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About Me
About Me
I am a Postdoctoral Associate at the MIT Biomimetic Robotics Lab, working with Prof. Sangbae Kim. Previously, I was an AI Research Fellow at the Korea Institute for Advanced Study (KIAS) from March 2023 to February 2025. I earned my Ph.D. from SNU Robotics Lab under the guidance of Prof. Frank C. Park (March 2018 – February 2023). Before that, I completed my B.S. in Mechanical Engineering and Physics at SNU.
Research Interests: Geometric Machine Learning, Perception for Manipulation, Reactive Planning and Control, Movement Primitives
Contact: yhl@mit.edu, yhlee.gabe@gmail.com
Recent talks
A Geometric Take on Motion Manifold Learning from Demonstration (May 17th, 2024 - Yokohama, Japan)
Riemann and Gauss meet Asimov: 2nd Tutorial on Geometric Methods in Robot Learning, Optimization and Control at ICRA 2024 (SITES)
News
(Aug, 2025) Our paper on ScrewSplat: An End-to-End Method for Articulated Object Recognition is accepted at CoRL 2025.
(May, 2025) Our paper on Motion Manifold Flow Primitives for Task-Conditioned Trajectory Generation under Complex Task-Motion Dependencies is accepted at RA-L 2025.
(March, 2025) I will be joining MIT's Biomimetic Robotics Lab as a Postdoctoral Associate in March 2025, working with Prof. Sangbae Kim. Very excited!
(Feb, 2025) I will be hosting a mini workshop on AI and robotics on February 18th, spending the entire day engaging in exciting discussions with 12 speakers and other participants! Feel free to join at KIAS.
(Feb, 2025) Our paper on Isometric Regularization for Manifolds of Functional Data is accepted at ICRL 2025.
(Feb, 2025) Our paper on Diverse Policy Learning via Random Obstacle Deployment for Zero-Shot Adaptation is accepted at RA-L 2025.
(Sep 4, 2024) Our two papers, EquiGraspFlow: SE(3)-Equivariant 6-DoF Grasp Pose Generative Flows and T2SQNet: A Recognition Model for Manipulating Partially Observed Transparent Tableware Objects, are accepted at CoRL 2024.
(Aug, 2024) Our paper on MMP++: Motion Manifold Primitives with Parametric Curve Models is accepted at T-RO.
(May 12, 2024 ~ May 18, 2024) I will be at ICRA in Yokohama, Japan, presenting one poster, two workshop posters, and giving one tutorial talk.
(May 02, 2024) Our paper, Graph Geometry-Preserving Autoencoders, is accepted at ICML 2024.
(April, 2024) Two ICRA 2024 workshop papers, Behavior-Controllable Stable Dynamics Models in Riemannian Configuration Manifolds and Leveraging Equivariant Representations of 3D Point Clouds for SO(3)-Equivariant 6-DoF Grasp Pose Generation, are accepted.
(Nov 4, 2023) Our paper on NFL: Normal Field Learning for 6-DoF Grasping of Transparent Objects is accepted at RA-Letters.
(Nov 4, 2023 ~ Nov 12, 2023) I will be at CoRL in Atalanta, US, presenting two posters!
(Aug 30, 2023) Our two papers, Equivariant Motion Manifold Primitives and Leveraging 3D Reconstruction for Mechanical Search on Cluttered Shelves, are accepted at CoRL 2023.
(July 22 ~ Aug 1, 2023) I will be present at ICML in Hawaii, US.
(July 7, 2023) Our paper, On Explicit Curvature Regularization in Deep Generative Models, is accepted at the 2nd Annual Topology, Algebra, and Geometry in Machine Learning Workshop in ICML 2023.
(June 15 ~ July 6, 2023) I will be at the Nonsan Korea Army Training Center.
(Mar 1, 2023) I have become an AI Research Fellow at the KIAS Center for AI and Natural Sciences.
(Feb 24, 2023) Great news! I have successfully completed my Ph.D. program and am thrilled to announce that I will be awarded the Outstanding Doctoral Dissertation Award by the Mechanical Engineering Department!
(Feb 8~10, 2023) I will be present at the KIAS AI Center winter workshop and will give a 30 mins talk on "Geometric Methods for Machine Learning". (slide)
(Jan 21, 2023) Our paper, Geometrically regularized autoencoders for Non-Euclidean data, is accepted at ICLR 2023.
(Nov 4, 2022) I will give a talk for My Ph. D. Thesis Defense Seminar on "Geometric Methods for Manifold Representation Learning" at 4 pm in SNU (301-306), all are welcome! (slide)
(Sep 10, 2022) Our paper, SE(2)-Equivariant Pushing Dynamics Models for Tabletop Object Manipulations, is accepted at CoRL 2022 for an oral presentation.
(July 2022) I received Youlchon AI STAR Fellowship.
(July 17~27, 2022) I will be present at ICML in Baltimore, US, and will give the spotlight talk and poster presentation.
(June 10, 2022) Our paper, DSQNet: A Deformable Model-Based Supervised Learning Algorithm for Grasping Unknown Occluded Objects, is accepted at T-ASE 2022.
(May 15, 2022) Our paper, A Statistical Manifold Framework for Point Cloud Data, is accepted at ICML 2022.
(Apr 15, 2022) I gave a presentation at the 2022 AIIS Spring Retreat and won the 3rd prize for the poster presentation.
(Jan 29, 2022) Our paper, Regularized Autoencoders for Isometric Representation Learning, is accepted at ICLR 2022.
(Sep 29, 2021) Our paper, Neighborhood Reconstructing Autoencoders, is accepted at NeurIPS 2021.
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