Min-Sung Yoon

Ph.D. Candidate

School of Computing, KAIST

CV | Linkedin | GitHub

Hello! I'm a Ph.D. student in Computer Science at Korea Advanced Institute of Science and Technology (KAIST), advised by Prof. Sung-Eui Yoon. Currently I am a member of Scalable Graphics, Vision, and Robotics (SGVR) Lab. I am also having the privilege of working closely with Prof. Daehyung Park at KAIST.

• Research interest: I am particularly interested in increasing the autonomy of robots in various ways: 🧑‍💻➡🤖➕🧠. My research interest spans the following keywords: Reinforcement learning, Embodied AI, 3D Vision, Deep learning, Robotics, Motion Generation/Planning, Task and Motion Planning, Agile and Robust Control, Navigation, Graphics, etc. While my interests may appear broad, I am continuously drawn to exploring new research domains and connecting disparate fields. I hold a belief that all research fields eventually converge into robotics with the goal of enhancing quality of human-being life.

Contact

minsung.[lastname]@kaist.ac.kr
Bldg E3-1, 291 Daehak-ro, Yuseong-gu, Daejeon, Korea, 34141

Education

Ph.D. in Computer Science, KAIST

- Advisor: Sung-Eui Yoon

Mar. 2022 - Current
M.S. in Computer Science, KAIST

- Advisor: Sung-Eui Yoon

Mar. 2020 - Feb. 2022
B.S. in Information & Communication Engineering,
Inha University

Mar. 2015 - Feb. 2019

News

[Jul. 24] One paper is accepted to IROS 2024.
[Jun. 24] I proceeded the tutorial on "Advanced Motion Generation Techniques: Sampling-Based to Reinforcement Learning" at KCC 2024. [Link]
[Jun. 24] One paper is accepted to the Off-Road Autonomy Workshop at IV 2024.
[May 24] One paper is accepted to the Agile Robotics Workshop at ICRA 2024.
[Jul. 23] Our research is selected as one of the KAIST 2023 Research Highlights.
[Jun. 23] Our research is presented in KAIST Research News, CS Department News, and KAIST Alumni News.
[May 23] I received an Outstanding Planning Paper Award at ICRA 2023. [Link]
[May 23] Two papers are accepted to ICRA 2023.
[Feb. 23] I gave an invited talk with the ICRA 2022 work at Flagship Conference / Journal Session of KRoC 2023. [Link]
[Aug. 22] One paper is accepted to RO-MAN 2022 Workshop on Machine Learning for HRI.
[Jun. 22] Our research is presented in Research Highlights of the Department of Computing Science (CS) at KAIST.
[May 22] I received an Outstanding Navigation Paper Finalist Award at ICRA 2022. [Link]
[May 22] One paper is accepted to ICRA 2022.

Publications

International Papers

Learning-based Adaptive Control of Quadruped Robots for Active Stabilization on Moving Platforms

Minsung Yoon, Heechan Shin, Jeil Jeong, and Sung-Eui Yoon

- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

- Agile Robotics Workshop at ICRA 2024

- [Project Page]
Analysis of Terrain-Aware Optimal Path Planning Methods for Stable Off-Road Navigation

Minsung Yoon, Taegeun Yang, Chanmi Lee, Hyunsik Son, and Sung-Eui Yoon

- Off-Road Autonomy Workshop at IEEE Intelligent Vehicles Symposium (IV) 2024
Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators

Minsung Yoon, Mincheul Kang, Daehyung Park, and Sung-Eui Yoon

- IEEE International Conference on Robotics and Automation (ICRA) 2023

- Outstanding Planning Paper Award (15 awards out of 1,341 papers)

- [Project Page]

- [KAIST Research News], [KAIST CS Dept. Research News], [KAIST Alumni News]
Towards Safe Remote Manipulation: User Command Adjustment based on Risk Prediction for Dynamic Obstacles

Mincheul Kang, Minsung Yoon, and Sung-Eui Yoon

- IEEE International Conference on Robotics and Automation (ICRA) 2023

- [Project Page]
Confidence-Based Robot Navigation Under Sensor Occlusion with Deep Reinforcement Learning

Hyeongyeol Ryu, Minsung Yoon, Daehyung Park, and Sung-Eui Yoon

- IEEE International Conference on Robotics and Automation (ICRA) 2022

- Outstanding Navigation Paper Finalist Award (39 awards out of 1,498 papers)

- [Project Page]

- [Research Highlights on the 2023 KAIST Annual R&D Report], [Research Highlights at KAIST CS Dept.]
Fast and Robust Trajectory Generation for Cartesian Path-following Problems of Redundant Manipulators

Minsung Yoon, Mincheul Kang, Daehyung Park, and Sung-Eui Yoon

- Machine Learning for Human-Robot Interaction (HRI) Workshop
at IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2022
Deep Neural Network-based Fast Motion Planning Framework for Quadrupedal Robot

Jinhyeok Jang, Heechan Shin, Minsung Yoon, Seungwoo Hong, Hae-Won Park, and Sung-Eui Yoon

- Machine Learning for Motion Planning (MLMP) Workshop at ICRA 2021

- [Workshop Video]

Domestic Papers

Robust Robot Navigation against External Disturbance using Deep Reinforcement Learning

Hyeongyeol Ryu, Minsung Yoon, Daehyung Park, and Sung-Eui Yoon

- Korea Robotics Society Annual Conference (KRoC), 2021

- [Project Page]
Bias tree expansion using reinforcement learning for efficient motion planning

Minsung Yoon, Daehyung Park, and Sung-Eui Yoon

- Korea Robotics Society Annual Conference (KRoC), 2021

- [Project Page]

Education & Awards

Ph.D. in Computer Science, KAIST

Total GPA: 4.1/4.3 (undergoing)
Outstanding Planning Paper Award, ICRA 2023
Outstanding Navigation Paper Finalist Award, ICRA 2022

M.S. in Computer Science, KAIST

Total GPA: 4.0/4.3 (credits: 34)

Undergraduate in Information & Communication Engineering (ICE), Inha

Major GPA: 4.48/4.5 (credits: 74), Total GPA: 4.34/4.5 (credits: 130)
Best Design Award for Comprehensive Information and Communication Design (Graduation project, 1st place), ICE, 2018

Title: Platooning with Autonomous Driving | Team members: Minsung Yoon, 박준영, and 최재영 | Advised by Prof. 김덕경