Hello, I'm Dongyun Kang

I am a Ph.D. student in the DRCD (Dynamic Robot Control & Design) Lab at KAIST, advised by Prof. Hae-Won Park.

I received my B.S. degree in Mathematical Sciences and M.S. degree in Mechanical Engineering, both from KAIST.

My research interests are primarily in learning-based control and motion generation for legged robots.

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Publications

DynaFlow: Dynamics-embedded Flow Matching for Physically Consistent Motion Generation from State-only Demonstrations

DynaFlow: Dynamics-embedded Flow Matching for Physically Consistent Motion Generation from State-only Demonstrations

Sowoo Lee*, Dongyun Kang*, Jaehyun Park*, Hae-Won Park
Under Review, 2025

PDF arXiv
A modular residual learning framework to enhance model-based approach for robust locomotion

A modular residual learning framework to enhance model-based approach for robust locomotion

Min-Gyu Kim, Dongyun Kang, Hajun Kim, Hae-Won Park
RA-L, 2025 Journal Paper

Project Page PDF arXiv Video
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study

Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study

Dongyun Kang*, Gijeong Kim*, JongHun Choe*, Hajun Kim, Hae-Won Park
CoRL, 2025

PDF arXiv Video
Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots

Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots

JongHun Choe, Gijeong Kim, Hajun Kim, Dongyun Kang, Hae-Won Park
Humanoids, 2025 Best Oral Paper Award

PDF arXiv Video
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients

Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients

Hajun Kim, Dongyun Kang, Min-Gyu Kim, Gijeong Kim, Hae-Won Park
RA-L, 2025 Journal Paper

PDF arXiv Video
Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories

Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories

Gijeong Kim, Dongyun Kang, Joon-Ha Kim, Seungwoo Hong, Hae-Won Park
IJRR, 2024 Journal Paper

PDF arXiv
Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints

Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints

Gijeong Kim, Dongyun Kang, Joon-Ha Kim, Hae-Won Park
IROS, 2022