Author

Jaeseog Won

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Preprint Sep 2026

EquiGQNet: Fast Grasp Quality Evaluation via Shared Equivariant Point Cloud Encoding

EquiGQNet is proposed, an efficient 6-DoF grasp quality evaluator that combines the strengths of both approaches to achieve grasping performance comparable to the early-fusion baseline and substantially outperforms late fusion on objects with complex geometry and limited graspable regions.

Sungwon Seo, Jaeseog Won, Ji-You Shin et al. · 0 citations

Jul 2026

URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation

Across box-flipping and line-pressing tasks, URF achieves higher task success rates while reducing failure modes observed with admittance-only execution, including rapid force buildup, large force oscillations, tool breakage, and robot safety stops.

Ji-You Shin, Youngjin Seo, Jaeseog Won et al. · arXiv.org · 1 citation