Physical AI

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Physical AI

딥러닝

  • 딥러닝 기반 객체 인식
  • 포즈 정보 없이 3차원 장면 재구성을 위한 Event-to-Edge Gaussian Splatting
  • Mamba 아키텍처 기반 고속·강건 지역 특징 매칭
  • PID 제어기에서 영감을 받은 Cross-view 자세 최적화 네트워크
  • 혼동도 및 신뢰도를 고려한 컨텍스트 최적화 혼합 모델
  • 픽셀 단위 장면 이해를 위한 문맥 기반 대조학습
  • Visual SLAM의 구조적 규칙성을 활용한 메쉬 보정 기반 비지도 깊이 완성 및 다단계 깊이 예측
  • 거리 정보 기반 위치 추정을 위한 Range-only 네트워크
  • 생체 모사 신경망
  • 스파이킹 신경망

관련 논문

  • Yunsoo Kim, Changki Sung, Dasol Hong, and Hyun Myung†, “E2EGS: Event-to-Edge Gaussian Splatting for Pose-Free 3D Reconstruction," in Proc. The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2026), 2026. (Accepted)
  • Juhye Park, Wooju Lee, Dasol Hong, Changki Sung, Youngwoo Seo, DongWan Kang, and Hyun Myung†, “VIRD: View-Invariant Representation through Dual-Axis Transformation for Cross-View Pose Estimation," in Proc. The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2026), 2026. (Accepted)
  • Kihwan Ryoo, Hyungtae Lim, and Hyun Myung†, “MambaGlue: Fast and Robust Local Feature Matching With Mamba," in Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA), pp. 5758-5765, Atlanta, USA, May 2025. [Link]
  • Wooju Lee, Juhye Park, Dasol Hong, Changki Sung, Youngwoo Seo, DongWan Kang, and Hyun Myung†, “PIDLoc: Cross-View Pose Optimization Network Inspired by PID Controllers," in Proc. The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2025), Nashville, USA, Jun. 2025. [Link]
  • Dasol Hong, Wooju Lee, and Hyun Myung†, “CoCoA-Mix: Confusion-and-Confidence-Aware Mixture Model for Context Optimization," in Proc. International Conference on Machine Learning (ICML 2025), Vancouver, Canada, Jul. 2025. [Link]
  • Changki Sung, Wanhee Kim, Jungho An, WooJu Lee, Hyungtae Lim, and Hyun Myung†, “Contextrast: Contextual Contrastive Learning for Semantic Segmentation," in Proc. The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2024), Seattle, USA, Jun. 2024. [Link]
  • Jinwoo Jeon, Hyunjun Lim, Dong-Uk Seo, and Hyun Myung†, “Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM," in Proc. 2022 IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems (IROS), pp. 6391-6398, Kyoto, Japan, Oct. 2022. [Link]
  • Hyungtae Lim, Hyeonjae Gil, and Hyun Myung†, “MSDPN: Monocular Depth Prediction with Partial Laser Observation using Multi-stage Neural Networks," in Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems (IROS), Las Vegas, USA (virtual), Oct. 2020. [Link]
  • Hyungtae Lim, Changgue Park, and Hyun Myung†, “RONet: Real-time Range-only Indoor Localization via Stacked Bidirectional LSTM with Residual Attention," in Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems (IROS), pp.3241-3247, Macau, China, Nov. 2019. [Link]

사진 및 영상

깊이 정보만을 활용한 제스처 인식

  • 머신러닝 및 딥러닝 기반 인간 자세 추정(뼈대 추출) 및 제스처 인식

관련 논문

  • Seunghee Lee, Jungmo Koo, Hyungjin Kim, Kwangyik Jung, and Hyun Myung†, “A Robust Estimation of 2D Human Upper-body Poses using Fully Convolutional Network," in Proc. Int’l Conf. on Robot Intelligence Technology and Applications (RiTA), Daejeon, Korea, Dec. 2017. [Link]
  • Hangeun Kim, Sangwon Lee, Youngjae Kim, Serin Lee, Dongsung Lee, Jinsun Ju, and Hyun Myung†, “Weighted Joint-Based Human Behavior Recognition Algorithm using Only Depth Information for Low-Cost Intelligent Video-Surveillance System," Expert Systems With Applications, vol.45, pp.131-141, Sep. 2015. [Link]
  • Hanguen Kim, Sangwon Lee, Dongsung Lee, Soonmin Choi, Jinsun Ju, and Hyun Myung†, “Real-time human pose estimation and gesture recognition from depth images using superpixels and SVM classifier," Sensors, vol.15, no.6, pp.12410-12427, May 2015. [Link]

사진 및 영상

로보틱스를 위한 강화학습

  • 사족보행 로봇의 딥 강화학습 기반 블라인드 보행
  • 틸팅 로터 드론을 위한 기준 제어기 강화학습
  • 관절형 물체 조작을 위한 다리형 매니퓰레이터 제어
  • 험지 환경에서의 고장 인지 보행

관련 논문

  • Seonghyeon Lim, Seunghyun Lee, Hyeonwoo Lee, I Made Aswin Nahrendra, Hyun Myung, “OpenHEART: Opening Heterogeneous Articulated Objects with a Legged Manipulator," in Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA), 2026. (Accepted)
  • I Made Aswin Nahrendra, Byeongho Yu, Minho Oh, Dongkyu Lee, Seunghyun Lee, Hyeonwoo Lee, Hyungtae Lim, and Hyun Myung†, “DreamWaQ++: Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning," IEEE T-RO (Transactions on Robotics), vol.42, pp.819-836, Jan. 2026. [Link]
  • Seunghyun Lee, I Made Aswin Nahrendra, Dongkyu Lee, Byeongho Yu, Minho Oh, Hyeonwoo Lee, and Hyun Myung†, “DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains," in Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA), pp. 16001-16007, Atlanta, USA, May 2025. [Link]
  • I Made Aswin Nahrendra, Christian Tirtawardhana, Byeongho Yu, EungChang Lee, and Hyun Myung†, “Retro-RL: Reinforcing Nominal Controller with Deep Reinforcement Learning for Tilting-Rotor Drones," IEEE RA-L (Robotics and Automation Letters), vol.7, no.4, pp.9004-9011, Oct. 2022. [Link]

사진 및 영상