Mark Moonyoung Lee

PhD candidate @CMU_Robotics

[Mark Moonyoung Lee @make_your_maark]

Excited to share our paper "SonicBoom" was accepted to RA-L and featured in IEEE Spectrum! 🎉

We propose a novel way to sensorize a robot arm using sound — localizing contact by listening with a microphone array. 🦾🔊

📰 Article: https://t.co/UtuhznUXBi

🧵👇

[Mark Moonyoung Lee @make_your_maark]

2️⃣ Audio-Visual Contact Classification for Tree Structures:
We gave farm robots the ability to sense contact by fusing sound with vision, making agriculture tasks safer and smarter.
Project Page: https://t.co/uZQ359ddSl

[Mark Moonyoung Lee @make_your_maark]

I'm at #CoRL and #Humanoids, and looking for full-time job positions. I'd love to connect and discuss opportunities!

Presenting:
1️⃣ SonicBoom: Contact Localization Using Array of Microphones
Featured in IEEE Spectrum, (Tues) TI4C.6, 2PM

2️⃣ Audio-Visual Contact Classification for Tree Structures
(Wed) WI2C.10, 10AM

[Mark Moonyoung Lee @make_your_maark]

1️⃣ SonicBoom:
We propose a novel way to sensorize a robot arm using sound — localizing contact by listening with a microphone array.
Project page: https://t.co/Qr7FPpAZdJ

[Mark Moonyoung Lee @make_your_maark]

For more info, check out:

Website: https://t.co/Qr7FPpAZdJ
Paper: https://t.co/CoAYuTSP88

[Mark Moonyoung Lee @make_your_maark]

Excited to share our paper "SonicBoom" was accepted to RA-L and featured in IEEE Spectrum! 🎉

We propose a novel way to sensorize a robot arm using sound — localizing contact by listening with a microphone array. 🦾🔊

📰 Article: https://t.co/UtuhznUXBi

🧵👇

[Mark Moonyoung Lee @make_your_maark]

💡 Key insight: The way we represent audio matters. Using a spectrogram often leads to overfitting. Instead, explicitly encoding phase information between microphone pairs significantly improved generalization to new surfaces like plastic or aluminum, when trained only on wood.

[Yuemin Mao @YueminMao]

🤖📦 Want to move many items FAST with your robot? Use a tray. But at high speeds, objects may fall off 💥.

Introducing our new method: it hears sliding 🎧, learns dynamic friction ���, and plans time-optimized motions to transport objects 🚀.

https://t.co/oLlCDqUUix

🧵1/7

[Mark Moonyoung Lee @make_your_maark]

@YueminMao @BDuisterhof @jeff_ichnowski Awesome work Yuemin!

[Mark Moonyoung Lee @make_your_maark]

Really exciting work to use audio-visual signals in agriculture settings for more contact-aware manipulation! @dorryspears @iamlab_cmu

[Dorry @dorryspears]

Very excited to share what @make_your_maark and I have been working on! We gave farm robots the ability to sense contact by fusing sound with vision, making agriculture tasks safer and smarter.
🧵1/8

[Dorry @dorryspears]

Very excited to share what @make_your_maark and I have been working on! We gave farm robots the ability to sense contact by fusing sound with vision, making agriculture tasks safer and smarter.
🧵1/8

[CMU Intelligent Autonomous Manipulation Lab @iamlab_cmu]

🤖We are introducing Grounded Task Axes (GTA) — a zero-shot skill transfer framework that enables robots to perform multi-step manipulation tasks on novel objects by generalizing modular controllers grounded through visual foundation models.

✅ No training, no demo, no finetuning — just zero-shot
🔧 Modular task-axis controllers
🎯 Grounded via visual foundation models
🧠 Generalizes across tools & objects
🥄🍳☕🔩 Scraping, pouring, screwing, insertion

Find more about our paper:
🌐 https://t.co/JPCDMbrBZo
📄 https://t.co/Pg3edtnf8e

[Mark Moonyoung Lee @make_your_maark]

🔊🦾 RoboAcoustics: Workshop on Acoustic Sensing and Representations for Robotics at ICRA 2025.

We have amazing speakers lined up! If you are at ICRA (or on Zoom), check out our workshop 5/19 Mon 9am-5pm in Room316!

Workshop Website: https://t.co/V8G5Ah2i6u

[Mark Moonyoung Lee @make_your_maark]

Website for 1st work on crop monitor robot 🌽: https://t.co/kpIMAjA47C

Website for 2nd work on sound localization 🔊: https://t.co/Qr7FPpArob

[Mark Moonyoung Lee @make_your_maark]

Will be at #ICRA2025 🦾 presenting 2 works:

1. Towards Autonomous Crop Monitoring: Inserting Sensors in Cluttered Environments
📍05/22 4:35pm Room408 (from RA-L).

2. SonicBoom: Contact Localization with Microphones
📍05/19 2:30pm Room316 - workshop (recent RA-L submit).

[Shivam Vats @ShivaamVats]

Excited to share that our paper, "Multi-Robot Motion Planning with Diffusion Models," has been selected for a Spotlight presentation at #ICLR2025!🔦🤖

We scale diffusion planning to dozens of robots *without* multi-robot data by using search.

Project: https://t.co/NZk8rEVW2t 🧵

[Saumya Saxena @saxena_saumya]

Can 3D scene graphs act as effective online memory for solving EQA tasks in⚡️real-time?

Presenting GraphEQA🤖, a framework for grounding Vision Language Models using multimodal memory for real-time embodied question answering.

[Sudharshan Suresh @Suddhus]

CMU covered our work on the Robotics Institute website!