Minku Kim

Robot Perception · 2026

SAGE: Semantic And Geometric Estimation of 6D Object Pose from Multi-View Observations

A multi-view transformer combining geometric consistency and open-vocabulary semantic grounding for real-time 6D object pose estimation.

Under Review

Robot Perception · 2026

ASM-6D: Generative Correspondences for Fast Object Pose-Shape Fitting

Category-level pose, scale, and shape estimation formulated on SIM(3) and solved with a high-throughput matrix ADMM method.

Under Review

Humanoid Robotics · 2026

Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement

Long-horizon humanoid box rearrangement through reusable skills and a shared, task-agnostic whole-body controller, validated in simulation and on Digit V3.

arXiv Project Page Code CoRL 2026

Robot Perception · 2025

Dynamic-ASM6D: Real-Time 6D Object Pose and Shape Estimation via Active Shape Models and ADMM

Active shape models, ADMM registration, and multi-hypothesis tracking for robust object-centric perception in dynamic environments.

RSS Workshop TC Poster RSS Workshop and IEEE-RAS TC Poster

Legged Locomotion · 2025

Learning a Vision-Based Footstep Planner for Hierarchical Walking Control

A vision-based reinforcement-learning footstep planner paired with operational space control for Cassie locomotion over unstructured terrain.

arXiv IEEE Xplore Semantic Scholar Humanoids 2025 Oral

Computer Vision

Terrain Recognition System for a Wearable Device

Stereo-camera terrain recognition for adaptive wearable assistance in dense forest environments.

Machine Learning

AI-Based Real-Time Monitoring and Fault Diagnosis for EV Reducers

A real-time learning-based system for diagnosing gear damage in electric-vehicle reducers.

Computer Vision and Control

Vision-Based UAV Control for Following Drones in Complex Environments

Real-time UAV detection and tracking that combines a one-stage detector with a Siamese network.