Three undergraduate papers
Written as an undergraduate at the University of Seoul: two posters and one oral.
- [1]Detection of Handle Grasping Pose Using a Deep Learning-Based Grasping Pose Estimation AlgorithmKRoC 2024 · Lee et al.
Picks grasp poses that make a door handle easy to turn, not just easy to hold. It builds on a deep-learning grasp pose estimator and weights each candidate by handle shape: the gripper faces along the wall normal and centers on the handle. Tested with an RGB-D camera and YOLOv7.
Read the PDF ↗ - [2]Visualization of Singularity Distribution in Robot Manipulator using Monte Carlo MethodICROS 2023 · Lee, Sagong, Hwang
Samples joint angles with the Monte Carlo method to map where a manipulator becomes singular, then reuses those samples as inverse-kinematics solutions, so joint angles come out without inverting the Jacobian.
Read the PDF ↗ - [3]Techniques for Creating Custom Article Illustrations with Stable DiffusionKIBME Summer 2024 · Park, Lee, Lee (KBS)
LoRA fine-tunes Stable Diffusion on illustrations from two Korean news outlets, separately and mixed, to keep a consistent graphic tone. The tone carried over, though not perfectly, and object shapes were sometimes unstable.
Read the PDF ↗