Dong-hyun Lee

2 accepted papers

2025

Adaptive Invariant Extended Kalman Filter for Legged Robot State Estimation

Kyung-Hwan Kim, DongHyun Ahn, Dong-hyun Lee, JuYoung Yoon, Dong Jin Hyun

IROS 2025

State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state estimation for legged robots. The proposed method adaptively adjusts the noise lev

Cited by 5 Source ↗Scholar ↗

2019

Discovery of Natural Language Concepts in Individual Units of CNNs

Seil Na, Yo Joong Choe, Dong-Hyun Lee, Gunhee Kim

ICLR 2019poster

Although deep convolutional networks have achieved improved performance in many natural language tasks, they have been treated as black boxes because they are difficult to interpret. Especially, little is known about how they represent language in their intermediate layers. In an attempt to understa…

Cited by 28 Source ↗PDF ↗code ↗Scholar ↗