KIST Advanced Robot Control Lab.
2026
Y. Seo, S. Choi, E. Im, MT Lim, and Y. Lee, "RGB: RL Guided Whole-Body MPPI for Humanoid Control", arXiv preprint arXiv:2606.25123 Β πPaper
E. Im, T. Kim, Y. Oh, M. Lim, and Y. Lee, "Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Accpeted Β πProject
S. Kim, M. Seo, Y. Lee, S. Kim, and K. Kim, "BiGraspAfford: Collision-Aware Bimanual Grasp Affordance Learning for Dual-Arm Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Accpeted
S. Kim, K. Park, I. Jung, H. Kim, D. Park, Y. Lee, I. Lee, Y. Oh, K. Lee, and S. Choi, "Efficient Timing-Aware Planning via Detachable Task Modeling", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Accpeted
Y. Na, E. Im, S. Lee, Y. Lee, S. Yang, Y. Oh, and Y. Inh, "REIST: A Novel Robotic Wrist with Reversed-Envelope Characteristics for Manipulation in Confined Spaces", IEEE/ASME Transactions on Mechatronics (TMECH) Β (AIM 2026 presentation) Accpeted, 2024 JCR IF 7.3, 4.1%
G. Park, J. Bak, Y. Seo, E. Im, H. Lee, J. Lee, N. Mansard, J. Lee, and Y. Lee, "Real-Time Model Predictive Control of Nonlinear Coupled Joints Using MPPI: Application to Humanoid Ankle Joints", IEEE International Conference on Robotics & AutomationΒ (ICRA).
Y. Seo, M. Lim, and Y. Lee, "μ μ λμνμ μ μ΄ μ μ½μ ν¬μν 3μμ λ λ€λ¦¬ μμ€ν μ€μκ° MPPI μ μ΄", μ μ΄.λ‘λ΄.μμ€ν νν λ Όλ¬Έμ§, vol.32, no.2 (pp. 246-250)
2025
D. Kim, E. Im, Y. Kim, M. Lim, and Y. Lee, "Single-Instance Sampling for Computationally Efficient and Accurate Real-Time Task Space MPPI Control", IEEE Transactions on Robotics (T-RO), 41, 6327-6344 Β (ICRA 2026 presentation). 2024 JCR IF 10.5, 9.4%, D.Kim and E. Im are co-first authors Β πProject
(Invited Talk) Y. Lee, "ν΄λ¨Έλ Έμ΄λ λ‘λ΄ λ³΄ν λ° μ‘°μμ μν μ μ΄μμ€ν μ μ΄ν΄: λͺ¨λΈκΈ°λ°λΆν° κ°ννμ΅κΉμ§", μ 1ν νκ΅λ‘λ΄νν μ λ¬Έκ° μ¬ν¬μ§μ
J. Ahn, J. Jung, Y. Lee, H. Lee, S. Haddadin, and J. Park, "Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics", Β International Journal of Control, Automation, and Systems (IJCAS), 23 (9), 2656-2665. 2024 JCR IF 2.9, 38.8% Β πPaper
T. Jeong,Β Y. Chai. S. Choi, J. Bak, C. Kim, J. Yoon, Y. Lee, K. Lee, J. Kim, and S. Choi,Β "CoRe: A Hybrid Approach of Contact-aware Optimization and Learning for Humanoid Robot Motions", 2025 IEEE-RAS International Conference on Humanoid Robots (Humanoids).
Y. Seo, M. Lim, and Y. Lee, 3 μμ λ λ€λ¦¬ μμ€ν μ μ€μκ° μ μ΄λ₯Ό μν μ μ MPPI,Β 2025 μ μ΄λ‘λ΄μμ€ν νν (ICROS)
T. Kang, BJ. You, J. Park, and Y. Lee, "A Real-time Anomaly Detection Method for Robots based on a Flexible and Sparse Latent Space", Engineering Applications of Artificial Intelligence 158 (2025): 111310. Β 2024 JCR IF 8.0, 2.6%, Y. Lee and J. Park are co-corresponding authors Β πPaper
M. Seo, Y. Cha,Β and Y. Lee, "λͺ¨λ°μΌλ‘λ΄μ μνλ§ κΈ°λ° λͺ¨λΈ μμΈ‘ μ μ΄μ μνλ§ λ°©μμ λ°λ₯Έ μ±λ₯ λΆμ", 2025 νκ΅λ‘λ΄μ’ ν©νμ λν (KRoC)
2024
Y Kim, S Choi, BJ You, K Jang, and Y Lee, "Subspace-wise Hybrid RL for Articulated Object Manipulation", arXiv preprint arXiv:2412.08522. Β Β πPaper
T. Kim, J. Jeon, M. Lim, Y. Lee, and Y. Oh, "Simultaneous Tracking and Balancing Control of Two-Wheeled Inverted Pendulum with Roll-joint using Dynamic Variance MPPI", 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids)Β (pp. 417-424).Β
Y. Cho, W. Son, J. Bak, Y. Lee, H. Lim, and Y. Cha, "Full-Body Pose Estimation of Humanoid Robots Using Head-Worn Cameras for Digital Human-Augmented Robotic Telepresence, Mathematics 12 (19), 3039. 2023 JCR IF 2.3, 4.2%
J. Kim, E. Im, Y. Lee, and Y. Cha, "Quadrupedal robot with tendon-driven origami legs", Sensors and Actuators A: Physical (2024): 115769. Β 2023 JCR IF 4.1Β 20.4%, Y. Lee and Y. Char are co-corresponding authors.
Y. Kim, B. You,Β and Y. Lee, "κ°ννμ΅ κΈ°λ° λ²¨λΈ νμ μμ μ μν λ‘λ΄ν λ§λ¨λΆ μ€μκ° λ°©μ κ²°μ ", 2024 νκ΅λ‘λ΄μ’ ν©νμ λν (KRoC)
2023
Y. Seo, D. Kim, J. Bak, Y. Oh, and Y. Lee, "Extremely Fast Computation of CoM Trajectory Generation for Walking Leveraging MPPI Algorithm", 2023 IEEE-RAS International Conference on Humanoid Robots (Humanoids)Β (pp. 256-262). Y. Seo and D. Kim equally contributed as co-first authors.
D. Kim, S. Hwang, M. Lim, Y. Oh, and Y. Lee, "Neural Network-Based Joint Velocity Estimation Method for Improving Robot Control Performance", IEEE Access 11 (2023): 130517-130526. 2022 JCR IF 3.9, 36.2%
S. Cho, Y. Lee, K. Kim, Y. S. Ihn, J.-S. Kim, and B. J. You, "Flexible Control and Task Manager System for Non-Contact Delivery Robots in COVID-19 Isolated Facilities", 2023 IEEE International Conference onRobot and Human Interactive Communication (RO-MAN)Β (pp. 484-489).
D. Kim, M. Lim, and Y. Lee, "μΈκ³΅μ κ²½λ§μ νμ©ν λ‘λ΄μ κ΄μ κ°λμ λ°λ₯Έ μκ°μΆ©λ μμΈ‘ κΈ°μ ",Β 2023 μ μ΄λ‘λ΄μμ€ν νν (ICROS) (μ°μλ Όλ¬Έμ).
J. Ahn, E. Im, and Y. Lee, "Learning Impulse-Reduced Gait for Quadruped Robot Using CMA-ES", 2023 International Conference on Ubiquitous Robots (UR) (pp. 261-265).
J. Jo, J. An, Y. Lee, and Y. Oh, "Whole-Body Balancing and Differential Driving Control Using a Relative Vector-Based LQR to Address Non-Holonomy of a Wheel-Legged Robot", 2023 International Conference on Ubiquitous Robots (UR)Β (pp. 302-307).
2022
M. Schwartz, J. Sim, J. Ahn, S. Hwang, Y. Lee, and J. Park, "Design of the Humanoid Robot TOCABI", 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids).
(Invited Talk) Y. Lee, "QPμ΅μ νΒ κΈ°λ° λ€κ΄μ λ‘λ΄ μμ κ³΅κ° μ μ΄ κΈ°μ ",Β 2022 μ 37ν μ μ΄λ‘λ΄μμ€ν νν (ICROS) μ°μμ μ§μ°κ΅¬μμΈμ (μ°μμ μ§μ°κ΅¬μμ).
M. Park, D. Kim, Y. Oh, and Y. Lee, "Computational Cost Reduction Method for HQP-based Hierarchical Controller for Articulated Robot", The Journal of Korea Robotics Society 17.1 (2022): 16-24.
Y. Lee, N. Tsagarakis, C. Ott, and J. Lee "A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure", IEEE Robotics and Automation Letters (RA-L), 7(2), (2022), 1486-1493. (ICRA 2022 presentation)Β JCR 2020 IF 3.741, 32.1%
2021
Y. Lee, J. Ahn, J. Lee, and J. Park, "Computationally Efficient HQP-based Whole-body Control Exploiting the Operational-space Formulation", 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5174-5179), IEEE, 2021.
(Invited Talk) Y. Lee, "Whole-body Control of Torque Controllable Legged Robot ", 2021 18th International Conference on Ubiquitous Robots (UR 2021), Young researcher session.
Y. Lee, H. Lee, J. Lee, and J. Park, "Towards Reactive Walking: Control of Biped Robots Exploiting an Event-based FSM", IEEE Transactions on Robotics (T-RO).Β JCR 2019 IF 6.123, 10.7%
Y. Lee, N. Tsagarakis, and J. Lee, "Study on Operational Space Control of a Redundant Robot with Un-actuated Joints: Experiments under Actuation Failure Scenarios", Nonlinear Dynamics, 1-14 (2021).Β Β 2019 JCR IF 4.867, 8%
Y. Lee, S. Kim, J. Park, N. Tsagarakis, and J. Lee, "A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization", IEEE Access 9 (2021): 39813-39826. 2019 JCR IF 3.745, 22.4%