Building robots that model physics, perceive the world, and move decisively in the wild.
Researcher at the Defense AI Center (ADD), specializing in physics-grounded control and real-world embodied systems.
Physics-grounded controllers and simulators.
Vision and mapping shaped for navigation.
Closing the loop on real-world robots.
Selected Publications
A Highly Maneuverable Flying Squirrel Drone with Agility-Improving Foldable Wings
Developing a general trajectory tracking controller for a flying squirrel drone by learning wing dynamics and coordinating thrust–wing control for agile maneuvers.
Disentangled Multi-Context Meta-Learning: Unlocking Robust and Generalized Task Learning
Disentangling context vectors in meta-learning enables robust and generalizable regression and locomotion across diverse tasks.
Task-Oriented Occupancy Grid Mapping through Active Data Management
Task-Oriented Hash-structured Occupancy Grid Mapping for efficient planning through active data management.
Fast, Perceptive Quadrupedal Locomotion in Complex Terrain
Vision-based control of a full-sized quadruped robot in complex outdoor terrain using a perception pipeline and learned locomotion policies.
A Highly Maneuverable Flying Squirrel Drone with Controllable Foldable Wings
Building and controlling a highly nonlinear flying-squirrel-inspired quadrotor using reinforcement learning to manage foldable wings and thrust.
Development of Dual-Unit Ceiling Adhesion Robot System With Passive Hinge
A dual-unit wall-climbing robot that can adhere to ceilings and traverse obstacles using a passive hinge under kinodynamic constraints.
Research Archive
01
01.2022~06.2025
Thrust-limited quadrotor with deployable wings, trained with residual RL.
06.2022~Current
Learning based control combined with Trajector optimization.
06.2021~12.2021
Simulation of 12 DOF quaduped dynamics with Hierarchical QP based motion planning.
06.2023~06.2024
Scanning outdoor environment with iPad and develop raycasting LiDAR simulation.
02.2022~06.2022
Textbook : A Mathematical Introduction to Robotic Manipulation.
02
06.2022~Current
Full-size quadruped · outdoor terrain · vision-based control.
12.2024~Current
Implement LiDAR based navigation foundation model.
08.2023~08.2024
Flexible voxel hash mapping for LiDAR map.
08.2023~08.2024
Off-road traversal of self-driving car for military purpose.
08.2023~10.2025
Multi-robot exploration with limited communication band.
03
06.2021~12.2021
Develop wheel-legged robot with CAN protocol.
02.2022~06.2022
Develop glidable drone with foldabe wings.
06.2020~06.2022
Ceiling adhesion robot with laser projector based inspection mission plannig.
09.2020~12.2020
Developped 3D printing engine & Arduino with E-CAD
09.2020~12.2020
Developped cycloidal motor reducer with ROS2 interface
Public Signal
Media & Outreach
Informal interview from IEEE Spectrum, New Atlas cover, Tech Xplore cover, and major Korean press coverage (SBS, YTN) for the Flying Squirrel Drone.
Demonstrations
