* denotes equal contribution.

2026

  • See to Reach, Feel to Grasp: Learning A Blind Grasp Reflex for Anthropomorphic Robotic Hands
    Preprint
    Alexander Alexiev, Tzu-Yuan Lin, Sang Min Kim, Ho Jae Lee, Yonghyeon Lee, Sangbae Kim
    Project page· arXiv
  • Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface
    Preprint
    Andrew Nguyen, Yonghyeon Lee, Sangbae Kim
    Project page· arXiv
  • Real-Time Force Regulation for Whole-Hand Dexterous Grasping
    Preprint
    Sang Min Kim, Alexander Alexiev, Tzu-Yuan Lin, Sangbae Kim, Young Min Kim, Yonghyeon Lee
    Project page· arXiv
  • POIL: Point-based One-Shot Imitation Learning with Stable Dynamical Systems
    Preprint
    Sang Min Kim, Jinwoo Seo, Hyeongjun Heo, Junho Lee, Yonghyeon Lee, Young Min Kim
    Project page· arXiv
  • TRI-HAR overview
    Rotation-Invariant Multi-IMU Activity Recognition under Independent Per-Location Orientation Shifts
    ACM International Symposium on Wearable Computers (ISWC), 2026
    Seungyeol Baek, Yoonbyung Chai, Yonghyeon Lee, Sungjoon Choi, Sungho Suh
    Paper· arXiv· Code
  • INGRID overview
    INGRID: Interactive Geometry and Instance Identification for Occluded Scenes
    Computers & Graphics, 2026
    Junho Lee, Sangmin Kim, Yonghyeon Lee, Young Min Kim
    Paper· Project page
  • Zero-Shot Scene Geometry Recognition from Sparse Partial-View Images: Leveraging Generative Diffusion Models for Robotic Manipulation Tasks
    IEEE Robotics and Automation Letters (RA-L), 2026
    Young Hun Kim, Seungyeon Kim, Yonghyeon Lee, Frank Chongwoo Park
    Project page· arXiv
  • Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers
    European Conference on Computer Vision (ECCV), 2026
    Tzu-Yuan Lin, Ho Jae Lee, Kevin Doherty, Yonghyeon Lee, Sangbae Kim
    Project page· arXiv· Video
  • AnyCamVLA: Zero-Shot Camera Adaptation for Viewpoint Robust Vision-Language-Action Models
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2026
    Hyeongjun Heo, Seungyeon Woo, Sang Min Kim, Junho Kim, Junho Lee, Yonghyeon Lee, Young Min Kim
    Project page· arXiv
  • Learning Reactive Dexterous Grasping via Hierarchical Task-Space RL Planning and Joint-Space QP Control
    Preprint
    Ho Jae Lee, Yonghyeon Lee, Alexander Alexiev, Tzu-Yuan Lin, Se Hwan Jeon, Sangbae Kim
    arXiv· Video
  • High-Bandwidth Tactile-Reactive Control for Grasp Adjustment
    International Conference on Robotics and Automation (ICRA), 2026
    Yonghyeon Lee*, Tzu-Yuan Lin*, Alexander Alexiev, Sangbae Kim
    Project page· arXiv
  • Hierarchical Reactive Grasping via Task-Space Velocity Fields and Joint-Space Quadratic Programming
    International Conference on Robotics and Automation (ICRA), 2026
    Yonghyeon Lee*, Tzu-Yuan Lin*, Alexander Alexiev, Sangbae Kim
    Project page· arXiv
  • Differentiable Motion Manifold Primitives for Reactive Motion Generation under Kinodynamic Constraints
    International Conference on Robotics and Automation (ICRA), 2026
    Yonghyeon Lee
    Project page· arXiv
  • Point2Act: Efficient 3D Distillation of Multimodal LLMs for Zero-Shot Context-Aware Grasping
    International Conference on Robotics and Automation (ICRA), 2026
    Sang Min Kim, Hyeongjun Heo, Junho Kim, Yonghyeon Lee, Young Min Kim
    Project page · arXiv
  • LEGO: Latent-space Exploration for Geometry-aware Optimization of Humanoid Kinematic Design
    International Conference on Robotics and Automation (ICRA), 2026
    JiHwan Yoon, Taemoon Jeong, Jeongeun Park, Chanwoo Kim, Jaewoon Kwon, Yonghyeon Lee, Kyungjae Lee, Sungjoon Choi
    Project page·arXiv

2025

  • Behavior-Controllable Stable Dynamics Models on Riemannian Configuration Manifolds
    IEEE Transactions on Robotics (T-RO), 2025
    Byeongho Lee*, Yonghyeon Lee*, Junsu Ha*, Frank C. Park
    IEEE Xplore
  • ScrewSplat: An End-to-End Method for Articulated Object Recognition
    Conference on Robot Learning (CoRL), 2025
    Seungyeon Kim, Junsu Ha, Young Hun Kim, Yonghyeon Lee, Frank C. Park
    Project page·Code·arXiv
  • Motion Manifold Flow Primitives for Task-Conditioned Trajectory Generation under Complex Task-Motion Dependencies
    IEEE Robotics and Automation Letters (RA-L), 2025
    Yonghyeon Lee, Byeongho Lee, Seungyeon Kim, Frank C. Park
    IEEE Xplore· Project page· arXiv
  • Isometric Regularization for Manifolds of Functional Data
    International Conference on Learning Representations (ICLR), 2025
    Hyeongjun Heo, Seonghun Oh, Jae Yong Lee, Young Min Kim, Yonghyeon Lee
    Project page· OpenReview
  • Diverse Policy Learning via Random Obstacle Deployment for Zero-Shot Adaptation
    IEEE Robotics and Automation Letters (RA-L), 2025
    Seokjin Choi*, Yonghyeon Lee*, Seungyeon Kim, Che-Sang Park, Himchan Hwang, Frank C. Park
    IEEE Xplore · Project page

2024

  • T2SQNet: A Recognition Model for Manipulating Partially Observed Transparent Tableware Objects
    Conference on Robot Learning (CoRL), 2024
    Young Hun Kim*, Seungyeon Kim*, Yonghyeon Lee, Frank C. Park
    Project page · Code · Video · Poster · OpenReview
  • EquiGraspFlow: SE(3)-Equivariant 6-DoF Grasp Pose Generative Flows
    Conference on Robot Learning (CoRL), 2024
    Byeongdo Lim*, Jongmin Kim*, Jihwan Kim, Yonghyeon Lee, Frank C. Park
    Project page·Code·Video·OpenReview
  • MMP++: Motion Manifold Primitives with Parametric Curve Models
    IEEE Transactions on Robotics (T-RO), 2024
    Yonghyeon Lee
    Project page·Code·IEEE Xplore·arXiv
  • Graph Geometry-Preserving Autoencoders
    International Conference on Machine Learning (ICML), 2024
    Jungbin Lim*, Jihwan Kim*, Yonghyeon Lee, Cheongjae Jang, Frank C. Park
    Proceedings·Code·OpenReview

2023

  • NFL: Normal Field Learning for 6-DoF Grasping of Transparent Objects
    IEEE Robotics and Automation Letters (RA-L), 2023
    Junho Lee, Sang Min Kim, Yonghyeon Lee, Young Min Kim
    Project page·PDF
  • A Geometric Perspective on Autoencoders
    arXiv, 2023 (summary of Ph.D. thesis)
    Yonghyeon Lee
    arXiv
  • Equivariant Motion Manifold Primitives
    Conference on Robot Learning (CoRL), 2023
    Byeongho Lee*, Yonghyeon Lee*, Seungyeon Kim, Minjun Son, Frank C. Park
    Proceedings·Code·Video·Poster·OpenReview
  • Leveraging 3D Reconstruction for Mechanical Search on Cluttered Shelves
    Conference on Robot Learning (CoRL), 2023
    Seungyeon Kim*, Young Hun Kim*, Yonghyeon Lee, Frank C. Park
    Code·Video·Poster·OpenReview
  • On Explicit Curvature Regularization in Deep Generative Models
    TAG-ML Workshop, ICML 2023
    Yonghyeon Lee, Frank C. Park
    Proceedings·PDF
  • Geometrically Regularized Autoencoders for Non-Euclidean Data
    International Conference on Learning Representations (ICLR), 2023
    Cheongjae Jang, Yonghyeon Lee, Yung-Kyun Noh, Frank C. Park
    PDF·Poster·OpenReview
  • Geometric Methods for Manifold Representation Learning
    Ph.D. Thesis, Seoul National University
    Yonghyeon Lee (supervisor: Frank C. Park)
    PDF·Abstract·Slides

2022

  • SE(2)-Equivariant Pushing Dynamics Models for Tabletop Object Manipulations
    Conference on Robot Learning (CoRL), 2022 (oral, 6.5%)
    Seungyeon Kim, Byeongdo Lim, Yonghyeon Lee, Frank C. Park
    Proceedings·Code·OpenReview
  • DSQNet: A Deformable Model-Based Supervised Learning Algorithm for Grasping Unknown Occluded Objects
    IEEE Transactions on Automation Science and Engineering (T-ASE), 2022
    Seungyeon Kim*, Taegyun Ahn*, Yonghyeon Lee, Jihwan Kim, Michael Yu Wang, Frank C. Park
    IEEE Xplore
  • A Statistical Manifold Framework for Point Cloud Data
    International Conference on Machine Learning (ICML), 2022
    Yonghyeon Lee*, Seungyeon Kim*, Jinwon Choi, Frank C. Park
    Proceedings·Code
  • Regularized Autoencoders for Isometric Representation Learning
    International Conference on Learning Representations (ICLR), 2022
    Yonghyeon Lee, Sangwoong Yoon, Minjun Son, Frank C. Park
    PDF·Code·Video·Slides·Poster·OpenReview

2021

  • Neighborhood Reconstructing Autoencoders
    Conference on Neural Information Processing Systems (NeurIPS), 2021
    Yonghyeon Lee, Hyukjun Kwon, Frank C. Park
    OpenReview·Code·Slides
  • IMAT: The Iterative Medial Axis Transform
    Computer Graphics Forum, 2021
    Yonghyeon Lee, Jonghyuk Baek, Youngmin Kim, Frank C. Park
    PDF·Article