Junhyeok Ahn

I am a researcher at NVIDIA GEAR Lab, working at the intersection of robotics and machine learning. I received my Ph.D. from UT Austin and previously worked at Boston Dynamics.

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Large behavior model that lets Atlas use vision, proprioception, and language cues to perform long-horizon tasks combining locomotion + whole-body manipulation

Control and evaluation of Draco3 humanoid robot.

Learning-based safety verification tool for legged robots.

Novel network representation for hybrid dynamical systems.

Robust gain adaptation method in whole-body controller.

Trajectory optimization framework with a centroidal inertia network and whole-body controller with an implicit task hierarchy for humanoid robots.

Trajectory generation based on sampling-based reachability analysis and optimal control.

Time-to-velocity reversal planner and whole-body locomotion controller for passive-ankle bipeds.

Safe and efficient learning of locomotion policy combining a capturability, control barrier function, and hierarchical reinforcement learning.

Design, control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators.

Whole-body controller that considers centroidal momentum dynamics, operational task priorities, contact reaction forces, and internal force constraints.

Kino-dynamic RRT planning for humanoids in maze environemnts.

Design, control, and evaluation of a new viscoelastic liquid cooled actuator technology.

Design, control, and evaluation of a new viscoelastic liquid cooled actuator technology.

Human-aware control policy that incorporates social cognitive theory and model predictive control with mixed integer constraints.

Website source from Jon Barron and Chaitanya Malaviya