Human-centered Physical Intelligence (HPI) Lab

The HPI Lab is part of the Department of Artificial Intelligence at Hanyang University ERICA.
Our mission is to develop human-centered physical AI agents that can perceive, act, and interact in the real world, enabling intelligent systems to provide safe and beneficial services to humans and society.
To achieve this, our research advances 3D environment perception, robotic action learning, and human–AI–robot interaction, with the goal of building physical AI agents that are adaptive, robust, and socially acceptable in real-world environments such as autonomous driving, manufacturing, logistics, healthcare, and households.

Our research topics are (not limited to):

3D Visual Perception and Understanding (e.g., MapUnveiler, ProtoOcc)
Cross-modal Representation Learning & Knowledge Transfer (e.g., DaDA, STXD, UDGA)
Multi-modal Robotic Action Learning (e.g., DAM-VLA, FeedTTA, ATENA)
Human-AI-Robot Interaction (e.g., PuppetX, MotionFlow, TCM)

news

Jan 31, 2026	A paper about “A Dynamic Action Model-Based Vision-Language-Action Framework for Robot Manipulation” is accepted to ICRA 2026.
Sep 19, 2025	A paper about “Active Test-time Vision-Language Navigation” is accepted to NeurIPS 2025.
May 02, 2025	A paper about “Test-Time Adaptation for Online Vision-Language Navigation” is accepted to ICML 2025.
Feb 27, 2025	A paper about “Efficient 3D Occupancy Prediction” is accepted to CVPR 2025.
Sep 26, 2024	Two papers about “Unified Domain Generalization & Adaptation” and “Online HD-Map Construction” are accepted to NeurIPS 2024.
Dec 09, 2023	A paper about “Cross-Modal and Domain Adversarial Adaptation” is accepted to AAAI 2024.
Sep 22, 2023	A paper about “Structural and Temporal Cross-Modal Distillation” is accepted to NeurIPS 2023.
Sep 16, 2022	A paper about “Modeling Cumulative Arm Fatigue in Mid-Air Interaction” is accepted to International Journal of Human-Computer Studies (IJHCS).

selected publications

ICRA

DAM-VLA: A Dynamic Action Model-Based Vision-Language-Action Framework for Robot Manipulation

Xiongfeng Peng, Jiaqian Yu, Dingzhe Li, Yixiang Jin, Xu Lu, Yamin Mao, Chao Zhang, Weiming Li, Sujin Jang, Dongwook Lee, and Daehyun Ji

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2026

Bib PDF

@inproceedings{peng2026damvla,
  title = {DAM-VLA: A Dynamic Action Model-Based Vision-Language-Action Framework for Robot Manipulation},
  author = {Peng, Xiongfeng and Yu, Jiaqian and Li, Dingzhe and Jin, Yixiang and Lu, Xu and Mao, Yamin and Zhang, Chao and Li, Weiming and Jang, Sujin and Lee, Dongwook and Ji, Daehyun},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
}

ICML

Test-time Adaptation for Online Vision-Language Navigation with Feedback-based Reinforcement Learning

Sungjune Kim^*, Gyeongrok Oh^*, Heeju Ko, Daehyun Ji, Dongwook Lee, Byung-Jun Lee, Sujin Jang^†, and Sangpil Kim^†

In Proceedings of the International Conference on Machine Learning (ICML), 2025

Bib PDF

@inproceedings{kim2025test,
  title = {Test-time Adaptation for Online Vision-Language Navigation with Feedback-based Reinforcement Learning},
  author = {Kim, Sungjune and Oh, Gyeongrok and Ko, Heeju and Ji, Daehyun and Lee, Dongwook and Lee, Byung-Jun and Jang, Sujin and Kim, Sangpil},
  booktitle = {Proceedings of the International Conference on Machine Learning (ICML)},
  pages = {30654--30671},
  year = {2025},
}

CVPR

3D Occupancy Prediction with Low-Resolution Queries via Prototype-aware View Transformation

Gyeongrok Oh^*, Sungjune Kim^*, Heeju Ko, Hyung-gun Chi, Jinkyu Kim, Dongwook Lee, Daehyun Ji, Sungjoon Choi, Sujin Jang^†, and Sangpil Kim^†

In Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR), 2025

Bib PDF

@inproceedings{oh20253d,
  title = {3D Occupancy Prediction with Low-Resolution Queries via Prototype-aware View Transformation},
  author = {Oh, Gyeongrok and Kim, Sungjune and Ko, Heeju and Chi, Hyung-gun and Kim, Jinkyu and Lee, Dongwook and Ji, Daehyun and Choi, Sungjoon and Jang, Sujin and Kim, Sangpil},
  booktitle = {Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR)},
  pages = {17134--17144},
  year = {2025},
}

NeurIPS

Unveiling the Hidden: Online Vectorized HD Map Construction with Clip-Level Token Interaction and Propagation

Nayeon Kim^*, Hongje Seong^*, Daehyun Ji, and Sujin Jang^†

In Proceedings of the International Conference on Neural Information Processing Systems (NeurIPS), 2024

Bib PDF

@inproceedings{kim2024unveiling,
  title = {Unveiling the Hidden: Online Vectorized HD Map Construction with Clip-Level Token Interaction and Propagation},
  author = {Kim, Nayeon and Seong, Hongje and Ji, Daehyun and Jang, Sujin},
  booktitle = {Proceedings of the International Conference on Neural Information Processing Systems (NeurIPS)},
  pages = {111358--111381},
  year = {2024},
}

NeurIPS

STXD: Structural and Temporal Cross-Modal Distillation for Multi-View 3D Object Detection

Sujin Jang^*, Dae Ung Jo^*, Sung Ju Hwang, Dongwook Lee, and Daehyun Ji

In Proceedings of the International Conference on Neural Information Processing Systems (NeurIPS), 2023

Bib PDF

@inproceedings{jang2023stxd,
  title = {STXD: Structural and Temporal Cross-Modal Distillation for Multi-View 3D Object Detection},
  author = {Jang, Sujin and Jo, Dae Ung and Hwang, Sung Ju and Lee, Dongwook and Ji, Daehyun},
  booktitle = {Proceedings of the International Conference on Neural Information Processing Systems (NeurIPS)},
  year = {2023},
}

NeurIPS

DaDA: Distortion-aware Domain Adaptation for Unsupervised Semantic Segmentation

Sujin Jang, Joohan Na, and Dokwan Oh

In Proceedings of the International Conference on Neural Information Processing Systems (NeurIPS-Oral), 2022

Oral Bib PDF

Selected as one of the oral presentations

@inproceedings{jang2022dada,
  title = {DaDA: Distortion-aware Domain Adaptation for Unsupervised Semantic Segmentation},
  author = {Jang, Sujin and Na, Joohan and Oh, Dokwan},
  booktitle = {Proceedings of the International Conference on Neural Information Processing Systems (NeurIPS-Oral)},
  volume = {35},
  pages = {18681--18693},
  year = {2022},
}