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Junwoo Park

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3 papers
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3

ICLR Conference 2024 Conference Paper

Self-Supervised Contrastive Learning for Long-term Forecasting

  • Junwoo Park
  • Daehoon Gwak
  • Jaegul Choo
  • Edward Choi 0003

Long-term forecasting presents unique challenges due to the time and memory complexity of handling long sequences. Existing methods, which rely on sliding windows to process long sequences, struggle to effectively capture long-term variations that are partially caught within the short window (i.e., outer-window variations). In this paper, we introduce a novel approach that overcomes this limitation by employing contrastive learning and enhanced decomposition architecture, specifically designed to focus on long-term variations. To this end, our contrastive loss incorporates global autocorrelation held in the whole time series, which facilitates the construction of positive and negative pairs in a self-supervised manner. When combined with our decomposition networks, our constrative learning significantly improves long-term forecasting performance. Extensive experiments demonstrate that our approach outperforms 14 baseline models on well-established nine long-term benchmarks, especially in challenging scenarios that require a significantly long output for forecasting. This paper not only presents a novel direction for long-term forecasting but also offers a more reliable method for effectively integrating long-term variations into time-series representation learning.

ICRA Conference 2016 Conference Paper

A highly sensitive dual mode tactile and proximity sensor using Carbon Microcoils for robotic applications

  • Hyo Seung Han
  • Junwoo Park
  • Tien Dat Nguyen
  • Uikyum Kim
  • Canh Toan Nguyen
  • Hoa Phung
  • Hyouk Ryeol Choi

This paper presents a highly sensitive dual mode tactile and proximity sensor for robotic applications that uses Carbon Microcoils (CMCs). The sensor consists of multiple electrode layers printed on a Flexible Printed Circuit Board (FPCB) and a dielectric substrate into which the CMCs are dispersed. The dielectric layer is simply put on the top of the FPCB. Thus, the sensor provides ease of fabrication and robustness against repetitive external contacts because the dielectric layer protects the electrodes. The electrical properties of the sensor are changed when an object approaches or touches the sensor. The sensor uses a capacitive sensing mode for tactile sensing and an inductive sensing mode for proximity sensing. CMCs amplify the change of the sensor signal because of electrical impedance formed by the CMCs, and thus, the sensitivity of the sensor increases. We fabricate the prptotype sensor with the dimensions of 30 × 30 × 0. 6 mm3, and with 3 mm spatial-resolution. The sensor detects the applied pressure up to 330 kPa and the distance of an object as much as 150 mm away.

ICRA Conference 2015 Conference Paper

Printable monolithic hexapod robot driven by soft actuator

  • Canh Toan Nguyen
  • Hoa Phung
  • Hosang Jung
  • Uikyum Kim
  • Tien Dat Nguyen
  • Junwoo Park
  • Hyungpil Moon
  • Ja Choon Koo

Aiming to apply soft actuators in driving a walking robot, the design, fabrication and locomotion of a bio-inspired printable hexapod robot are studied. The robot mimics the insect's design and walking posture by driving six legs with alternating tripod gait which provides its locomotive adaptability on flat terrains. The versatile movements of the robot's leg are achieved by using soft and multiple degree-of-freedom actuators. The actuators are made by dielectric elastomers with a simple mechanism based on antagonistic configuration. By using 3D printing method, the actuator can be embedded into the frame of the robot and a control system is developed. Finally, the robot's locomotion is successfully demonstrated with variable speeds and stride lengths.

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