, 2021)

Learning Human Search Behavior from Egocentric Visual Inputs. - Maks Sorokin; Wenhao Yu 003; Sehoon Ha; C. Karen Liu (Comput. Graph. Forum, 2021)

Learning Robot Structure and Motion Embeddings using Graph Neural Networks. - Joanne Taery Kim; Jeongeun Park 002; Sungjoon Choi; Sehoon Ha (CoRR, 2021)

Learning Robust Agents for Visual Navigation in Dynamic Environments: The Winning Entry of iGibson Challenge 2021. - Naoki Yokoyama; Qian Luo; Dhruv Batra; Sehoon Ha (CoRR, 2021)

Finite State Machine Policies Modulating Trajectory Generator. - Ren Liu; Nitish Sontakke; Sehoon Ha (CoRR, 2021)

Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning. - Nitish Sontakke; Sehoon Ha (CoRR, 2021)

Model-based Motion Imitation for Agile, Diverse and Generalizable Quadupedal Locomotion. - Tianyu Li; Jungdam Won; Sehoon Ha; Akshara Rai (CoRR, 2021)

Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning. - Hao-Lun Hsu; Qiuhua Huang; Sehoon Ha (ICRA, 2022)

Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning. - K. Niranjan Kumar; Irfan Essa; Sehoon Ha (ICRA, 2022)

Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World. - Laura M. Smith; J. Chase Kew; Xue Bin Peng; Sehoon Ha; Jie Tan 001; Sergey Levine (ICRA, 2022)

PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion. - Ren Liu; Nitish Sontakke; Sehoon Ha (IROS, 2022)

Safe Reinforcement Learning for Legged Locomotion. - Tsung-Yen Yang; Tingnan Zhang; Linda Luu; Sehoon Ha; Jie Tan 001; Wenhao Yu 003 (IROS, 2022)

Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge. - Naoki Yokoyama; Qian Luo; Dhruv Batra; Sehoon Ha (IROS, 2022)

Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning. - Sunwoo Kim; Maks Sorokin; Jehee Lee; Sehoon Ha (Robotics: Science and Systems, 2022)

HumanConQuad: Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning. - Sunwoo Kim; Maks Sorokin; Jehee Lee; Sehoon Ha (SIGGRAPH ASIA Emerging Technologies, 2022)

Unified State Representation Learning under Data Augmentation. - Taylor Hearn; Sravan Jayanthi; Sehoon Ha (CoRR, 2022)

Learning to Navigate Sidewalks in Outdoor Environments. - Maks Sorokin; Jie Tan 001; C. Karen Liu; Sehoon Ha (IEEE Robotics Autom. Lett., 2022)

Real-Time Remodeling of Granular Terrain for Robot Locomotion. - Andras Karsai; Deniz Kerimoglu; Daniel Soto 002; Sehoon Ha; Tingnan Zhang; Daniel I. Goldman (Adv. Intell. Syst., 2022)

Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism. - Joanne Taery Kim; Wenhao Yu 003; Yash Kothari; Bruce N. Walker; Jie Tan 001; Greg Turk; Sehoon Ha (CoRL, 2023)

How to Train Your Guide Dog: Wayfinding and Safe Navigation with Human-Robot Modeling. - Joanne Taery Kim; Wenhao Yu 003; Jie Tan 001; Greg Turk; Sehoon Ha (HRI (Companion), 2023)

ViNL: Visual Navigation and Locomotion Over Obstacles. - Simar Kareer; Naoki Yokoyama; Dhruv Batra; Sehoon Ha; Joanne Truong (ICRA, 2023)

ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments. - Jeonghwan Kim; Tianyu Li; Sehoon Ha (IROS, 2023)

Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot Using Scalable Motion Imitation. - Arnaud Klipfel; Nitish Sontakke; Ren Liu; Sehoon Ha (IROS, 2023)

Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots. - Nitish Sontakke; Hosik Chae; Sangjoon Lee; Tianle Huang; Dennis W. Hong; Sehoon Ha (IROS, 2023)

On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning. - Maks Sorokin; Chuyuan Fu; Jie Tan 001; C. Karen Liu; Yunfei Bai; Wenlong Lu; Sehoon Ha; Mohi Khansari (IROS, 2023)

Learning and Adapting Agile Locomotion Skills by Transferring Experience. - Laura M. Smith; J. Chase Kew; Tianyu Li; Linda Luu; Xue Bin Peng; Sehoon Ha; Jie Tan 001; Sergey Levine (Robotics: Science and Systems, 2023)

ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters. - Tianyu Li; Jungdam Won; Alexander Clegg; Jeonghwan Kim; Akshara Rai; Sehoon Ha (SIGGRAPH Asia, 2023)

Adaptive Skill Coordination for Robotic Mobile Manipulation. - Naoki Yokoyama; Alexander William Clegg; Eric Undersander; Sehoon Ha; Dhruv Batra; Akshara Rai (CoRR, 2023)

Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism. - Joanne Taery Kim; Wenhao Yu 003; Yash Kothari; Jie Tan 001; Greg Turk; Sehoon Ha (CoRR, 2023)

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms. - Anthony G. Francis; Claudia Pérez-D'Arpino; Chengshu Li 001; Fei Xia 002; Alexandre Alahi; Rachid Alami 001; Aniket Bera; Abhijat Biswas; Joydeep Biswas; Rohan Chandra; Hao-Tien Lewis Chiang; Michael Everett; et al. (CoRR, 2023)

Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement. - K. Niranjan Kumar; Irfan Essa; Sehoon Ha (CoRR, 2023)

Cascaded Compositional Residual Learning for Complex Interactive Behaviors. - K. Niranjan Kumar; Irfan Essa; Sehoon Ha (IEEE Robotics Autom. Lett., 2023)

Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum. - Yunbo Zhang; Alexander Clegg; Sehoon Ha; Greg Turk; Yuting Ye (Comput. Graph. Forum, 2023)

FastMimic: Model-Based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion. - Tianyu Li; Jungdam Won; Jeongwoo Cho; Sehoon Ha; Akshara Rai (Robotics, 2023)

User preference optimization for control of ankle exoskeletons using sample efficient active learning. - Ung Hee Lee; Varun S. Shetty; Patrick W. Franks; Jie Tan 001; Georgios Evangelopoulos; Sehoon Ha; Elliott J. Rouse (Sci. Robotics, 2023)

Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion. - Donghoon Youm; Hyunyoung Jung 002; Hyeongjun Kim; Jemin Hwangbo; Hae-Won Park 002; Sehoon Ha (IEEE Robotics Autom. Lett., 2023)

Co-designing Robot Dogs with and for Neurodivergent Individuals: Opportunities and Challenges. - Ha Kyung Kong; Derek Xie; Ankith Chandra; Rachel Lowy; Arielle F. Maignan; Sehoon Ha; Chung Hyuk Park; Jennifer G. Kim (ASSETS, 2024)

AAMDM: Accelerated Auto-Regressive Motion Diffusion Model. - Tianyu Li; Calvin Qiao; Guanqiao Ren; KangKang Yin; Sehoon Ha (CVPR, 2024)

Emotion-Behavior Interplay in Human Animal-Robot Interaction (HARI). - Arielle Maignan; Derek Xie; Sehoon Ha; Jennifer G. Kim; Chung Hyuk Park (HRI (Companion), 2024)

CrossLoco: Human Motion Driven Control of Legged Robots via Guided Unsupervised Reinforcement Learning. - Tianyu Li; Hyunyoung Jung 002; Matthew C. Gombolay; Yong Kwon Cho; Sehoon Ha (ICLR, 2024)

Learning manipulation of steep granular slopes for fast Mini Rover turning. - Deniz Kerimoglu; Daniel Soto 002; Malone Lincoln Hemsley; Joseph Brunner; Sehoon Ha; Tingnan Zhang; Daniel I. Goldman (ICRA, 2024)

VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation. - Naoki Yokoyama; Sehoon Ha; Dhruv Batra; Jiuguang Wang; Bernadette Bucher (ICRA, 2024)

BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning. - Tianle Huang; Nitish Sontakke; K. Niranjan Kumar; Irfan Essa; Stefanos Nikolaidis; Dennis W. Hong; Sehoon Ha (IROS, 2024)

HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigation. - Naoki Yokoyama; Ram Ramrakhya; Abhishek Das; Dhruv Batra; Sehoon Ha (IROS, 2024)

Modeling social interaction dynamics using temporal graph networks. - Joanne Taery Kim; Archit Naik; Isuru Jayarathne; Sehoon Ha; Jouh Yeong Chew (RO-MAN, 2024)

Learning to enhance multi-legged robot on rugged landscapes. - Juntao He; Baxi Chong; Zhaochen Xu; Sehoon Ha; Daniel I. Goldman (CoRR, 2024)

Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller. - Jeonghwan Kim; Yunhai Han; Harish Ravichandar; Sehoon Ha (CoRR, 2024)

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation. - Fukang Liu; Zhaoyuan Gu; Yilin Cai; Ziyi Zhou; Shijie Zhao; Hyunyoung Jung 002; Sehoon Ha; Yue Chen; Danfei Xu; Ye Zhao 002 (CoRR, 2024)

ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation. - Naoki Yokoyama; Alexander Clegg; Joanne Truong; Eric Undersander; Tsung-Yen Yang; Sergio Arnaud; Sehoon Ha; Dhruv Batra; Akshara Rai (IEEE Robotics Autom. Lett., 2024)

Understanding Expectations for a Robotic Guide Dog for Visually Impaired People. - Joanne Taery Kim; Morgan Byrd; Jack L. Crandell; Bruce N. Walker; Greg Turk; Sehoon Ha (HRI, 2025)

Language Guided Skill Discovery. - Seungeun Rho; Laura M. Smith; Tianyu Li; Sergey Levine; Xue Bin Peng; Sehoon Ha (ICLR, 2025)

Learning-based legged locomotion: State of the art and future perspectives. - Sehoon Ha; Joonho Lee; Michiel van de Panne; Zhaoming Xie; Wenhao Yu 003; Majid Khadiv (Int. J. Robotics Res., 2025)

RobotMover: Learning to Move Large Objects by Imitating the Dynamic Chain. - Tianyu Li; Joanne Truong; Jimmy Yang; Alexander Clegg; Akshara Rai; Sehoon Ha; Xavier Puig (CoRR, 2025)

PrivilegedDreamer: Explicit Imagination of Privileged Information for Rapid Adaptation of Learned Policies. - Morgan Byrd; Jack L. Crandell; Mili Das; Jessica Inman; Robert Wright; Sehoon Ha (CoRR, 2025)

Learning a High-quality Robotic Wiping Policy Using Systematic Reward Analysis and Visual-Language Model Based Curriculum. - Yihong Liu; Dongyeop Kang; Sehoon Ha (CoRR, 2025)

Do Looks Matter? Exploring Functional and Aesthetic Design Preferences for a Robotic Guide Dog. - Aviv L. Cohav; A. Xinran Gong; Joanne Taery Kim; Clint Zeagler; Sehoon Ha; Bruce N. Walker (CoRR, 2025)

Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots. - Juntao He; Baxi Chong; Massimiliano Iaschi; Vincent R. Nienhusser; Sehoon Ha; Daniel I. Goldman (CoRR, 2025)

PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization. - Hyunyoung Jung 002; Zhaoyuan Gu; Ye Zhao 002; Hae-Won Park 002; Sehoon Ha (CoRR, 2025)

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms. - Anthony G. Francis; Claudia Pérez-D'Arpino; Chengshu Li 002; Fei Xia 002; Alexandre Alahi; Rachid Alami 001; Aniket Bera; Abhijat Biswas; Joydeep Biswas; Rohan Chandra; Hao-Tien Lewis Chiang; Michael Everett; et al. (ACM Trans. Hum. Robot Interact., 2025)

Learning Physical Interaction Skills from Human Demonstrations. - Tianyu Li; Hengbo Ma; Sehoon Ha; Kwonjoon Lee (CoRR, 2025)

Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion. - Seungeun Rho; Kartik Garg; Morgan Byrd; Sehoon Ha (CoRR, 2025)

Switch4EAI: Leveraging Console Game Platform for Benchmarking Robotic Athletics. - Tianyu Li; Jeonghwan Kim; Wontaek Kim; Donghoon Baek; Seungeun Rho; Sehoon Ha (CoRR, 2025)