Publications

• Joohwan Seo, Arvind Kruthiventy, Soomi Lee, Megan Teng, Xiang Zhang, Seoyeon Choi, Jongeun Choi, and Roberto Horowitz. "EquiContact: A Hierarchical SE (3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks." arXiv preprint arXiv:2507.10961 (2025). link

• Joohwan Seo, Nikhil Potu Surya Prakash, Soomi Lee, Arvind Kruthiventy, Megan Teng, Jongeun Choi, and Roberto Horowitz. "Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators". link

• Joohwan Seo, Soochul Yoo, Junwoo Chang, Hyunseok An, Hyunwoo Ryu, Soomi Lee, Arvind Kruthiventy, Jongeun Choi, and Roberto Horowitz. "SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey." International Journal of Control, Automation and Systems 23.5 (2025): 1271-1306. link

• Prakash, Nikhil Potu Surya, Joohwan Seo, Koushil Sreenath, Jongeun Choi, and Roberto Horowitz. "Deep Geometric Potential Functions for Tracking on Manifolds." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. i-viii. IEEE, 2024. link

• Li, Ruolin, Philip N. Brown, and Roberto Horowitz. "A Unified Toll Lane Framework for Autonomous and High-Occupancy Vehicles in Interactive Mixed Autonomy." arXiv preprint arXiv:2403.14011 (2024). link

• Seo, Joohwan, Nikhil Potu Surya Prakash, Jongeun Choi, and Roberto Horowitz. "A Comparison Between Lie Group-and Lie Algebra-Based Potential Functions for Geometric Impedance Control." arXiv preprint arXiv:2401.13190 (2024). link

• Prakash, Nikhil Potu Surya, Joohwan Seo, Koushil Sreenath, Jonguen Choi, and Roberto Horowitz. "Variable impedance control using deep geometric potential fields." IFAC-PapersOnLine 58, no. 28 (2024): 480-485. link

• Ryu, Hyunwoo, Jiwoo Kim, Hyunseok An, Junwoo Chang, Joohwan Seo, Taehan Kim, Yubin Kim, Chaewon Hwang, Jongeun Choi, and Roberto Horowitz. "Diffusion-edfs: Bi-equivariant denoising generative modeling on se (3) for visual robotic manipulation." In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 18007-18018. 2024. link

• Seo, Joohwan, Nikhil PS Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka, and Roberto Horowitz. "Contact-rich SE (3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control." IEEE Robotics and Automation Letters (2023) link

• Prakash, Nikhil Potu Surya, Joohwan Seo, Jongeun Choi, and Roberto Horowitz. "Clustering Techniques for Stable Linear Dynamical Systems with applications to Hard Disk Drives." IFAC-PapersOnLine 56, no. 3 (2023): 529-534, in Proceedings of MECC link 

• Chang, Junwoo, Hyunwoo Ryu, Jiwoo Kim, Soochul Yoo, Joohwan Seo, Nikhil Prakash, Jongeun Choi, and Roberto Horowitz. "Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning." arXiv preprint arXiv:2310.12609 (2023) link

• Kim, Jiwoo, Hyunwoo Ryu, Jongeun Choi, Joohwan Seo, Nikhil Potu Surya Prakash, Ruolin Li, and Roberto Horowitz. "Robotic manipulation learning with equivariant descriptor fields: Generative modeling, bi-equivariance, steerability, and locality." In RSS 2023 Workshop on Symmetries in Robot Learning. 2023 link 

• Li, Ruolin, Negar Mehr, and Roberto Horowitz. "Submodularity of optimal sensor placement for traffic networks." Transportation research part B: methodological 171 (2023): 29-43 link

• Ryu, Hyunwoo, Jiwoo Kim, Junwoo Chang, Hyun Seok Ahn, Joohwan Seo, Taehan Kim, Jongeun Choi, and Roberto Horowitz. "Diffusion-edfs: Bi-equivariant denoising generative modeling on se (3) for visual robotic manipulation." arXiv preprint arXiv:2309.02685 (2023) link .

• Prakash, Nikhil Potu Surya, Joohwan Seo, Alexander Rose, and Roberto Horowitz. "Data-Driven Track Following Control for Dual Stage-Actuator Hard Disk Drives." arXiv preprint arXiv:2304.00720 (2023), in Proceedings of IFAC World Congress 2023 link 

• Seo, Joohwan, Nikhil Potu Surya Prakash, Alexander Rose, Jongeun Choi, and Roberto Horowitz. "Geometric impedance control on SE (3) for robotic manipulators." IFAC-PapersOnLine 56, no. 2 (2023): 276-283, in Proceedings of IFAC World Congress 2023 link 

• Li, Ruolin, and Roberto Horowitz. "Dynamic Routing and Queuing for Mixed Autonomy with Traffic Responsive Intersection Signaling." In 2022 American Control Conference (ACC), pp. 144-155. IEEE, 2022 link 

• Chen, Zhi, Nikhil Potu Surya Prakash, and Roberto Horowitz. "Adaptive Feedforward Reference Design for Active Vibration Rejection in Multi-Actuator Hard Disk Drives." In 2022 American Control Conference (ACC), pp. 3783-3788. IEEE, 2022 link .

• Prakash, Nikhil Potu Surya, Zhi Chen, and Roberto Horowitz. "Data-Driven Strictly Positive Real System Identification with prior System Knowledge." In 2022 American Control Conference (ACC), pp. 3949-3954. IEEE, 2022 link .

• Seo, Joohwan, Joonho Lee, Eunkyu Baek, Roberto Horowitz, and Jongeun Choi. "Safety-critical control with nonaffine control inputs via a relaxed control barrier function for an autonomous vehicle." IEEE Robotics and Automation Letters 7, no. 2 (2022): 1944-1951 link .

• Prakash, Nikhil Potu Surya, and Roberto Horowitz. "Data-Driven Robust Feedback Control Design for Multi-Actuator Hard Disk Drives." IFAC-PapersOnLine 55, no. 37 (2022): 131-138, in Proceedings of MECC 2022 link 

• Chen, Zhi, Prateek Shah, and Roberto Horowitz. "Head-Positioning Control in Triple-Stage-Actuator Enterprise Hard Disk Drives Using Mixed H 2/H∞ Synthesis Methodologies." ASME Letters in Dynamic Systems and Control 2, no. 1 (2022): 011007 link .

• Prakash, Nikhil Potu Surya, Zhi Chen, and Roberto Horowitz. "System identification in multi-actuator hard disk drives with colored noises using observer/Kalman filter identification (OKID) framework." arXiv preprint arXiv:2109.12460 (2021) link .

• Li, Ruolin, Philip N. Brown, and Roberto Horowitz. "A Highway Toll Lane Framework that Unites Autonomous Vehicles and High-occupancy Vehicles." In 2021 IEEE International Intelligent Transportation Systems Conference (ITSC), pp. 3482-3489. IEEE, 2021 link .

• Shah, Prateek, and Roberto Horowitz. "Data-Driven Feedforward Control Design and Input Shaping Techniques for Multi Actuator Drives." ASME Letters in Dynamic Systems and Control 1, no. 3 (2021): 031009 link.

• Li, Ruolin, Philip N. Brown, and Roberto Horowitz. "Employing altruistic vehicles at on-ramps to improve the social traffic conditions." In 2021 American Control Conference (ACC), pp. 4547-4552. IEEE, 2021 link.

• Mehr, Negar, Ruolin Li, and Roberto Horowitz. "A game theoretic macroscopic model of lane choices at traffic diverges with applications to mixed–autonomy networks." Transportation Research Part B: Methodological 144 (2021): 45-59 link .

• Li, Ruolin, Negar Mehr, and Roberto Horowitz. "The impact of autonomous vehicles' headway on the social delay of traffic networks." In 2020 59th IEEE Conference on Decision and Control (CDC), pp. 268-273. IEEE, 2020 link.

• Pan, Jinwen, Zhi Chen, Yong Wang, and Roberto Horowitz. "Frequency separation based adaptive feedforward control for rejecting wideband vibration with application to hard disk drives." arXiv preprint arXiv:2012.05049 (2020) link .

• Shah, Prateek, Zhi Chen, and Roberto Horowitz. "Application of MIMO Data Driven Feedback Control Design to Dual Stage Hard Disk Drives." In Dynamic Systems and Control Conference, vol. 84270, p. V001T03A003. American Society of Mechanical Engineers, 2020 link .

• Smith, Stanley W., Yeojun Kim, Jacopo Guanetti, Ruolin Li, Roya Firoozi, Bruce Wootton, Alexander A. Kurzhanskiy, Francesco Borrelli, Roberto Horowitz, and Murat Arcak. "Improving urban traffic throughput with vehicle platooning: Theory and experiments." IEEE Access 8 (2020): 141208-141223 link .

• Li, Ruolin, Jiaxi Liu, and Roberto Horowitz. "A game-theoretic model for aggregate lane choice behavior of highway mainline vehicles at the vicinity of on-ramps." In 2020 American Control Conference (ACC), pp. 5376-5381. IEEE, 2020 link .

• Wright, Matthew A., and Roberto Horowitz. "A Framework for Robust Assimilation of Potentially Malign Third-Party Data, and Its Statistical Meaning." IEEE Intelligent Transportation Systems Magazine 12, no. 3 (2020): 147-156 link .

• Wright, Matthew A., Simon FG Ehlers, and Roberto Horowitz. "Neural-attention-based deep learning architectures for modeling traffic dynamics on lane graphs." In 2019 IEEE Intelligent Transportation Systems Conference (ITSC), pp. 3898-3905. IEEE, 2019 link .

• Li, Ruolin, Negar Mehr, and Roberto Horowitz. "An extended game–theoretic model for aggregate lane choice behavior of vehicles at traffic diverges with a bifurcating lane." In 2019 IEEE Intelligent Transportation Systems Conference (ITSC), pp. 2226-2231. IEEE, 2019 link 

• Shah, Prateek, and Roberto Horowitz. "Active Vibration Rejection in Multi Actuator Drives: Data Driven Approach." In Dynamic Systems and Control Conference, vol. 59162, p. V003T17A002. American Society of Mechanical Engineers, 2019 link .

• Wright, Matthew A., Roberto Horowitz, and Alex A. Kurzhanskiy. "Macroscopic Modeling, Calibration, and Simulation of Managed Lane-Freeway Networks, Part II: Network-scale Calibration and Case Studies." arXiv preprint arXiv:1908.09953 (2019) link .

• Chen, Zhi, and Roberto Horowitz. "Vision-assisted Arm Motion Planning for Freeform 3D Printing." In 2019 American Control Conference (ACC), pp. 4204-4209. IEEE, 2019 link .

• Mehr, Negar, and Roberto Horowitz. "Pricing traffic networks with mixed vehicle autonomy." In 2019 American Control Conference (ACC), pp. 2676-2682. IEEE, 2019 link .

• Mehr, Negar, and Roberto Horowitz. "How will the presence of autonomous vehicles affect the equilibrium state of traffic networks?." IEEE Transactions on Control of Network Systems 7, no. 1 (2019): 96-105 link .

For a list of all the publications ordered from oldest to latest, please utilize the following link