Publications.

@article{polymorph,
  title = {PolyMorph: Learning Locomotion Policy for Cross-Embodiment Adaptation},
  author = {Hyunsik Oh and Seunghun Jeon and Donghoon Youm and Jungwoo Hur and Hyeongjun Kim and Jeong Hyun Lee and Moonkyu Jung and Jemin Hwangbo},
  journal = {IEEE Robotics and Automation Letters},
  year = {2026},
  doi = {10.1109/LRA.2026.3747582},
  volume = {11},
  pages = {14740--14747},
  number = {12}
}

@article{marathon-quadruped,
  title = {A quadruped robot designed to complete a marathon on a single battery charge},
  author = {Choongin Lee and Donghoon Youm and Jeongsoo Park and Jeonghyun Lee and Suyoung Choi and Gwanghyeon Ji and Juhyeok Mun and Moonkyu Jung and Hyungho Chris Choi and Hyeongjun Kim and Hyunsik Oh and Kyungmin Nam and Minho Lee and Jungwoo Hur and Donghyuk Choi and Donggeon Kim and Yeonsu An and Jemin Hwangbo},
  journal = {Nature},
  year = {2026},
  doi = {10.1038/s41586-026-11102-5},
  volume = {658},
  pages = {372--379}
}

@article{dynamic-pick-and-place,
  title = {Learning Dynamic Pick-and-Place for a Legged Manipulator},
  author = {Moonkyu Jung and Jiseong Lee and Zhengmao He and Donghoon Youm and Juhyeok Mun and HyeongJun Kim and Hyunsik Oh and Donghyuk Choi and Jungwoo Hur and Jie Song and Jemin Hwangbo},
  journal = {IEEE Robotics and Automation Letters},
  year = {2026},
  doi = {10.1109/LRA.2026.3688092},
  volume = {11},
  pages = {7652--7659},
  number = {6}
}

@inproceedings{neural-measurement-state-estimation,
  title = {Legged Robot State Estimation with Invariant Extended Kalman Filter Using Neural Measurement Network},
  author = {Donghoon Youm and Hyunsik Oh and Suyoung Choi and Hyeongjun Kim and Seunghun Jeon and Jemin Hwangbo},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2025},
  doi = {10.1109/ICRA55743.2025.11127971},
  pages = {670--676}
}

@article{high-speed-navigation,
  title = {High-speed control and navigation for quadrupedal robots on complex and discrete terrain},
  author = {Hyeongjun Kim and Hyunsik Oh and Jeongsoo Park and Yunho Kim and Donghoon Youm and Moonkyu Jung and Minho Lee and Jemin Hwangbo},
  journal = {Science Robotics},
  year = {2025},
  doi = {10.1126/scirobotics.ads6192},
  volume = {10},
  pages = {eads6192},
  number = {102}
}

@inproceedings{robotsketch-real-time,
  title = {RobotSketch: A Real-Time Live Showcase of Superfast Design of Legged Robots},
  author = {Joon Hyub Lee and Hyunsik Oh and Junwoo Yoon and Seung-Jun Lee and Taegyu Jin and Jemin Hwangbo and Seok-Hyung Bae},
  booktitle = {ACM SIGGRAPH Asia 2024 Real-Time Live!},
  year = {2024},
  doi = {10.1145/3681757.3697055},
  pages = {1--2}
}

@inproceedings{robotsketch-interactive,
  title = {RobotSketch: An Interactive Showcase of Superfast Design of Legged Robots},
  author = {Joon Hyub Lee and Hyunsik Oh and Junwoo Yoon and Seung-Jun Lee and Taegyu Jin and Jemin Hwangbo and Seok-Hyung Bae},
  booktitle = {ACM SIGGRAPH 2024 Emerging Technologies},
  year = {2024},
  doi = {10.1145/3641517.3664382},
  pages = {1--2}
}

@article{cropped-image-dynamics,
  title = {Learning Vehicle Dynamics From Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains},
  author = {Jeong Hyun Lee and Jinhyeok Choi and Simo Ryu and Hyunsik Oh and Suyoung Choi and Jemin Hwangbo},
  journal = {IEEE Robotics and Automation Letters},
  year = {2024},
  doi = {10.1109/LRA.2024.3371910},
  volume = {9},
  pages = {4035--4042},
  number = {5}
}

@article{rewards-and-constraints,
  title = {Not Only Rewards but Also Constraints: Applications on Legged Robot Locomotion},
  author = {Yunho Kim and Hyunsik Oh and Jeonghyun Lee and Jinhyeok Choi and Gwanghyeon Ji and Moonkyu Jung and Donghoon Youm and Jemin Hwangbo},
  journal = {IEEE Transactions on Robotics},
  year = {2024},
  doi = {10.1109/TRO.2024.3400935},
  volume = {40},
  pages = {2984--3003}
}