publications

2025

1. 

   Workshop

   Vision-Free 6D Pose Estimation for In-Hand Manipulation via Multi-Modal Haptic Attention

   Chanyoung Ahn, Sungwoo Park, Donghyun Hwang

   CORL Workshop, Dexterous Manipulation 2025

   Spotlight

   Abs Paper Poster Website Blog

   Humans are capable of in-hand manipulation without visual feedback, by inferring its pose through haptic feedback. However, in-hand manipulation with multi-fingered robotic hands remains highly challenging due to severe self-occlusion and limited visual accessibility. To address this problem, we propose a vision-free approach that integrates multiple haptic sensing modalities. Specifically, we develop a haptic attention-based pose estimator that captures correlations among kinesthetic, contact, and proprioceptive signals, as well as their temporal dynamics. Experimental results demonstrate that haptic feedback alone enables reliable pose estimation and that contact-rich sensing substantially improves reorientation performance. Our pose estimator achieves average errors of only 4.94 mm in position and 11.6 degrees in orientation during 300 iterations (10 seconds), underscoring the effectiveness of haptic-driven pose estimation for dexterous manipulation.

2. 

   Workshop

   3D Tangible Display with a High-Speed Stiffness-Variable Jamming Module

   Chanyoung Ahn, Jaesung Lee, Donghyun Hwang

   ICRA 2025 Arts in Robotics 2025

   Abs Paper Poster Website Blog

   We present a compact, standalone system that fuses visual motion with dynamic tactile feedback, enabling audiences to interactively explore changes in stiffness and form—drawing inspiration from the traditional Korean mask, Hahoetal. More than preserving tradition, our goal is to reimagine it as a dialogue between human and art through touch, movement, and sound.

3. 

   Workshop

   Effectiveness of Kinesthetic Sensing in In-Hand Rotation of Objects with an Eccentric Center of Mass

   Chanyoung Ahn, Sungwoo Park, Donghyun Hwang

   ICRA Workshop, Handy Moves: Dexterity in Multi-Fingered Hands 2025

   Abs Paper Poster Website Blog

   In-hand manipulation is a key capability for dexterous control, yet it becomes challenging when the mass or center of mass (CoM) of an object is not well known. Such intrinsic properties are difficult to infer precisely through visual sensing alone, which limits the reliability of manipulation strategies. This study investigates how kinesthetic sensing can support in-hand rotational tasks by enabling reinforcement learning (RL) agents to adjust to variations in object dynamics, particularly weight and center of mass. Our method incorporates both proprioceptive signals, such as joint angles, and kinesthetic data, joint forces and torques, captured from sensors embedded in a four-finger robotic hand. To reduce the dimensionality of the input space while retaining the relevant dynamics, we applied Principal Component Analysis (PCA). The resulting policy demonstrates improved adaptability. In the simulation, the manipulation success rates increased by 2.09 and 2.40 times on six and twelve previously unseen CoM configurations, respectively. In addition, kinesthetic detection improves performance 1.52 times in ten known configurations. These findings indicate that kinesthetic feedback contributes substantially to robust and generalizable in-hand manipulation. To access our data and video, please visit our project page: https://cold-young.github.io/kinesthetic_rotation/.

2024

1. 

   Conference

   Parallel performance benchmark of large sparse matrix using SuperLU_dist and PaScaL_TDMA

   Chanyoung Ahn, Oh-Kyoung Kwon, Ji-Hoon Kang

   CDE Aug 2024

   Abs Code Poster Slides

   Sparse matrices find numerous scientific and engineering applications, including simulations, optimizations, and large-scale data analysis. Characterized by a significant number of zero elements, sparse matrix solvers often encounter challenges in computational efficiency due to memory access patterns, becoming a computational bottleneck in many applications. We provide a comparative performance benchmark of two parallel solvers, SuperLU_dist and PaScaL_TDMA, for solving large sparse matrices. While SuperLU_dist, a widely recognized parallel solver developed under the Exascale Computing Project in the U.S., offers versatility and robustness across various sparse matrix structures, PaScaL_TDMA exhibits superior performance for tridiagonal matrices due to its tailored algorithmic design. These findings emphasize the importance of selecting optimized solvers based on the specific characteristics of the matrix structure in scientific and engineering computations. By leveraging the strengths of specialized solvers like PaScaL_TDMA, significant computational efficiencies can be achieved over general solvers, thereby accelerating the solution of large-scale problems in practical applications.

2. 

   Thesis

   A Reinforcement Learning Testbed for Deformable Object Manipulation using Visuotactile Sensing

   Chanyoung Ahn, Daehyung Park

   KAIST Jan 2024

   Abs PDF Code Slides

   We aim to create a simulated testbed for training and assessing deformable object manipulation skills. This testbed requires tactile sensing to distinguish heterogeneous elasticities of a deformable object to acquire skills. In this work, we introduce a visuotactile testbed, DetactGym, for deformable object manipulation, integrating a novel architecture of tactile sensors leveraging collision cascades. These sensors integrate a diamond-shaped rigid element encased within an external rigid structure. This design overcomes a fundamental limitation of PhysX engine-based simulators: their inability to directly measure contact force on deformable objects. The diamond-shaped element efficiently transmits the contact force to the outer structure during interactions with these objects, ensuring force measurements. Our evaluation focuses on the testbed’s capability, equipped with tactile sensors, to facilitate the learning of lifting heterogeneous deformable objects with minimal deformation through reinforcement learning methods. Our findings highlight the effectiveness of tactile feedback over visual cues in manipulating deformable objects with diverse elasticities, reducing deformation.

2022

1. 

   Conference

   A Telemanipulation Suite for Deformable Object Manipulation

   Bonggyeong Park, Chanyoung Ahn, Daehyung Park

   KAIA Jan 2022

   Abs PDF Poster

   Our aim is to create a human-expert manipulation dataset of deformable objects toward learning deformable manipulation. However, the data collection is challenging due to the limited sensing capability against to the high number of degree of freedom and complicate deformation/contact of soft bodies. Further, the self occlusion restricts the observation in grasping. In this work, we introduce a haptic-telemanipulation suite by adopting a haptic glove with a state-of-the-art physics simulator, IsaacGym from NVIDIA. The suite enables users to obtain realistic visual-and-tactile feedback as well as collect any part of object states while teleoperating a robotic gripper. We evaluate the suite by building one hundred demonstrations of dataset given five deformable objects.

2. 

   Project

   DEFTACTGYM: A Reinforcement Learning Testbed for Deformable Object Manipulation Using Visuotactile Sensory Data

   Chanyoung Ahn, Bonggyeong Park, Jaehwi Jang, Minwoo Cho, Jeongho Ha, Daehyung Park

   RIRO Lab @ KAIST Jan 2022

   Abs PDF Blog

   We aim to create a simulated testbed for training and assessing deformable object manipulation skills. This testbed requires tactile data to detect occluded deformation to acquire skills. In this work, we introduce a tactile testbed, DetactGym, with custom-built tactile sensors. We implement tactile sensors as a combination of a rigid trigger and a force-reading part to address the IsaacSim simulator’s inability to read contact forces in deformable. The trigger transmits the contact force to the sensor upon interaction with the target deformable. We highlight the effectiveness of tactile information over visual cues in handling deformable objects while minimizing deformation.

2021

1. 

   Project

   6-DoF Grasp Generation for Mobile Manipulation

   Chanyoung Ahn, Taeyoung Lee

   CS492_IIR Final Project @ KAIST Jan 2021

   Code

2020

1. 

   Thesis

   Structural Design and Verification of Weight Reduction for 12U Cube Satellite

   Chanyoung Ahn, Haedo Jeong

   Pusan National University Dec 2020

   3rd Prize (Top 5%)

   Abs PDF Poster Blog

   Weight reduction of a satellite structure, which is one of the heaviest parts of a cube satellite, is discussed in this paper. The structural strength should be considered when attempting to reduce the structure weight. This paper presents the method for reducing the weight of Cube satellite structure, based on ANSYS analysis and engineer’s intuition for optimal design. In this study, we proposed a structural design concept to reduces cost and improves mechanical durability by using a lightweight technique. The effectiveness of the design has been verified through structural analysis and vibration tests. Numerical simulation results showed that the Margin of Safety of the 12U structure was over 1.4 under the worst-case conditions. Our work allows 34% of lightweight by satisfying the requirement.

2019

1. 

   Conference

   Design and Validation of Low Noise Airfoil Inspired by Flight of Owl

   Minsin Kim, Chanyoung Ahn, Youjin Im, YoonSeoung Park, Kyung Chun Kim

   KSME Nov 2019

   Silver Prize

   Abs PDF Slides

   Compared to other birds, owls fly achieving remarkably low noise even that human cannot hear. It is well known that the silent flight owes to both huge size of owl’s wing and microscopic morphologies of feathers, which make up wings, composed of leading edge serration, trailing edge fringes, and velvet surface. To validate the noise reduction effect by applying owl’s characteristics to an airfoil model NACA0018. Three models: (1) without and (2) with leading edge serrations and trailing edge fringes and (3) with serrations and feathers were prepared for comparison. Using particle image velocimetry (PIV) and a blow-down low speed wind-tunnel, flow characteristics of boundary layer and wake are measured with the three different models at two angle of attacks. It is found that the hairy wing with serration prevents flow separation followed by noise reduction.