Sehoon Ha
Assistant Professor, School of Interactive Computing, Georgia Institute of Technology
Contact: sehoonha@gatech.edu | CV
Office: TSRB 230A
Address: 85 5th St NW, Atlanta, GA 30308
I'm an assistant professor at Georgia Institute of Technology. Before joining Georgia Tech, I was a research scientist at Google and Disney Research Pittsburgh. I received my PhD in Computer Science from the Georgia Institute of Technology in 2015. My advisor was Dr. C. Karen Liu. I have a B.S. degree in Computer Science from KAIST in 2009. I am interested in character animation, robotics, and artificial intelligence.

News
Publications

arxiv video
Learning to Walk in the Real World with Minimal Human Effort
Sehoon Ha, Peng Xu, Zhenyu Tan, Sergey Levine, Jie Tan
Articles: MIT Technology Review Business Insider Digital Trends NowThis News PopMech

arxiv video
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation
Xinlei Pan, Tingnan Zhang, Brian Ichter, Aleksandra Faust, Jie Tan, Sehoon Ha
IEEE International Conference on Robotics and Automation (ICRA) 2020


arxiv video
Learning Fast Adaptation with Meta Strategy Optimization
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, Sehoon Ha
IEEE Robotics and Automation Letters (RA-L) 2020


arxiv
Learning a Control Policy for Fall Prevention on an Assistive Walking Device
Visak C.V. Kumar, Sehoon Ha, Gergory Sawicki, C. Karen Liu
IEEE International Conference on Robotics and Automation (ICRA) 2020


arxiv video WIRED
Learning to Walk via Deep Reinforcement Learning
Tuomas Haarnoja*, Sehoon Ha*, Aurick Zhou, Jie Tan, George Tucker, Sergey Levine
*Two First Authors equally contributed.
Proceedings of Robotics: Science and Systems (RSS) 2019

arxiv
Soft Actor-Critic Algorithms and Applications
Tuomas Haarnoja, Aurick Zhou, Kristian Hartikainen, George Tucker, Sehoon Ha, Jie Tan, Vikash Kumar, Henry Zhu, Abhishek Gupta, Pieter Abbeel, Sergey Levine


arxiv video
Expanding Motor Skills through Relay Neural Networks
Visak C.V. Kumar, Sehoon Ha, C. Karen Liu
Conference on Robot Learning (CoRL) 2018


IEEE to appear
Learning Hardware Dynamics Model from Experiments for Locomotion Optimization
Kuo Chen, Sehoon Ha, Katsu Yamane
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018

pdf video
Computational Design of Robotic Devices from High-Level Motion Specifications
Sehoon Ha, Stelian Coros, Alexander Alspach, James M. Bern, Joohyung Kim, Katsu Yamane
IEEE Transactions on Robotics (T-Ro) 2018


pdf video
Automated Deep Reinforcement Learning Environment for Hardware of a Modular Legged Robot
Sehoon Ha, Joohyung Kim, Katsu Yamane
International Conference on Ubiquitous Robots 2018


pdf video
Computational Co-Optimization of Design Parameters and Motion Trajectories for Robotic Systems
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
International Journal of Robotics Research (IJRR) 2018


pdf
Improving Model-Based Balance Controllers Using Reinforcement Learning and Adaptive Sampling
Visak C.V. Kumar, Sehoon Ha, Katsu Yamane
IEEE International Conference on Robotics and Automation (ICRA) 2018


pdf
DART: Dynamic animation and robotics toolkit
Jeongseok Lee, Michael X. Grey, Sehoon Ha, Tobias Kunz, Sumit Jain, Yuting Ye, Siddhartha S. Srinivasa, Mike Stilman, and C. Karen Liu
The Journal of Open Source Software (JOSS) 2018


pdf
Learning a Unified Control Policy for Safe Falling
Visak C.V. Kumar, Sehoon Ha, C. Karen Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017

pdf video
Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem [Best Conference Paper Finalist, Top 3]
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
Proceedings of Robotics: Science and Systems (RSS) 2017


pdf video PBS News Hours Smithsonian
Stair Negotiation Made Easier Using Novel Interactive Energy-Recycling Assistive Stairs
Yun Seong Song, Sehoon Ha, Hsiang Hsu, Lena H. Ting, C. Karen Liu
PLoS One 2017


pdf
Task-based Limb Optimization for Legged Robots
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016

pdf video
Evolutionary Optimization for Parameterized Whole-body Dynamic Motor Skills
Sehoon Ha and C. Karen Liu
IEEE International Conference on Robotics and Automation (ICRA) 2016

pdf video IEEE Spectrum MIT Technology Review
Multiple Contact Planning for Minimizing Damage of Humanoid Falls
Sehoon Ha and C. Karen Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015

pdf video
Reducing Hardware Experiments for Model Learning and Policy Optimization
Sehoon Ha and Katsu Yamane
IEEE International Conference on Robotics and Automation (ICRA) 2015

pdf youtube
Iterative Traiing Of Dynamic Skills Inspired By Human Coaching Technique
Sehoon Ha and C. Karen Liu
ACM Transactions on Graphics 2014

pdf video
Physics Storyboards
Sehoon Ha, Jim McCann, C. Karen Liu, and Jovan Popović
Computer Graphics Forum (The proceeding of Eurographics 2013)

pdf video
Falling and Landing Motion Control for Character Animation
Sehoon Ha, Yuting Ye, and C. Karen Liu
ACM Transactions on Graphics (The proceeding of SIGGRAPH Asia 2012)

pdf video
Human Motion Reconstruction from Force Sensors
Sehoon Ha, Yunfei Bai, and C. Karen Liu
ACM SIGGRAPH/Eurographics Symposium on Computer Animation 2011
Copyright (c) 2016 Sehoon Ha