DONGHO KANG

Wasserwerkstrasse 12

8092 Zurich

Switzerland

I am a doctoral student in computer science based in Zurich, Switzerland 🇨🇭. From 2019, I am a scientific assistant of the Computational Robotics Lab, ETH Zurich, under the supervision of Prof. Stelian Coros.

The goal of my research is to create legged robots that exhibit natural and animal-like behaviors. Thus, my research interests are broad ranging from legged locomotion control to computational methods for motion and behavior synthesys.

Apart from my professional bio, I am originally from Seoul, South Korea 🇰🇷. Describing myself, I am a video game fan and a classical music lover.

news

Oct 07, 2024	Fatemeh Zargarbashi will be presenting her recent paper, “Robot Keyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards,”, at the upcoming 2024 Conference on Robot Learning (CoRL 2024). Fatehmeh’s presentation is scheduled for Poster Session 3 on November 7th, from 16:00 to 17:30. If you are attending the conference, please stop by her poster to learn more.
Apr 18, 2024	Introducing my recent collaboration work, “Spatio-Temporal Motion Retargeting for Quadruped Robots”, co-authored with Taerim Yoon, Seungmin Kim, Minsung Ahn, Prof. Stelian Coros, and Prof. Sungjoon Choi. Visit the project website to learn more.
Jan 29, 2024	My recent collaborative work titled “Deep Compliant Control for Legged Robots,” co-authored with Adrian Hartmann, Fatemeh Zargarbashi, Miguel Angel Zamora Mora, and Prof. Stelian Coros, has been accepted to 2024 IEEE International Conference on Robotics and Automation (ICRA 2024.)
Oct 16, 2023	My recent collaborative work titled “Tuning Legged Locomotion Controllers via Safe Bayesian Optimization,” co-authored with Daniel Widmer, Bhavya Sukhija, and Jonas Hübotter, under the guidance of Prof. Andreas Krause and Prof. Stelian Coros, has been accepted to the 7th Annual Conference on Robot Learning (CoRL 2023.) Visit the project website to learn more.
Aug 23, 2023	We present our latest work, “RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion”. The paper is published to the IEEE Robotics and Automation Letters (RA-L) journal. To learn more about the paper, please visit the project website.

selected publications

RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards

Fatemeh Zargarbashi, Jin Cheng, Dongho Kang , and 2 more authors

2024

arXiv Bib Supp Website

@misc{zargarbashi2024robot,
  title = {RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards},
  author = {Zargarbashi, Fatemeh and Cheng, Jin and Kang, Dongho and Sumner, Robert and Coros, Stelian},
  year = {2024},
  eprint = {2407.11562},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
}

Spatio-Temporal Motion Retargeting for Quadruped Robots

Taerim Yoon, Dongho Kang, Seungmin Kim , and 3 more authors

2024

arXiv Bib Supp Website

@misc{yoon2024spatiotemporal,
  title = {Spatio-Temporal Motion Retargeting for Quadruped Robots},
  author = {Yoon, Taerim and Kang, Dongho and Kim, Seungmin and Ahn, Minsung and Coros, Stelian and Choi, Sungjoon},
  year = {2024},
  eprint = {2404.11557},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
}

Deep Compliant Control for Legged Robots

Adrian Hartmann, Dongho Kang, Fatemeh Zargarbashi , and 2 more authors

In 2024 IEEE International Conference on Robotics and Automation (ICRA) , 2024

Bib PDF Supp

@inproceedings{hartmann2024deep,
  author = {Hartmann, Adrian and Kang, Dongho and Zargarbashi, Fatemeh and Zamora, Miguel and Coros, Stelian},
  booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
  title = {Deep Compliant Control for Legged Robots},
  year = {2024},
  pages = {11421-11427},
  keywords = {Training;Legged locomotion;Uncertainty;Tracking;Perturbation methods;Process control;Energy efficiency},
  doi = {10.1109/ICRA57147.2024.10611209},
}

Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

Daniel Widmer, Dongho Kang, Bhavya Sukhija , and 3 more authors

In Proceedings of The 7th Conference on Robot Learning , 2023

arXiv Bib HTML Supp Website

@inproceedings{widmer2023turning,
  title = {Tuning Legged Locomotion Controllers via Safe Bayesian Optimization},
  author = {Widmer, Daniel and Kang, Dongho and Sukhija, Bhavya and H\"{u}botter, Jonas and Krause, Andreas and Coros, Stelian},
  booktitle = {Proceedings of The 7th Conference on Robot Learning},
  pages = {2444--2464},
  year = {2023},
  editor = {Tan, Jie and Toussaint, Marc and Darvish, Kourosh},
  volume = {229},
  series = {Proceedings of Machine Learning Research},
  publisher = {PMLR}
}

RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion

Dongho Kang, Jin Cheng, Miguel Zamora , and 2 more authors

IEEE Robotics and Automation Letters, 2023

arXiv Bib HTML Supp Website

@article{kang2023rl,
  author = {Kang, Dongho and Cheng, Jin and Zamora, Miguel and Zargarbashi, Fatemeh and Coros, Stelian},
  journal = {IEEE Robotics and Automation Letters},
  title = {RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion},
  year = {2023},
  volume = {8},
  number = {10},
  pages = {6619-6626},
  doi = {10.1109/LRA.2023.3307008}
}

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control

Dongho Kang, Flavio De Vincenti, Naomi C. Adami , and 1 more author

In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022

Bib HTML PDF Supp Website

@inproceedings{kang2022animal,
  title = {Animal Motions on Legged Robots Using Nonlinear Model Predictive Control},
  author = {Kang, Dongho and De Vincenti, Flavio and Adami, Naomi C. and Coros, Stelian},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {11955-11962},
  year = {2022},
  organization = {IEEE},
  doi = {10.1109/IROS47612.2022.9981945}
}

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control

Dongho Kang, Simon Zimmermann, and Stelian Coros

In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021

Bib HTML PDF Supp Website

@inproceedings{kang2021animal,
  title = {Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control},
  author = {Kang, Dongho and Zimmermann, Simon and Coros, Stelian},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {8500--8507},
  year = {2021},
  organization = {IEEE},
  doi = {10.1109/IROS51168.2021.9635838}
}

Control-Aware Design Optimization for Bio-Inspired Quadruped Robots

Flavio De Vincenti, Dongho Kang, and Stelian Coros

In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021

Bib HTML Supp

@inproceedings{devincenti2021control,
  title = {Control-Aware Design Optimization for Bio-Inspired Quadruped Robots},
  author = {De Vincenti, Flavio and Kang, Dongho and Coros, Stelian},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1354--1361},
  organization = {IEEE},
  year = {2021},
  doi = {10.1109/IROS51168.2021.9636415}
}