publications

2025

  1. tro24s_val.png
    Variations of Augmented Lagrangian for Robotic Multi-Contact Simulation
    Jeongmin Lee, Minji Lee, Sunkyung Park, and 2 more authors
    IEEE Transactions on Robotics (T-RO), 2025
    PDF
  2. cvpr25s_mdsf.png
    Shape Abstraction via Marching Differentiable Support Functions
    Sunkyung Park, Jeongmin Lee, and Dongjun Lee
    IEEE/CVF Computer Vision and Pattern Recognition Conference (CVPR), 2025
  3. tro24s_dual.png
    Wrench Control of Dual-Arm Robot on Flexible Base with Supporting Contact Surface
    Jeongseob Lee, Doyoon Kong, Hojun Cha, and 4 more authors
    IEEE Transactions on Robotics (T-RO), 2025
  4. icra25s_narrow.png
    Narrow Passage Path Planning using Collision Constraint Interpolation
    Minji Lee, Jeongmin Lee, and Dongjun Lee
    IEEE International Conference on Robotics and Automation (ICRA), 2025
    PDF
  5. icra25s_gpusub.png
    GPU-Accelerated Subsytem-Based ADMM for Large-Scale Interactive Simulation
    Harim Ji, Hyunsu Kim, Jeongmin Lee, and 6 more authors
    IEEE International Conference on Robotics and Automation (ICRA), 2025
  6. icra25s_cfg.png
    Efficient Gradient-Based Inference for Manipulation Planning in Contact Factor Graphs
    Jeongmin Lee, Sunkyung Park, Minji Lee, and 1 more author
    IEEE International Conference on Robotics and Automation (ICRA), 2025
    PDF

2024

  1. iros24_riemannian.png
    Collision Detection between Smooth Convex Bodies Via Riemannian Optimization Framework
    Seoki An, Somang Lee, Jeongmin Lee, and 2 more authors
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
    PDF

2023

  1. rss23_diffestimation.png
    Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features
    Jeongmin Lee, Minji Lee, and Dongjun Lee
    In Robotics: Science and Systems (RSS), 2023
    PDF
  2. icra23_dampcontact.png
    Differentiable Dynamics Simulation Using Invariant Contact Mapping and Damped Contact Force
    Minji Lee, Jeongmin Lee, and Dongjun Lee
    In IEEE International Conference on Robotics and Automation (ICRA), 2023
    PDF
  3. icra23_subadmm.png
    Modular and Parallelizable Multibody Physics Simulation via Subsystem-Based ADMM
    Jeongmin Lee, Minji Lee, and Dongjun Lee
    In IEEE International Conference on Robotics and Automation (ICRA), 2023
    PDF

2022

  1. tro22_cond.png
    Large-Dimensional Multibody Dynamics Simulation using Contact Nodalization and Diagonalization
    Jeongmin Lee, Minji Lee, and Dongjun Lee
    IEEE Transactions on Robotics (T-RO), 2022
    PDF

2021

  1. iros21_snapsim.png
    Real-Time Physically-Accurate Simulation of Robotic Snap Connection Process
    Minji Lee, Jeongmin Lee, Jaemin Yoon, and 1 more author
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
    PDF
  2. icra21_cablesim.png
    A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation
    Jeongmin Lee, Minji Lee, Jaemin Yoon, and 1 more author
    In IEEE International Conference on Robotics and Automation (ICRA), 2021
    Best Manipulation Paper Award Finalist PDF