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International Journal

International Conference

Vibration-Assisted Hysteresis Mitigation for Achieving High Compensation Efficiency

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 19-25, 2025

M. Park, C. An, J. Park, J. Kang, and M. Hwang [pub link] [pdf]

OFF-CLIP: Improving Normal Detection Confidence in Radiology CLIP with Simple Off-Diagonal Term Auto-Adjustment

International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), September 23-27, 2025

J. Park, C. Moon, D. Lee, K. Kim, and M. Hwang [pub link] [pdf]

Optimizing Base Placement of Surgical Robot: Kinematics Data-Driven Approach by Analyzing Working Pattern

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 14-18, 2024

J. Yoon, J. Park, H. Park, H. Lee, S. Lee, and M. Hwang [pub link] [pdf]

Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles

IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022

Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg [pub link] [pdf]

Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies

Robotics: Science and Systems (RSS), July 12–16, 2021

P. Sundaresan, J. Grannen, B. Thananjeyan, A. Balakrishna, J. Ichnowski, E. Novoseller, M. Hwang, M. Laskey, J. E. Gonzalez, K. Goldberg [pub link] [pdf]

Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation

IEEE International Conference on Robotics and Automation (ICRA), May 30, 2021

S. Paradis, M. Hwang, B. Thananjeyan, J. Ichnowski, D. Seita, D. Fer, T. Low, and K. Goldberg [pub link] [pdf]

Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics

IEEE International Conference on Robotics and Automation (ICRA), May 30, 2021

A. Ganapathi, P. Sundaresan, B. Thananjeyan, A. Balakrishna, D. Seita, J. Grannen, M. Hwang, R. Hoque, J. E. Gonzalez, N. Jamali, K. Yamane, S. Iba, and K. Goldberg [pub link] [pdf]

Payload optimization of surgical instruments with rolling joint mechanisms

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 25-Dec. 24, 2020

D. H. Lee, M. Hwang, J. Kim, and D. S. Kwon [pub link] [pdf]

Deep Imitation Learning of Sequential Fabric Smoothing Policies

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 25-Dec. 24, 2020

D. Seita, A. Ganapathi, R. Hoque, M. Hwang, E. Cen, A. K. Tanwani, A. Balakrishna, B. Thananjeyan, J. Ichnowski, N. Jamali, K. Yamane, S. Iba, J. Canny, and K. Goldberg [pub link] [pdf]

Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot

International Symposium on Medical Robotics (ISMR), Nov. 18-20, 2020

M. Hwang*, D. Seita*, B. Thananjeyan, J. Ichnowski, S. Paradis, D. Fer, T. Low, and K. Goldberg [pub link] [pdf]

Untangling Dense Knots by Learning Task-Relevant Keypoints

Conference on Robot Learning (CoRL), Nov. 16-18, 2020

J. Grannen, P. Sundaresan, B. Thananjeyan, J. Ichnowski, A. Balakrishna, M. Hwang, V. Viswanath, M. Laskey, J. E. Gonzalez, and K. Goldberg [pub link] [pdf]

Effects of Flexible Surgery Robot on Endoscopic Procedure: Preliminary Bench-Top User Test

IEEE International Conference on Robot and Human Interactive Communication (Ro-Man), Oct. 14-18, 2019

J. Kim, M. Hwang, D. Lee, H. Kim, J. Ahn, J. You, D. Baek, and D. S. Kwon [pub link] [pdf]

Robotic endoscopy system (easyEndo) with a robotic arm mountable on a conventional endoscope

IEEE International Conference on Robotics and Automation (ICRA), May 20-24, 2019

D. H. Lee, M. Hwang, and D. S. Kwon [pub link] [pdf]

Kinematic Analysis of Needle-like Overtube Supporting Robot

15th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), June 26-30, 2018

J. Ahn, M. Hwang, and D. S. Kwon [pub link] [pdf]

Path Planning for Automation of Surgery Robot based on Probabilistic Roadmap and Reinforcement Learning

15th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), June 26-30, 2018

D. Baek, M. Hwang, H. Kim, and D. S. Kwon [pub link] [pdf]

Robust trajectory tracking of Master-Slave surgery robot system based on PD with Integral Sliding Mode Control

15th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), June 26-30, 2018

H. Kim, M. Hwang, D. Baek, and D. S. Kwon [pub link] [pdf]

Gravity Compensation Mechanism for Roll-Pitch Rotation of a Robotic Arm

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 338-343, Oct. 9-14, 2016

D. G. Chung, M. Hwang, J. Won, and Dong-Soo Kwon [pub link] [pdf]

Indirect measure of joint torques of surgical instrument in robot-assisted laparoscopic surgery

13th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, Aug 19-22, 2016

D. Kong, M. Hwang, D. Kang, and D. S. Kwon [pub link] [pdf]

A Portable Endoscopic Tool Handler (PETH) with its Ex-vivo ESD Trials

The 11th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, pp. 85-87, Nov. 12-15, 2014

M. Hwang, H. Chung, and D. S. Kwon [pub link] [pdf]

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