Sanghyun (Steve) Hahn

Cornell Robotics

profile_hshhahn.jpg
steve0221 at snu.ac.kr

I am a Robotics Ph.D. student at Cornell CIS, advised by Prof. Kuan Fang. My research focuses on robot learning for generalist humanoids.

I earned my bachelor’s degree from Seoul National University. During my undergraduate studies, I was fortunate to work with Prof. Jonghyun Choi, Prof. Hyounjin Kim, and Prof. Ayoung Kim.

I am always open to chat, so feel free to reach out!

News

Oct 2026 Our paper KinoGen is now available on arXiv. Check out the project page!
Sep 2026 Our paper ACPPO was accepted to NeurIPS 2026!
Aug 2026 I started my Ph.D. in Robotics at Cornell University, advised by Prof. Kuan Fang.

Selected Publications

  1. KinoGen: Customizable Humanoid Loco-Manipulation References via Kinematically Grounded Video Generation
    Qi Wu, Lulu Zhao, Sanghyun Hahn, and 6 more authors
    arXiv preprint arXiv:2610.20552, 2026
    arXiv PDF Website
  2. hahn2026action.png
    Action Chunking Proximal Policy Optimization with Feedback Correction
    Sanghyun Hahn, and Jonghyun Choi
    In The Fortieth Annual Conference on Neural Information Processing Systems , 2026
    arXiv PDF Code
  3. hahn2024quantitative.png
    Quantitative 3D Map Accuracy Evaluation Hardware and Algorithm for LiDAR (-Inertial) SLAM
    Sanghyun Hahn, Seunghun Oh, Minwoo Jung, and 2 more authors
    In 2024 24th International Conference on Control, Automation and Systems (ICCAS) , 2024
    arXiv PDF Code