Welcome!

We are Inha-United@Home 🏠

A newly founded RoboCup @Home team from Inha University (2025).

About Inha-United

Inha-United@Home is a collaborative team from four major robotics and AI laboratories at Inha University.

We bring together expertise in perception, localization, control, and strategy to create the next generation of service robots.

Team Description Paper GitHub YouTube

Principal Investigator

Inwook Shim

Professor

Younggun Cho

Professor

Junwoo Jang

Professor

Woojin Ahn

Professor

Team Member

Minho Lee

Team Leader

Dongjin Cho

MS Student

Minho Lee

MS Student

Jungtae Kim

Undergraduate

Sanghyun Lee

Undergraduate

Gihyeok Kwon

Undergraduate

Gunwoo Park

Undergraduate

Wonhyuk Jung

Undergraduate

Jihyun Han

Undergraduate

Publications

2025

[1]G. Lee et al., "MSG-Loc: Multi-Label Likelihood-based Semantic Graph Matching for Object-Level Global Localization," RA-L, 2025. [Paper]

[2]J. Lee et al., "Freeze-Frame with StaticNeRF: Uncertainty-Guided NeRF Map Reconstruction in Dynamic Scenes," RA-L, 2025. [Paper]

[3]S.-G. Park et al., "REPLAY: Robot Embodiment via Intent-aware Policy Imitation by Replicating Human Demonstrations from Video," IJCAS, 2025.

[4]W.-J. Ahn et al., "Practical Mixed Palletizing Manipulator System: Incorporating Practical RL and Configuration-Space Motion Planning," T-ASE, 2025. [Paper]

[5]W.-J. Ahn et al., "OffSim: Offline Simulator for Model-based Offline Inverse Reinforcement Learning," arXiv, 2025. [Paper]

[6]G. Kang et al., "Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments," T-IV, 2025. [Paper]

[7]J. Shin et al., "Registration beyond Points: General Affine Subspace Alignment via Geodesic Distance on Grassmann Manifold," ICCV, 2025. [Paper]

[8]J. Jang, M. Ghaffari, "Contrastive Learning in NMPC Behavior Cloning for Generalized Trajectory Tracking of Marine Vehicles," J. Oceanic Eng., 2025. [Paper]

[9]J. Bai, I. Shim, "SceneAware: Scene-Constrained Pedestrian Trajectory Prediction with LLM-Guided Walkability," arXiv, 2025. [Paper]

[10]T. Kathuria et al., "Learning Implicit Social Navigation Behavior using Deep Inverse Reinforcement Learning," RA-L, 2025. [Paper]

[11]S.-G. Park et al., "TARG: Tree of Action-Reward Generation with Large Language Model for Cabinet Opening with Manipulator," IJCAS, 2025. [Paper]

2024

[12]S. Shin et al., "Close Imitation of Expert Retouching for Black-and-White Photography," CVPR, 2024. [Paper]

[13]J. Jang et al., "Efficient Data Collection Strategy for Modeling the Dynamics of Floating Robotic Vehicles Using Neural Networks," J. Intell. Robot. Syst., 2024. [Paper]

[14]M. Lee et al., "Dynamic Multi-Object Analysis Using Particles for Social Navigation," ICCAS, 2024. [Paper]

[15]J. Park et al., "Salience-guided Ground Factor for Robust Localization of Delivery Robots in Complex Urban Environments," ICRA, 2024. [Paper]

[16]W.-J. Ahn et al., "Style Blind Domain Generalized Semantic Segmentation via Covariance Alignment and Semantic Consistence Contrastive Learning," CVPR, 2024. [Paper]

2023

[17]J. Seo et al., "Learning Off-road Terrain Traversability with Self-supervisions Only," RA-L, 2023. [Paper]

[18]J. Jang et al., "Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles," RA-L, 2023. [Paper]

[19]J. Seo et al., "Scate: A Scalable Framework for Self-supervised Traversability Estimation in Unstructured Environments," RA-L, 2023. [Paper]

~2022

[20]G. Bae et al., "Slide: Self-supervised Lidar De-snowing through Reconstruction Difficulty," ECCV, 2022. [Paper]

GitHub Repositories

inha-rby1-dataset

Inha-United real-world RB-Y1 humanoid demonstration dataset for diverse manipulation tasks.

View Repository

inha-BT

Behavior Tree framework for RB-Y1 task planning and execution in domestic service scenarios.

View Repository

inha-GraspGen

Grasp generation module for robust and adaptive robotic grasping in domestic environments.

View Repository

rby1-isaacsim-ros2

RB-Y1 simulation environment in NVIDIA Isaac Sim with ROS 2 integration.

View Repository

rby1-mujoco-ros2

RB-Y1 simulation environment in MuJoCo with ROS 2 integration.

View Repository

rby1_LIBERO

LIBERO benchmark integration for RB-Y1 manipulation tasks and policy learning.

View Repository

View More on GitHub

Media

Our Robots: RB-Y1 from Rainbow Robotics

Contact

SPARO Lab

RCV Lab

ARTEMIS Lab

RILS Lab

About RoboCup@Home