https://www.youngju.dev/blog 천천히 올바르게. AI Researcher & DevOps Engineer Youngju's tech blog. GPU/CUDA, LLM, MLOps, Kubernetes AI workloads, distributed training, and data engineering. ko fjvbn2003@gmail.com (Youngju Kim) fjvbn2003@gmail.com (Youngju Kim) Mon, 29 Jun 2026 00:00:00 GMT https://www.youngju.dev/blog/ai-papers/2026-06-29-humanoid-robot-whole-body-control.en https://www.youngju.dev/blog/ai-papers/2026-06-29-humanoid-robot-whole-body-control.en From walking on two legs to handling objects with hands, we lay out the core ideas of bipedal locomotion and whole-body control. We cover ZMP and MPC, reinforcement-learning locomotion, balance and fall recovery, the integration of walking and manipulation, and how policies learned in simulation transfer to real hardware, all with diagrams. Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticshumanoidlocomotionwhole-body-controlreinforcement-learningsim2real https://www.youngju.dev/blog/ai-papers/2026-06-29-humanoid-robot-whole-body-control.ja https://www.youngju.dev/blog/ai-papers/2026-06-29-humanoid-robot-whole-body-control.ja ヒューマノイドロボットが二足で歩き、手で物を扱うまで、二足歩行制御と全身制御(whole-body control)の核心概念を整理します。ZMPとMPC、強化学習ベースのロコモーション、バランスと転倒回復、歩行と操作の統合、そしてシミュレーション学習を実機へ移す流れを図とともに見ていきます。 Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticshumanoidlocomotionwhole-body-controlreinforcement-learningsim2real https://www.youngju.dev/blog/ai-papers/2026-06-29-humanoid-robot-whole-body-control https://www.youngju.dev/blog/ai-papers/2026-06-29-humanoid-robot-whole-body-control 휴머노이드 로봇이 두 발로 걷고 손으로 물건을 다루기까지, 이족보행 제어와 전신 제어(whole-body control)의 핵심 개념을 정리합니다. ZMP와 MPC, 강화학습 기반 로코모션, 균형과 낙상 회복, 보행과 조작의 통합, 그리고 시뮬레이션 학습을 실물로 옮기는 흐름을 다이어그램과 함께 살펴봅니다. Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticshumanoidlocomotionwhole-body-controlreinforcement-learningsim2real https://www.youngju.dev/blog/ai-papers/2026-06-29-tactile-sensing-and-manipulation.en https://www.youngju.dev/blog/ai-papers/2026-06-29-tactile-sensing-and-manipulation.en Robots have begun to feel the world with their fingertips. We lay out vision-based tactile sensors (the GelSight family) and electronic skin, the role of touch in sensing slip, force, and texture, visual-tactile fusion, dexterous in-hand manipulation, and tactile sim2real and learning methods, all with diagrams. Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticstactile-sensingmanipulationgelsightvisuotactilesim2real https://www.youngju.dev/blog/ai-papers/2026-06-29-tactile-sensing-and-manipulation.ja https://www.youngju.dev/blog/ai-papers/2026-06-29-tactile-sensing-and-manipulation.ja ロボットが指先で世界を感じ始めています。ビジョンベースの触覚センサ(GelSight系)と電子皮膚、触覚が担う滑り・力・材質の検知、視覚と触覚の融合、精緻なインハンド操作、そして触覚のsim2realと学習方法を図とともに整理します。 Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticstactile-sensingmanipulationgelsightvisuotactilesim2real https://www.youngju.dev/blog/ai-papers/2026-06-29-tactile-sensing-and-manipulation https://www.youngju.dev/blog/ai-papers/2026-06-29-tactile-sensing-and-manipulation 로봇이 손끝으로 세상을 느끼기 시작했습니다. 비전 기반 촉각 센서(GelSight류)와 전자피부, 촉각이 담당하는 미끄러짐·힘·재질 감지, 시각-촉각 융합, 정교한 인핸드 조작, 그리고 촉각 sim2real과 학습 방법을 다이어그램과 함께 정리합니다. Mon, 29 Jun 2026 00:00:00 GMT fjvbn2003@gmail.com (Youngju Kim) ai-papersroboticstactile-sensingmanipulationgelsightvisuotactilesim2real