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<!DOCTYPE HTML>
<html lang="en">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>Hyunyoung Jung</title>
<meta name="author" content="Hyunyoung Jung">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" type="text/css" href="stylesheet.css">
<link rel="icon" href="data:image/svg+xml,<svg xmlns=%22http://www.w3.org/2000/svg%22 viewBox=%220 0 100 100%22><text y=%22.9em%22 font-size=%2290%22>🌐</text></svg>">
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<body>
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<td style="padding:2.5%;width:63%;vertical-align:middle">
<p class="name" style="text-align: center;">
Hyunyoung Jung
</p>
<p>I am a second-year Master's student at <a href="https://www.gatech.edu/">Georgia Institute of Technology</a>, majoring in Electrical and Computer Engineering.
I am currently being advised by <a href="https://faculty.cc.gatech.edu/~sha9/">Dr. Sehoon Ha</a> and closely working with <a href="https://www.dynamicrobot.kaist.ac.kr/">Dr. Hae-Won Park</a>. <br><br>
I received my Bachelor's degree at <a href="https://www.snu.ac.kr/index.html"> Seoul National University</a> where I majored in Mechanical Engineering and Computer Science and Engineering.
</p>
<p style="text-align:center">
<a href="mailto:[email protected]">Email</a> /
<!-- <a href="cv.pdf">CV</a> / -->
<!-- <a href="data/JonBarron-bio.txt">Bio</a> / -->
<a href="https://scholar.google.com/citations?user=xR0ESPUAAAAJ&hl=ko&citsig=AD-1fHZJa2SAuKKkTInL3DjXIfy9">Google Scholar</a> /
<a href="https://twitter.com/HyunyoungJung5">Twitter</a> /
<a href="https://github.com/HyunyoungJung/">Github</a>
</p>
</td>
<!-- <td style="padding:2.5%;width:40%;max-width:40%">
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<h2>Research</h2>
<p>
My research goal is to develop learning-based control algorithms that enable robust and agile locomotion and interactive behaviors within human environments.
For this, I am currently working on research in legged robot locomotion, employing an approach that integrates classical control and learning-based methods.
I believe this approach can complement the drawbacks of each method by reducing the burden of reward engineering and improving the performance of the model-based method.
Furthermore, I am exploring the possibilities of human motion-driven control by establishing correspondence between humans and robots.
<!-- Representative papers are <span class="highlight">highlighted</span>. -->
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<h2>Publications and Preprints</h2><br>(*: equal contribution)
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<div class="one">
<div class="two" id='crossloco_image'><video width=100% height=100% muted autoplay loop>
<source src="project_teasers/crossloco/teaser.mp4" type="video/mp4">
Your browser does not support the video tag.
</video></div>
<img src='project_teasers/crossloco/teaser.png' width="160">
</div>
<script type="text/javascript">
function crossloco_start() {
document.getElementById('crossloco_image').style.opacity = "1";
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<td style="padding:20px;width:75%;vertical-align:top">
<a href="projects/crossloco/crossloco.html">
<span class="papertitle">CrossLoco: Human Motion Driven Control of Legged Robots via Guided Unsupervised Reinforcement Learning</span>
</a>
<br>
<a href="https://easypapersniper.github.io/">Tianyu Li</a>,
<strong>Hyunyoung Jung</strong>,
<a href="https://sites.gatech.edu/matthew-gombolay/">Matthew Gombolay</a>,
<a href="https://ce.gatech.edu/directory/person/yong-kwon-cho">Yong Kwon Cho</a>,
<a href="https://faculty.cc.gatech.edu/~sha9/">Sehoon Ha</a>
<br>
<em>ICLR</em>, 2024
<br>
<a href="projects/crossloco/crossloco.html">project page</a>
/
<a href="https://youtu.be/dBM2sTUcO-I">video</a>
/
<a href="https://arxiv.org/abs/2309.17046">arXiv</a>
/
<a href="https://openreview.net/pdf?id=UCfz492fM8">Paper</a>
<p></p>
<p>
We introduce a guided unsupervised reinforcement learning framework that simultaneously learns robot skills and their correspondence to human motions.
</p>
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<div class="two" id='ifm_image'><video width=100% height=100% muted autoplay loop>
<source src="project_teasers/IFM_teaser/teaser.mp4" type="video/mp4">
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<img src='project_teasers/IFM_teaser/IFM_teaser.png' width="160">
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function ifm_start() {
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<a href="projects/ifm/ifm.html">
<span class="papertitle">Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion</span>
</a>
<br>
Donghoon Youm*,
<strong>Hyunyoung Jung*</strong>,
Hyeongjun Kim,
<a href="https://www.railab.kaist.ac.kr/">Jemin Hwangbo</a>, <br>
<a href="https://www.dynamicrobot.kaist.ac.kr/">Hae-Won Park</a>,
<a href="https://faculty.cc.gatech.edu/~sha9/">Sehoon Ha</a>
<br>
<em>RA-L</em>, 2023
<br>
<a href="projects/ifm/ifm.html">project page</a>
/
<a href="https://youtu.be/KmL7mlGBkys">video</a>
/
<a href="https://arxiv.org/abs/2311.02304">arXiv</a>
<p></p>
<p>
We propose a learning framework that can bridge between model-based and learning-based approaches for legged robot control by imitating expert model predictive control (MPC) and fine-tuning the pre-trained policy with reinforcement learning.
</p>
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<h2>Ongoing Projects </h2><br>
</td>
</tr>
</tbody>
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<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;margin-top:-25px"><tbody>
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<div class="one">
<div class="two" id='digit_ifm_image'><video width=100% height=100% muted autoplay loop>
<source src="project_teasers/digit_ifm/teaser.mp4" type="video/mp4">
Your browser does not support the video tag.
</video></div>
<img src='project_teasers/digit_ifm/teaser.png' width="160">
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<script type="text/javascript">
function digit_ifm_start() {
document.getElementById('digit_ifm_image').style.opacity = "1";
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<td style="padding:20px;width:75%;vertical-align:top">
<span class="papertitle">Humanoid locomotion with learning-based method leveraging model-based control</span>
<p>
Training the locomotion of full-sized humanoids is a challenging task and less investigated in a learning-based control society compared to quadrupedal robot locomotion.
Unlike quadrupeds, the humanoids have more complicated structures making it hard to use a straightforward model-free reinforcement learning approach.
<br>
In this project, we address this issue by utilizing our established framework, IFM, to enhance the robustness of humanoid locomotion, specifically solving instability in the reinforcement learning stage.
</p>
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<h2>Education</h2><br>
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<h3 style="line-height: 0.5;" > Georgia Institute of Technology </h3>
<em>M.S in Electrical and Computer Engineering</em>
</td>
<td style="padding:10px;width:35%;vertical-align:top">
<em>Aug. 2022 - Present</em>
</td>
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<td style="padding:0px 10px 20px 23px;width:65%;vertical-align:top">
<h3 style="line-height: 0.5;"> Seoul National University </h3>
<em>B.S. in Mechanical Engineering</em>
<br>
<em>B.S. in Computer Science and Engineering</em>
</td>
<td style="padding:10px;width:35%;vertical-align:top">
<em>Mar. 2016 - Aug. 2022</em>
</td>
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<h2>Work and Teaching Experiences</h2><br>
</td>
</tr>
</tbody>
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<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto; margin-top:-25px"><tbody>
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<td style="padding:0px 10px 20px 23px;width:65%;vertical-align:top">
<h3 style="line-height: 0.5;"> CS 8803 Deep Reinforcment Learning for Intel. Control</h3>
<em>Teaching Asistant</em>
<br>
<em>Georgia Institute of Technology</em>
</td>
<td style="padding:10px;width:35%;vertical-align:top">
<em>Spring 2024</em>
</td>
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<tr onmouseout="alignerf_stop()" onmouseover="alignerf_start()">
<td style="padding:0px 10px 20px 23px;width:65%;vertical-align:top">
<h3 style="line-height: 0.5;"> CS 3451 Computer Graphics </h3>
<em>Teaching Asistant</em>
<br>
<em>Georgia Institute of Technology</em>
</td>
<td style="padding:10px;width:35%;vertical-align:top">
<em>Spring 2023</em>
</td>
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<tr onmouseout="alignerf_stop()" onmouseover="alignerf_start()">
<td style="padding:0px 10px 20px 23px;width:65%;vertical-align:top">
<h3 style="line-height: 0.5;"> Saige Research </h3>
<em>Research Intern</em>
</td>
<td style="padding:10px;width:35%;vertical-align:top">
<em>Apr. 2021 - Dec. 2021</em>
</td>
</tr>
<tr onmouseout="alignerf_stop()" onmouseover="alignerf_start()">
<td style="padding:0px 10px 20px 23px;width:65%;vertical-align:top">
<h3 style="line-height: 0.5;"> Samsung Electronics </h3>
<em>Student Intern</em>
</td>
<td style="padding:10px;width:35%;vertical-align:top">
<em>Jan. 2021 - Feb. 2021</em>
</td>
</tr>
</tbody></table>
</tbody></table>
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<br>
<p style="text-align:right;font-size:small;">
This template was borrowed from <a href="https://github.com/jonbarron/jonbarron_website">Jon Barron</a>
Last update: Mar.2024
</p>
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