We are Inha-United, a multi-lab research group (RCV Lab, SPARO Lab, Artemis Lab, and RILS Lab).

Inha-United@home

Inha-United is a multidisciplinary research powerhouse at Inha University, South Korea. We represent a strategic alliance of four leading laboratories specializing in Robotics, Computer Vision, and Autonomous Systems.

Category	Link
🌐 Website
📄 Team Descriptor 2026
📺 YouTube

System Overview

RB-Y1

• Robot Platform: RB-Y1 humanoid robot
• Main Computer: Jetson AGX Orin
• Perception Computer: Jetson Thor
• Cameras: Intel RealSense D435f (head), D405 (arms)
• LiDAR: Livox MID-360 (3D), LakiBeam (2D)
• Actuators: Dual arms with grippers, differential-drive mobile base

• 🎮 Simulation & Training

  • rby1-isaacsim-ros2 - Custom-built simulation stage for competition-ready autonomous robots
  • rby1-mujoco-ros2 - MuJoCo simulation environments configured for RB-Y1 robot
  • rby1_LIBERO - LIBERO benchmark integration for RB-Y1

• 📊 Datasets

  • rby1-lerobot_dataset - LeRobot compatible dataset for RB-Y1
  • inha-rby1-dataset - Real-world RB-Y1 humanoid demonstration dataset for diverse manipulation tasks

• 🦾 Manipulation

  • rby1_inha_moveit - RBY1 a.1.1 model MoveIt config
  • anyplace - AnyPlace: Learning Generalized Object Placement for Robot Manipulation
  • GrasGen_inha - GraspGen integration for Inha-United (grasp generation module)
  • inha_control_client - ROS 2 package for dual-arm grasp execution
  • inha_rby1_moveit - MoveIt 2 configuration package for RBY1 robot.
  • inha_dual_arm_allocation - intelligent arm selection in dual-arm robotic systems

• 🗺️ Navigation

  • rby1_inha_nav2 - Navigation stack for RB-Y1
  • frontier_exploration_ros2 - ROS2 package for frontier exploration based on explore_lite

• 👁️ Perception & Vision

  • FoundationPoseROS2 - RTX 50xx (Blackwell) GPU support with CUDA 12.8 & PyTorch 2.7+ for ROS2 Humble
  • inha_perception - Perception modules for inha-united

• 🗣️ Human-Robot Interaction

  • inha_audio - Audio processing and speech recognition
  • inha_face - Face recognition and processing

• 🛠️ Utilities & Tools

  • easy_handeye2 - Automated, hardware-independent Hand-Eye Calibration for ROS2
  • inha_bt - Behavior Tree implementation for task planning
  • RobotUI - WebUI for checking robot and sensors condition

Yonggun Cho   Inwook Shim   Junwoo Jang   Woojin Ahn

Minho Lee Dongjin Cho Minho Lee Jungtae Kim Gunwoo Park Jihyun Han Sanghyun Lee Wonhyuk Jung Gihyeok Kwon

SPARO Lab

RCV Lab

ARTEMIS Lab

RILS Lab