Yeseung Kim

2 accepted papers

2024

Graph-based 3D Collision-distance Estimation Network with Probabilistic Graph Rewiring

Minjae Song, Yeseung Kim, Min Jun Kim, Daehyung Park

ICRA 2024poster

We aim to solve the problem of data-driven collision-distance estimation given 3-dimensional (3D) geometries. Conventional algorithms suffer from low accuracy due to their reliance on limited representations, such as point clouds. In contrast, our previous graph-based model, GraphDistNet, achieves h…

Cited by 1 Source ↗Scholar ↗

2022

GraphDistNet: A Graph-Based Collision-Distance Estimator for Gradient-Based Trajectory Optimization

Yeseung Kim, Jinwoo Kim, Daehyung Park

RA-L 2022

Trajectory optimization (TO) aims to find a sequence of valid states while minimizing costs. However, its fine validation process is often costly due to computationally expensive collision searches, otherwise coarse searches lower the safety of the system losing a precise solution. To resolve the is

Cited by 12 Source ↗Scholar ↗