Publications


International Journal

TGS: Trajectory Generation and Selection using Vision Language Models in Mapless Outdoor Environments

D. Song*, J. Liang*, X. Xiao, D. Manocha
under review
Paper  •   Video

VLM-Social-Nav: Socially Aware Robot Navigation through Scoring Using Vision-Language Models

D. Song, J. Liang, A. Payandeh, A. H. Raj, X. Xiao, D. Manocha
IEEE Robotics and Automation Letters (RA-L), 2024
Webpage  •   Paper  •   Video

SSK: Robotic Pen-art System for Large, Non-planar Canvas

D. Song, J. Kim, Y. J. Kim
IEEE Transactions on Robotics (T-RO), 2023
Webpage  •   Paper  •   Video  •   Code

Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization

D. Song, P. Fernbach, T. Flayols, A. D. Prete, N. Mansard, S. Tonneau, Y. J. Kim
IEEE Robotics and Automation Letters (RA-L), 2021
Webpage  •   Paper  •   Video  •   Code

Full-body Animation of Human Locomotion in Reduced Gravity using Physics-based Control

Y.-h. Kim, T. Kwon, D. Song, Y. J. Kim
IEEE Computer Graphics and Applications (CG&A), 2017
Webpage  •   Paper  •   Video




International Conference

SocialLLaVA: Enhancing Robot Navigation through Human-Language Reasoning in Social Spaces

A. Payandeh, D. Song, M. Nazeri, J. Liang, P. Mukherjee, A. H. Raj, Y. Kong, D. Manocha, X. Xiao
under review
Webpage  •   Dataset  •   Paper

GND: Global Navigation Dataset with Multi-Modal Perception and Multi-Category Traversability in Outdoor Campus Environments

J. Liang*, D. Das*, D. Song*, M. N. H. Shuvo, M. Durrani, K. Taranath, I. Penskiy, D. Manocha, X. Xiao
IEEE International Conference on Robotics and Automation (ICRA), 2025
Webpage  •   Dataset  •   Paper  •   Video  •   Code

AGL-NET: Aerial-Ground Cross-Modal Global Localization with Varying Scales

T. Guan, R. Xian, X. Wang, X, Wu, M. Elnoor, D. Song, D. Manocha
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Paper  •   Code

DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation

J. Liang, A. Payandeh, D. Song, X. Xiao, D. Manocha
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Paper  •   Video  •   Code

TSP-Bot: Robotic TSP Pen Art using High-DoF Manipulators

D. Song, E. Lim, J. Park, M. Jung, Y. J. Kim
International Conference on Ubiquitous Robots (UR), 2024
Webpage  •   Paper  •   Video

Stroke-based Rendering and Planning for Robotic Performance of Artistic Drawing

I. Ilinkin, D. Song, Y. J. Kim
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Paper  •   Video

Learning to steer a locomotion contact planner

J. Chemin, P. Fernbach, D. Song, G. Saurel, N. Mansard, S. Tonneau
IEEE International Conference on Robotics and Automation (ICRA), 2021
Paper  •   Video

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain

S. Tonneau, D. Song, P. Fernbach, N. Mansard, M. Taïx, A. D. Prete
IEEE International Conference on Robotics and Automation (ICRA), 2020
Webpage  •   Paper  •   Video  •   Code

Distortion-free Robotic Surface-drawing using Conformal Mapping

D. Song, Y. J. Kim
IEEE International Conference on Robotics and Automation (ICRA), 2019
Webpage  •   Paper  •   Video

Artistic Pen Drawing on an Arbitrary Surface using an Impedance-controlled Robot

D. Song, T. Lee, Y. J. Kim
IEEE International Conference on Robotics and Automation (ICRA), 2018
Webpage  •   Paper  •   Video

*: Equally Contributed


Selected Extended Abstract

TSP Pen Art using a Mobile Collaborative Robot (extended abstract)

E. Lim, J. Park, D. Song, Y. J. Kim
Korea Computer Graphics Society Annual Conference (KCGS), 2021
Best Undergrad Paper Award
Webpage  •   Video

Artistic Pen Drawing on an Arbitrary Surface using an Impedance-controlled Robot (extended abstract)

D. Song, T. Lee, Y. J. Kim
Korea Robotics Society Annual Conference (KRoC), 2018
Best Paper Award