Publications
Full List of Publications/Patents/Peer-Review
Journal Publications
A. Schperberg, S. Cairano, M. Menner. Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots. IEEE Robotics and Automation Letters (RA-L) with IROS option. June 2022.
A. Schperberg, S. Tsuei, S. Soatto, D. Hong. SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots, IEEE Robotics and Automation Letters (RA-L) 2021.
A. Schperberg, A. Boichard, I. Tsigelny, S. Richard, R. Kurzrock. Machine learning model to predict oncologic outcomes for drugs in randomized clinical trials. International Journal of Cancer. 2020; 1-13. https://doi.org/10.1002/ijc.33240.
Conference Publications
A. Schperberg, Y. Tanaka, S. Mowlavi, F. Xu, B. Balaji, D. Hong. OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering. Submitted to IEEE International Conference on Robotics and Automation (ICRA), Sept. 2023.
A. Schperberg, Y. Tanaka, F. Xu, M. Menner, D. Hong. Real-to-Sim: Predicting Residual Error of Robotic Systems using a Learning-based Unscented Kalman Filter. IEEE 20th International Conference on Ubiquitous Robots (UR), Jun. 2023.
A. Schperberg, Y. Shirai, X. Lin, Y. Tanaka, D. Hong. Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter. Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Mar. 2022.
A. Schperberg*, K. Chen*, S. Tsuei, M. Jewett, J. Hooks, S. Soatto, A. Mehta, D. Hong. Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Nov. 2020.
A. Schperberg, S. Di Cairano, D. Hong, M. Menner. Energy-Efficient Motion Planner for Legged Robots. (Under Review).
Y. Tanaka, Y. Shirai, A. Schperberg, X. Lin, D. Hong. SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains. Submitted to IEEE Transactions on Robotics (T-RO), Dec. 2023.
Y. Shirai, X. Lin, A. Schperberg, Y. Tanaka, H. Kato, V. Vichathorn, D. Hong. Simultaneous Efficient Contact-Rich Grasping and Locomotion Optimization Enabling Free-Climbing for Multi-Limbed Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Mar. 2022.
Y. Tanaka, Y. Shirai, X. Lin, A. Schperberg, H. Kato, A. Swerdlow, N. Kumagai, D. Hong (2022). SCALER: A Tough Versatile Quadruped Free-Climber Robot. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 17–5639). IEEE. https://doi.org/10.1109/IROS47612.2022.9981555
X. Lin, F. Xu, A. Schperberg, and D. Hong, Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion, 2022, arXiv preprint arXiv:2207.07846.
Lee, J. S., Lee, N. U., Nair, G., Dinstag, L., Chapman, Y., Chung, K., Wang, S., Sinha, H., Cha, D., Kim, A. V., Schperberg, A., Srinivasan, V., Lazar, E., Rubin, S., Hwang, R., Berger, T., Beker, Z., Ronai, S., Hannenhalli, M. R., … Kurzrock, S.-H. (2021). Synthetic lethality-mediated precision oncology via the tumor transcriptome. Cell., 184(9), 2487-2502.e13. https://doi.org/10.1016/j.cell.2021.03.030
S. Raj, A. Schperberg, B. Tsai, S. Brown, T.P. Jung, Y. Wu. Resting State and Task-Related Brain Dynamics Supporting Creativity. Neuroscience 2018 Conference.
Y. Wu, J. Wang, A. Tran, A. Schperberg, J. Caldwell, T.P. Jung, P.C. Kuo "MoBI-Box: A next generation Mobile Brain-Body Imaging Platform," 2016 IEEE International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision Support (CogSIMA), San Diego, CA, USA, 2016, pp. 93-96, doi: 10.1109/COGSIMA.2016.7497793.
Patents
M. Menner, S. Di Cairano, A. Schperberg. Task-Specific and Environment-Specific Adaptive Control of Legged Robot. (Patent-Pending).
M. Menner, S. Di Cairano, A. Schperber. (Recently Submitted).
Peer Review Experience
IEEE Transactions on Robotics (T-RO 2022) - https://www.ieee-ras.org/images/publications/t-ro/2022_List_of_Reviewers.pdf
IEEE International Conference on Robotics and Automation (ICRA), 2021, 2022, 2023
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, 2023
IEEE Robotics and Automation Letters (RA-L), 2021, 2022
IEEE-RAS International Conference on Humanoids (2023)