Sehoon Ha
Associate Professor
Combines physics-based animation and deep reinforcement learning for legged robot control and computational robot design.
Sehoon Ha's lab at Georgia Tech works on legged locomotion & humanoids, planning, control & multi-robot systems and physics-based simulation & animation. 51 papers since 2023, 30 at top venues, mostly RA-L and ICRA. 11 PhD students and 3 master's students. 21 alumni, most often to Amazon and Apple. Applications close .
At a glance
- papers, 2023–2026
- 13/ year
- at T1 venues
- 59%
- PhD students
- 11
- MS students
- 3
- alumni listed
- 21
Papers by yearfrom the lab homepage, 2023–2026
- 13 papers2026 · T1 7 · collecting
- 11 papers2025 · T1 8
- 10 papers2024 · T1 6
- 17 papers2023 · T1 9
T1 venuesOtherVenues: RA-L, ICRA, IROS, ICLR, CoRL
Research focuspaper titles that use each topic's words
- Planning, control & multi-robot systems18 papers
- Legged locomotion & humanoids14 papers
- Physics-based simulation & animation7 papers
- physics-based animation0 papers
- robot design0 papers
Paper list
From the lab homepage.
202613 papers
- IJRR (T1)A Design Co-Pilot for Task-Tailored Manipulators (opens in a new tab)
- Artificial Life and RoboticsDeep Reinforcement Learning for Multi-Agent Coordination (opens in a new tab)
- RA-LDynamic Policy Learning for Legged Robot with Simplified Model Pretraining and Model-Homotopy-Inspired Transfer (opens in a new tab)
- RA-LEgoAVFlow: Robot Policy Learning with Active Vision from Human Egocentric Videos via 3D Flow (opens in a new tab)
- RA-LEMMA: Scaling Mobile Manipulation via Egocentric Human Data (opens in a new tab)
- ICRA (T1)FiLM-Nav: Efficient and Generalizable Navigation via VLM Fine-tuning (opens in a new tab)
- ICRA (T1)Flip Stunts on Bicycle Robots using Iterative Motion Imitation (opens in a new tab)
- IROS (T1)Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller (opens in a new tab)
- RA-LLineRides: Line-Guided Reinforcement Learning for Bicycle Robot Stunts (opens in a new tab)
- CHI (T1)MotionSmith: A Sketch-Based Design System for Automata Making (opens in a new tab)
- ICLR (T1)Reference Grounded Skill Discovery (opens in a new tab)
- T-RO (T1)RobotMover: Learning to Move Large Objects From Human Demonstrations (opens in a new tab)
202511 papers
- ICRA (T1)Do Looks Matter? Exploring Functional and Aesthetic Design Preferences for a Robotic Guide Dog (opens in a new tab)
- Advanced RoboticsImplicit Behavioral Cues for Enhancing Trust and Comfort in Robot Social Navigation (opens in a new tab)
- ICLR (T1)Language Guided Skill Discovery (opens in a new tab)
- ICRA (T1)Learning a High-quality Robotic Wiping Policy Using Systematic Reward Analysis and Visual-Language Model Based Curriculum (opens in a new tab)
- IJRR (T1)Learning-based legged locomotion; state of the art and future perspectives (opens in a new tab)
- RA-LOpt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation (opens in a new tab)
- RA-LPPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based Regularization (opens in a new tab)
- ICRA (T1)PrivilegedDreamer: Explicit Imagination of Privileged Information for Rapid Adaptation of Learned Policies (opens in a new tab)
- CoRL (T1)SDAX: Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion (opens in a new tab)
- RSS (T1)Tactile Sensing Enables Vertical Obstacle Negotiation for Elongate Many-Legged Robots (opens in a new tab)
- HRI (T1)Understanding Expectations for a Robotic Guide Dog for Visually Impaired People (opens in a new tab)
202410 papers
- CVPR (T1)AAMDM: Accelerated Auto-regressive Motion Diffusion Model (opens in a new tab)
- IROS (T1)BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning (opens in a new tab)
- ACM SIGACCESS Conference on Computers and AccessibilityCo-designing Robot Dogs with and for Neurodivergent Individuals: Opportunities and Challenges (opens in a new tab)
- ICLR (T1)CrossLoco: Human Motion Driven Control of Legged Robots via Guided Unsupervised Reinforcement Learning (opens in a new tab)
- IROS (T1)HM3D-OVON: A dataset and benchmark for open-vocabulary object goal navigation (opens in a new tab)
- ICRA (T1)Learning manipulation of steep granular slopes for fast Mini Rover turning (opens in a new tab)
- RO-MANModeling social interaction dynamics using temporal graph networks (opens in a new tab)
- ACM Transactions on Human-Robot InteractionPrinciples and Guidelines for Evaluating Social Robot Navigation Algorithms (opens in a new tab)
- Automation in ConstructionUnderstanding human-robot proxemic norms in construction: How do humans navigate around robots? (opens in a new tab)
- ICRA (T1)VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation (opens in a new tab)
202317 papers
- SIGGRAPH Asia (T1)ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters (opens in a new tab)
- RA-LAdaptive Skill Coordination for Robotic Mobile Manipulation (opens in a new tab)
- IROS (T1)ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments (opens in a new tab)
- RA-LCascaded Compositional Residual Learning for Complex Interactive Behaviors (opens in a new tab)
- RoboticsFastMimic: Model-Based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion (opens in a new tab)
- International Conference on Human-Robot Interaction (HRI) Late Breaking ReportHow to Train Your Guide Dog: Wayfinding and Safe Navigation with Human-Robot Modeling (opens in a new tab)
- RA-LImitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion (opens in a new tab)
- IROS (T1)Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation (opens in a new tab)
- RSS (T1)Learning and Adapting Agility Skills by Transferring Experience (opens in a new tab)
- CGFLearning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum (opens in a new tab)
- IROS (T1)On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning (opens in a new tab)
- IROS (T1)Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots (opens in a new tab)
Where alumni went21 listed, 56% to industry
Industry 5Academia 4
Most often to
- Amazon
- Apple
- Figure AI
Also to
- Duke University
- Princeton University
- Robotics and AI Institute
Apply to Georgia TechFall 2027
Georgia Tech Computer Science PhD
- Round
- Single round
- Opens
- —
- GRE
- optional
- English
- TOEFL/IELTS
- Fee
- See program page
Not yet confirmed for this intake.
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