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ORCIDJoonho Lee
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2020 – today
- 2025
[j22]Tianxu An, Joonho Lee, Marko Bjelonic, Flavio De Vincenti, Marco Hutter:
Scalable Multi-Robot Cooperation for Multi-Goal Tasks Using Reinforcement Learning. IEEE Robotics Autom. Lett. 10(2): 1585-1592 (2025)- 2024
- [j21]Taewi Kim
, Insic Hong, Sunghoon Im, Seungeun Rho, Minho Kim, Yeonwook Roh, Changhwan Kim, Jieun Park, Daseul Lim, Doohoe Lee, Seunggon Lee, Jingoo Lee, Inryeol Back, Junggwang Cho, Myung Rae Hong, Sanghun Kang, Joonho Lee, Sungchul Seo, Uikyum Kim, Young-Man Choi, Je-Sung Koh, Seungyong Han, Daeshik Kang:
Wing-strain-based flight control of flapping-wing drones through reinforcement learning. Nat. Mac. Intell. 6(9): 992-1005 (2024) - [j20]Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter:
Learning robust autonomous navigation and locomotion for wheeled-legged robots. Sci. Robotics 9(89) (2024) - [j19]Jae-Young Lee, Seongji Han, Munyu Kim, Yong-Sin Seo, Jongwoo Park, Dong Il Park, Chanhun Park, Hyunuk Seo, Joonho Lee, Hwi-Su Kim, Jeongae Bak, Hugo Rodrigue, Jin-Gyun Kim, Joono Cheong, Sung-Hyuk Song:
Variable-stiffness-morphing wheel inspired by the surface tension of a liquid droplet. Sci. Robotics 9(93) (2024) - [c29]Sanghun Jung, Joonho Lee, Xiangyun Meng, Byron Boots, Alexander Lambert:
V-STRONG: Visual Self-Supervised Traversability Learning for Off-road Navigation. ICRA 2024: 1766-1773 - [c28]Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter:
Learning to walk in confined spaces using 3D representation. ICRA 2024: 8649-8656 - [c27]Joonho Lee, Lukas Schroth, Victor Klemm, Marko Bjelonic, Alexander Reske, Marco Hutter:
Exploring Constrained Reinforcement Learning Algorithms for Quadrupedal Locomotion. IROS 2024: 11132-11138 - [c26]Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros:
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers. Robotics: Science and Systems 2024 - [i26]Tianxu An, Joonho Lee, Marko Bjelonic, Flavio De Vincenti, Marco Hutter:
Solving Multi-Entity Robotic Problems Using Permutation Invariant Neural Networks. CoRR abs/2402.18345 (2024) - [i25]Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter:
Learning to walk in confined spaces using 3D representation. CoRR abs/2403.00187 (2024) - [i24]Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter:
Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots. CoRR abs/2405.01792 (2024) - [i23]Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros:
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers. CoRR abs/2405.12424 (2024) - [i22]Sehoon Ha, Joonho Lee, Michiel van de Panne, Zhaoming Xie, Wenhao Yu, Majid Khadiv:
Learning-based legged locomotion; state of the art and future perspectives. CoRR abs/2406.01152 (2024) - [i21]Geongyu Lee, Joonho Lee, Tae-Yeong Kwak, Sun Woo Kim, Youngmee Kwon, Chungyeul Kim, Hyeyoon Chang:
Predicting the risk of early-stage breast cancer recurrence using H&E-stained tissue images. CoRR abs/2406.06650 (2024) - 2023
- [j18]Filip Bjelonic, Joonho Lee, Philip Arm, Dhionis V. Sako, Davide Tateo, Jan Peters, Marco Hutter:
Learning-Based Design and Control for Quadrupedal Robots With Parallel-Elastic Actuators. IEEE Robotics Autom. Lett. 8(3): 1611-1618 (2023) - [j17]Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, Cesar Cadena, Marco Hutter:
Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning. IEEE Robotics Autom. Lett. 8(11): 7687-7694 (2023) - [j16]Dayoung Lee, Joonho Lee, Minseok Song:
Video File Allocation for Wear-Leveling in Distributed Storage Systems With Heterogeneous Solid-State-Disks (SSDs). IEEE Trans. Circuits Syst. Video Technol. 33(5): 2477-2490 (2023) - [c25]Amirreza Shaban, Joonho Lee, Sanghun Jung, Xiangyun Meng, Byron Boots:
LiDAR-UDA: Self-ensembling Through Time for Unsupervised LiDAR Domain Adaptation. ICCV 2023: 19727-19737 - [c24]Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter:
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning. ICRA 2023: 5120-5126 - [c23]Xiangyun Meng, Nathan Hatch, Alexander Lambert, Anqi Li, Nolan Wagener, Matthew Schmittle, Joonho Lee, Wentao Yuan, Zoey Qiuyu Chen, Samuel Deng, Greg Okopal, Dieter Fox, Byron Boots, Amirreza Shaban:
TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation. Robotics: Science and Systems 2023 - [i20]Filip Bjelonic, Joonho Lee, Philip Arm, Dhionis V. Sako, Davide Tateo, Jan Peters, Marco Hutter:
Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators. CoRR abs/2301.03509 (2023) - [i19]Xiangyun Meng, Nathan Hatch, Alexander Lambert, Anqi Li, Nolan Wagener, Matthew Schmittle, Joonho Lee, Wentao Yuan, Zoey Qiuyu Chen, Samuel Deng, Greg Okopal, Dieter Fox, Byron Boots, Amirreza Shaban:
TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation. CoRR abs/2303.15771 (2023) - [i18]Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, César Cadena, Marco Hutter:
Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning. CoRR abs/2305.07995 (2023) - [i17]Amirreza Shaban, Joonho Lee, Sanghun Jung, Xiangyun Meng, Byron Boots:
LiDAR-UDA: Self-ensembling Through Time for Unsupervised LiDAR Domain Adaptation. CoRR abs/2309.13523 (2023) - [i16]Joonho Lee, Lukas Schroth, Victor Klemm, Marko Bjelonic, Alexander Reske, Marco Hutter:
Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion. CoRR abs/2309.15430 (2023) - [i15]Sanghun Jung, Joonho Lee, Xiangyun Meng, Byron Boots, Alexander Lambert:
V-STRONG: Visual Self-Supervised Traversability Learning for Off-road Navigation. CoRR abs/2312.16016 (2023) - 2022
- [j15]Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis:
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics 2(1): 274-324 (2022) - [j14]Faisal Waris, Robert G. Reynolds, Joonho Lee:
Evolving Deep Neural Networks with Cultural Algorithms for Real-Time Industrial Applications. Int. J. Semantic Comput. 16(2): 281-312 (2022) - [j13]Joo-Hwan Seo, Joonho Lee, Eunkyu Baek, Roberto Horowitz, Jongeun Choi:
Safety-Critical Control With Nonaffine Control Inputs Via a Relaxed Control Barrier Function for an Autonomous Vehicle. IEEE Robotics Autom. Lett. 7(2): 1944-1951 (2022) - [j12]Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter:
Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. IEEE Robotics Autom. Lett. 7(2): 2377-2384 (2022) - [j11]Álvaro Belmonte-Baeza, Joonho Lee, Giorgio Valsecchi, Marco Hutter:
Meta Reinforcement Learning for Optimal Design of Legged Robots. IEEE Robotics Autom. Lett. 7(4): 12134-12141 (2022) - [j10]Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning robust perceptive locomotion for quadrupedal robots in the wild. Sci. Robotics 7(62) (2022) - [j9]Joo-Hwan Seo, Seongwon Lee, Joonho Lee, Jongeun Choi:
Nonaffine Helicopter Control Design and Implementation Based on a Robust Explicit Nonlinear Model Predictive Control. IEEE Trans. Control. Syst. Technol. 30(2): 811-818 (2022) - [c22]Marko Bjelonic, Victor Klemm, Joonho Lee, Marco Hutter:
A Survey of Wheeled-Legged Robots. CLAWAR 2022: 83-94 - [c21]Joonho Lee, Marko Bjelonic, Marco Hutter:
Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning. CLAWAR 2022: 119-127 - [i14]Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter:
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators. CoRR abs/2201.03871 (2022) - [i13]Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis:
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. CoRR abs/2201.07067 (2022) - [i12]Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning robust perceptive locomotion for quadrupedal robots in the wild. CoRR abs/2201.08117 (2022) - [i11]Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter:
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning. CoRR abs/2203.14912 (2022) - [i10]Joonho Lee, Gyemin Lee:
Feature Alignment by Uncertainty and Self-Training for Source-Free Unsupervised Domain Adaptation. CoRR abs/2208.14888 (2022) - [i9]Álvaro Belmonte-Baeza, Joonho Lee, Giorgio Valsecchi, Marco Hutter:
Meta Reinforcement Learning for Optimal Design of Legged Robots. CoRR abs/2210.02750 (2022) - [i8]Joonho Lee, Gyemin Lee:
Unsupervised Domain Adaptation Based on the Predictive Uncertainty of Models. CoRR abs/2211.08866 (2022) - 2021
- [j8]Joonho Lee, Joo-Hwan Seo, Jongeun Choi:
Output feedback control design using Extended High-Gain Observers and dynamic inversion with projection for a small scaled helicopter. Autom. 133: 109883 (2021) - [c20]Amirreza Shaban, Xiangyun Meng, Joonho Lee, Byron Boots, Dieter Fox:
Semantic Terrain Classification for Off-Road Autonomous Driving. CoRL 2021: 619-629 - [c19]Joonho Lee, Su Jeong Song:
SUPRDAD: A Robust Feature Extractor Better Recognizes Low-Prevalent Retinal Diseases. ICMLA 2021: 534-540 - [c18]Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. ICRA 2021: 2316-2323 - 2020
- [j7]José Ignacio Orlando, Huazhu Fu, João Barbosa Breda, Karel van Keer, Deepti R. Bathula, Andrés Diaz-Pinto, Ruogu Fang, Pheng-Ann Heng, Jeyoung Kim, Joonho Lee, Joonseok Lee, Xiaoxiao Li, Peng Liu, Shuai Lu, Balamurali Murugesan, Valery Naranjo, Sai Samarth R. Phaye, Sharath M. Shankaranarayana, Hrvoje Bogunovic:
REFUGE Challenge: A unified framework for evaluating automated methods for glaucoma assessment from fundus photographs. Medical Image Anal. 59 (2020) - [j6]Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter:
DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning. IEEE Robotics Autom. Lett. 5(2): 3699-3706 (2020) - [j5]Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning quadrupedal locomotion over challenging terrain. Sci. Robotics 5(47): 5986 (2020) - [c17]Sooah Cho, Su Jeong Song, Joonseok Lee, JiEun Song, Min Soo Kim, Minyoung Lee, Joonho Lee:
Predicting Coronary Artery Calcium Score from Retinal Fundus Photographs Using Convolutional Neural Networks. ICAISC (1) 2020: 599-612 - [c16]Joonho Lee, Gyemin Lee:
Model Uncertainty for Unsupervised Domain Adaptation. ICIP 2020: 1841-1845 - [i7]Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning Quadrupedal Locomotion over Challenging Terrain. CoRR abs/2010.11251 (2020) - [i6]Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. CoRR abs/2011.08811 (2020)
2010 – 2019
- 2019
- [j4]Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter:
Learning agile and dynamic motor skills for legged robots. Sci. Robotics 4(26) (2019) - [c15]Joonho Lee, Hideaki Hayashi, Wataru Ohyama, Seiichi Uchida:
Page Segmentation using a Convolutional Neural Network with Trainable Co-Occurrence Features. ICDAR 2019: 1023-1028 - [i5]Joonho Lee, Jemin Hwangbo, Marco Hutter:
Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning. CoRR abs/1901.07517 (2019) - [i4]Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter:
Learning agile and dynamic motor skills for legged robots. CoRR abs/1901.08652 (2019) - [i3]Joonho Lee, Kumar Shridhar, Hideaki Hayashi, Brian Kenji Iwana, Seokjun Kang, Seiichi Uchida:
ProbAct: A Probabilistic Activation Function for Deep Neural Networks. CoRR abs/1905.10761 (2019) - [i2]Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter:
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning. CoRR abs/1909.08399 (2019) - [i1]José Ignacio Orlando, Huazhu Fu, João Barbosa Breda, Karel van Keer, Deepti R. Bathula, Andrés Diaz-Pinto, Ruogu Fang, Pheng-Ann Heng, Jeyoung Kim, Joonho Lee, Joonseok Lee, Xiaoxiao Li, Peng Liu, Shuai Lu, Balamurali Murugesan, Valery Naranjo, Sai Samarth R. Phaye, Sharath M. Shankaranarayana, Apoorva Sikka, Jaemin Son, Anton van den Hengel, Shujun Wang, Junyan Wu, Zifeng Wu, Guanghui Xu, Yong-Li Xu, Pengshuai Yin, Fei Li, Xiulan Zhang, Yanwu Xu, Hrvoje Bogunovic:
REFUGE Challenge: A Unified Framework for Evaluating Automated Methods for Glaucoma Assessment from Fundus Photographs. CoRR abs/1910.03667 (2019) - 2018
- [j3]Jemin Hwangbo, Joonho Lee, Marco Hutter:
Per-Contact Iteration Method for Solving Contact Dynamics. IEEE Robotics Autom. Lett. 3(2): 895-902 (2018) - 2016
- [j2]Joonho Lee, Ranjan Mukherjee, Hassan K. Khalil:
Output feedback performance recovery in the presence of uncertainties. Syst. Control. Lett. 90: 31-37 (2016) - [c14]Joonho Lee, Hanz Richter:
Impedance control based on a multi-time-scale approach: Extended High-Gain Observers and dynamic inversion. CCA 2016: 1197-1202 - [c13]Joonho Lee, Jongeun Choi, Hassan K. Khalil:
New implementation of high-gain observers in the presence of measurement noise using stochastic approximation. ECC 2016: 1740-1745 - 2015
- [j1]Joonho Lee, Ranjan Mukherjee, Hassan K. Khalil:
Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties. Autom. 54: 146-157 (2015) - [c12]JeongMok Ha, Byeongchan Jeon, WooYeol Jun, Joonho Lee, Hong Jeong:
An improved 2D cost aggregation method for advanced driver assistance systems. Intelligent Vehicles Symposium 2015: 89-94 - [c11]WooYeol Jun, JeongMok Ha, Byeongchan Jeon, Joonho Lee, Hong Jeong:
LED traffic sign detection with the fast radial symmetric transform and symmetric shape detection. Intelligent Vehicles Symposium 2015: 310-315 - 2013
- [c10]Dongki Min, Ilia A. Ovsiannikov, Yohwan Noh, Wanghyun Kim, Sunhwa Jung, Joonho Lee, Deokha Shin, Hyekyung Jung, Lawrence Kim, Grzegorz Waligorski, Lilong Shi, Yoondong Park, Chilhee Chung:
Pseudo-random modulation for multiple 3D time-of-flight camera operation. Three-Dimensional Image Processing (3DIP) and Applications 2013: 865008 - [c9]Joonho Lee, Ranjan Mukherjee, Hassan K. Khalil:
Application of dynamic inversion with extended high-gain observers to inverted pendulum on a cart. ACC 2013: 4234-4238 - [c8]Lilong Shi, Ilia A. Ovsiannikov, Dongki Min, Yohwan Noh, Wanghyun Kim, Sunhwa Jung, Joonho Lee, Deokha Shin, Hyekyung Jung, Gregory Waligorski, Yibing Michelle Wang, Wendy Wang, Yoondong Park, Chilhee Chung:
Demosaicing for RGBZ sensor. Computational Imaging 2013: 865705 - 2012
- [c7]Joonho Lee, Ranjan Mukherjee, Hassan K. Khalil:
Performance recovery under output feedback for input nonaffine nonlinear systems. CDC 2012: 326-331
2000 – 2009
- 2008
- [c6]Jongeun Choi, Joonho Lee, Songhwai Oh:
Swarm intelligence for achieving the global maximum using spatio-temporal Gaussian processes. ACC 2008: 135-140 - 2007
- [c5]Hyuntaek Kwon, Donggeon Noh, Junu Kim, Joonho Lee, Dongeun Lee, Heonshik Shin:
Low-Latency Routing for Energy-Harvesting Sensor Networks. UIC 2007: 422-433 - 2006
- [c4]Joonho Lee, Kyungtae Kang, Yongwoo Cho, Junu Kim, Heonshik Shin:
Efficient Error Recovery for Multimedia Data Transmission over 3G Cellular Broadcast Networks. AINA (1) 2006: 683-688 - [c3]Kyungtae Kang, Joonho Lee, Yongwoo Cho, Heonshik Shin:
Efficient Error Control for Scalable Media Transmission over 3G Broadcast Networks. EUC 2006: 415-425 - [c2]Junhee Ryu, Kyungtae Kang, Yongwoo Cho, Joonho Lee, Heonshik Shin:
Energy Characterization of Reed-Solomon Decoding in 3G Broadcasting. LCN 2006: 819-824 - 2005
- [c1]Yongwoo Cho, Kyungtae Kang, Joonho Lee, Heonshik Shin:
Proactive Reed-Solomon Bypasss (PRSB): A Technique for Real-Time Multimedia Processing in 3G Cellular Broadcast Networks. RTCSA 2005: 532-538
Coauthor Index
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