All Publications

International Papers

ICRA26-PAPL Paper

Phase-Aware Policy Learning for Skateboard Riding of Quadruped Robots via Feature-wise Linear Modulation

Minsung Yoon*, Jeil Jeong*, Sung-Eui Yoon

IEEE International Conference on Robotics and Automation (ICRA), 2026

RL Multimodal Locomotion Quadruped Robots
ICRA26-CURAPPO Paper

Uncertainty-Aware Non-Prehensile Manipulation with Mobile Manipulators under Object-Induced Occlusion

Jiwoo Hwang, Taegeun Yang, Jeil Jeong, Minsung Yoon, Sung-Eui Yoon

IEEE International Conference on Robotics and Automation (ICRA), 2026

RL Occlusion Handling Non-Prehensile Manipulation
ICRA26-3DAdv Paper

Beyond the Patch: Exploring Vulnerabilities of Visuomotor Policies via Viewpoint-Consistent 3D Adversarial Object

Chanmi Lee, Minsung Yoon, Woo Jae Kim, Sebin Lee, Sung-Eui Yoon

IEEE International Conference on Robotics and Automation (ICRA), 2026

3D Adversarial Attack Differential Rendering Visuomotor Policies
LangPert Paper

LangPert: Detecting and Handling Task-level Perturbations for Robust Object Rearrangement

Xu Yin, Minsung Yoon, Yuchi Huo, Kang Zhang, Sung-Eui Yoon

arXiv preprint, 2025

Paper
Foundation Models Perturbation Detection Object Rearrangement
IJCAS25 Paper

Robust Pedipulation on Quadruped Robots via Gravitational-moment Minimization

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

International Journal of Control, Automation, and Systems (IJCAS), 2025

(Also presented at International Conference on Control, Automation and Systems (ICCAS), 2025)

PAPER
Quadruped Robot Pedipulation RL
IROS25 Paper

Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning

Taegeun Yang, Jiwoo Hwang, Jeil Jeong, Minsung Yoon, and Sung-Eui Yoon

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Project Page
Mobile Manipulator Loco-Manipulation Navigation Hierarchical Policy RL
IJH25 Paper

Metaheuristic Asphalt Crack Sealing Path Planning based on Discrete Grey Wolf Optimizer

Jeremy C.H. Ong, Minsung Yoon, HeeChan Shin, Sung-Eui Yoon, Mohd-Zulhilmi Ismadi, Xin Wang

International Journal of Hydromechatronics, 2025

PAPER
Path Planning Optimization Field Robotics
ICRA25 Paper

Enhancing Navigation Efficiency of Quadruped Robots via Leveraging Personal Transportation Platforms

Minsung Yoon and Sung-Eui Yoon

IEEE International Conference on Robotics and Automation (ICRA), 2025

Project Page
Quadruped Robot Riding Locomotion RL
IROS24 Paper

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

(Also presented at Agile Robotics Workshop at ICRA 2024)

Project Page
Quadruped Robot Adaptive Control RL
IV24 Workshop Paper

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

Path Planning
ICRA23 Paper

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

Project Page
Manipulator Trajectory Optimization RL + Optimization
ICRA23 Paper

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
Safe Teleoperation Risk Prediction RL
ICRA22 Paper

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

Project Page
Navigation Sensor Occlusion RL
ROMAN22 Workshop Paper

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 RO-MAN, 2022

Manipulator Trajectory Generation Robustness
ICRA21 Workshop Paper

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
Quadruped Robot Motion Planning Deep Learning

Domestic (Korean) Papers

KCC24 Paper

Adversarial Attack on Visuomotor Policy

Chanmi Lee, Minsung Yoon, and Sung-Eui Yoon

Korea Computer Congress (KCC), 2024

Adversarial Attack Visuomotor Policy Safety
KRoC24 Paper

Manipulator-Assisted Navigation Among Movable Obstacles using Learned Robot-Obstacle Kinodynamics Model

Taegeun Yang, Minsung Yoon, and Sung-Eui Yoon

Korea Robotics Society Annual Conference (KRoC), 2024

Mobile Manipulator NAMO Kinodynamics
KRoC21 Paper

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
Navigation Sensor Occlusion RL
KRoC21 Paper

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
Sampling-based Path Planning RL
Expanded Image