Publications (Google Scholar)


 Journal Articles

[1] Jacob Arkin*, Daehyung Park*, Subhro Roy, Matthew R. Walter, Nicholas Roy, Thomas M. Howard, and Rohan Paul. "Multi-Modal Estimation and Communication of Latent Semantic Knowledge for Robust Execution of Robot Instructions" (*- authors contributed equally) [Submitted]

[2] Daehyung Park, Yuuna Hoshi, Harshar P. Mahajan, Ho Keun Kim, Zackory Erickson, Wendy A. Rogers, and Charles C. Kemp. “Active Robot-Assisted Feeding with a General-Purpose Mobile Manipulator: Design, Evaluation, and Lessons Learned” [Submitted] [Preprint][Video]

[3] Ariel Kapusta, Philip Grice, Henry Clever, Yash Chitalia, Daehyung Park, and Charles C. Kemp. “An Assistive Robotic System with a Robotic Bed and a Mobile Manipulator,” PLoS ONE. [Accepted]

[4] Daehyung Park, Yuuna Hoshi, and Charles C. Kemp. “A Multimodal Anomaly Detector for Robot-Assisted Feeding Using an LSTM-based Variational Autoencoder”, IEEE Robotics and Automation Letters (RA-L)2018. [PDF][Video] (presentation in ICRA 2018)

[5] Daehyung Park, Hokeun Kim, and Charles C. Kemp. “Multimodal Anomaly Detection for Assistive Robots”, Autonomous Robots, 2018. [PDF]


 Conference Articles

[1] Daehyung Park et al. "Inferring Task Goals and Constraints using Bayesian Nonparametric Inverse Reinforcement Learning", Conference on Robot Learning (CoRL2019) [Accepted] (27.6% Acceptance Rate)

[2] Michael Noseworthy et al. "Task-Conditioned Variational Autoencoders for Learning Movement Primitives", Conference on Robot Learning (CoRL2019) [Accepted] (27.6% Acceptance Rate)

[3] Subhro Roy, Michael Noseworthy, Rohan Paul, Daehyung Park and Nicholas Roy. "Leveraging Past References for Robust Language Grounding", Conference on Computational Natural Language Learning (CoNLL 2019) [Accepted]

[4] Daniel Nyga, Subhro Roy, Rohan Paul, Daehyung Park, Mihai Pomarlan, Michael Beetz, and Nicholas Roy. "Grounding Robot Plans from Natural Language Instructions with Incomplete World Knowledge", Conference on Robot Learning (CoRL2018) [PDF][Video] (31% Acceptance Rate)

[5] Jacob Arkin, Rohan Paul, Daehyung Park, Subhro Roy, Nicholas Roy and Thomas M. Howard. "Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments", Int'l. Symp. on Experimental Robotics (ISER2018) [PDF][Video]

[6] Henry M. Clever, Ariel Kapusta, Daehyung Park, Zackory Erickson, Yash Chitalia, and Charles C. Kemp. “Estimating 3D Human Pose on a Configurable Bed from a Single Pressure Image”, IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2018). [PDF]

[7] Daehyung Park, Hokeun Kim, Yuuna Hoshi, Zackory Erickson, Ariel Kapusta, and Charles C. Kemp. “A Multimodal Execution Monitor with Anomaly Classification for Robot-Assisted Feeding”, IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2017) [PDF][Video]

[8] Daehyung Park, Zackory Erickson, Tapomayukh Bhattacharjee, and Charles C. Kemp. “Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation”, IEEE Int'l. Conf. on Robotics and Automation, 2016. (ICRA2016) [PDF][Video] (34% Acceptance Rate)

[9] Tapomayukh Bhattacharjee, Ashwin A Shenoi, Daehyung Park, James M. Rehg, and Charles C. Kemp, "Combining Tactile Sensing and Vision for Rapid Haptic Mapping", IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2015) [PDF]

[10] Ariel Kapusta, Daehyung Park, and Charles C. Kemp, "Task-Centric Selection of Robot and Environment Initial Configurations to Perform Assistive Tasks",  IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2015) [PDF]

[11] Daehyung Park, Ariel Kapusta, Jeffrey Hawke, and Charles C. Kemp. “Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments”, IEEE-RAS Int'l. Conf. on Humanoid Robots (Humanoids 2014) [PDF][Video]

[12] Daehyung Park, Ariel Kapusta, Youkeun Kim, James M. Rehg, and Charles C. Kemp. “Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter”, IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS2014) [PDF][Video]

[13] Heiko Hoffmann, Peter Pastor, Daehyung Park, and Stefan Schaal. “Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance”, IEEE Int'l. Conf. on Robotics and Automation, 2009. [PDF]

[14] Daehyung Park, Heiko Hoffmann, Peter Pastor, and Stefan Schaal. “Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields”, IEEE-RAS Int'l. Conf. on Humanoid Robots (Humanoids 2008, ORAL) [PDF]


 Workshop papers, Abstracts, and Posters

[1] Daehyung Park, Michael Noseworthy, Rohan Paul, Subhro Roy, and Nicholas Roy, "Joint Goal and Constraint Inference using Bayesian Nonparametric Inverse Reinforcement Learning," The 4th Multidisciplinary Conf. on Reinforcement Learning and Decision Making, 2019 [PDF]

[2] Daehyung Park, Yuuna Hoshi, Harshal P. Mahajan, Wendy Rogers, and Charles C. Kemp, "Active Feeding System using a General-purpose Manipulator," Int'l. Symp. on Medical Robotics (ISMR), 2018 [PDF]

[3] Daehyung Park and Charles C. Kemp, "Multimodal Execution Monitoring for Robot-Assisted Feeding," TechSAge State of the Science Conference, 2017 [PDF]

[4] Ariel Kapusta, Yash Chitalia, Daehyung Park, and Charles C. Kemp. "Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities," IEEE ROMAN workshop on Behavior, Adaptation and Learning for Assistive Robotics" (BAILAR), 2016 [PDF]

[5] Daehyung Park, Youkeun Kim, Zackory Erickson, and Charles C. Kemp. “Towards Assistive Feeding with a General-Purpose Mobile Manipulator”, ICRA workshop on Human-Robot Interfaces for Enhanced Physical Interactions, 2016 [PDF]

[6] T. Bhattacharjee*, P. M. Grice*, A. Kapusta*, M. D. Killpack*, D. Park*, and C. C. Kemp. “A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning”, IROS workshop on Robots In Clutter, 2014 (*- authors contributed equally) [PDF][Video]

[7] Daehyung Park, Heiko Hoffmann, and Stefan Schaal. “Combining dynamic movement primitives and potential fields for online obstacle avoidance”, Adaptive Motion of Animals and Machines (AMAM08), 2008 [PDF]


 Patents

[1] D. Park, K. Lee, C. An, and Y. Hong. “Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same.” US Patent 12 923 650, Apr. 21, 2011. [PDF]

[2] K. Lee, Y. Hong, C. An, and D. Park. “Motor control apparatus and motor control method thereof.” US Patent 13 009 961, Jan. 20, 2011. [PDF]

[3] K. Lee, Y. Hong, C. An, and D. Park. “모터 제어장치 및 모터 제어 방법(MOTOR CONTROL APPARATUS AND CONTROL METHOD THE SAME),” KR Patent App. 1,020,100,006,682, Aug. 2, 2011

[4] D. Park, K. Lee, C. An, and Y. Hong. “여유자유도 제어를 이용한 로봇의 교시 및 재현 방법 (TEACHING AND PLAYBACK METHOD USING REDUNDANCY RESOLUTION CONTROL FOR MANIPULATOR),” KR Patent App. 1,020,090,099,003, Apr. 22, 2011