%49%45%45%45
-
KAIST Team Wins IEEE RA-L Best Paper Award for Second Year in a Row
A research team led by Professor Jee-Hwan Ryu of the Department of Civil and Environmental Engineering at KAIST has received the Best Paper Award from IEEE Robotics and Automation Letters (RA-L), one of the world's most prestigious journals in robotics, for the second consecutive year.
KAIST(President Kwang Hyung Lee) announced on June 22 that Professor Ryu's team received the award during ICRA 2026, held in Vienna, Austria, with the award ceremony taking place on June 4. Following its recognition in 2025, the team has now achieved the rare distinction of winning the RA-L Best Paper Award in two consecutive years, underscoring the global competitiveness and sustained impact of KAIST's soft robotics research.
The RA-L Best Paper Award is presented annually to a select group of papers demonstrating outstanding scientific contribution, technical originality, experimental rigor, and future impact. This year, only five papers were selected from more than 1,700 papers published in IEEE Robotics and Automation Letters during 2025.
The award-winning paper, titled “Self-Wearing Adaptive Garments via Soft Robotic Unfurling,” presents a novel assistive dressing technology in which garments autonomously unfold and move along the user's body using soft robotic principles. The research was led by Dr. Namgyun Kim of KAIST in collaboration with the research group of Professor Allison M. Okamura at Stanford University.
Conventional dressing-assistance systems often rely on external robotic devices and complex control systems, which can restrict user movement and comfort. In contrast, the KAIST team incorporated the core principles of soft growing robots into garment structures, enabling the clothing itself to gently unfold and assist the wearer without requiring a separate external robotic manipulator.
The researchers integrated a pneumatic eversion mechanism into lightweight and flexible garments. When pressurized, the structure gradually unfolds along the user's body, providing reliable dressing assistance while maintaining safety and compliance. The soft robotic architecture is particularly advantageous for applications involving direct human contact, as it minimizes physical burden and reduces the need for sophisticated control systems.
The team developed and evaluated multiple garment prototypes, including sleeves, jackets, and pants. Experimental results demonstrated that the garments could reliably unfold along the user's body, reducing physical effort during dressing while maintaining safe interaction forces.
This work highlights how soft growing robotics can expand beyond traditional applications such as locomotion, exploration, and manipulation to directly support activities of daily living. The technology has strong potential for assistive applications for older adults, people with disabilities, and rehabilitation patients, while also opening new directions for wearable robotics, rehabilitation engineering, and human-robot interaction.
“This second consecutive award demonstrates the sustained global competitiveness of KAIST robotics research,” said Professor Jee-Hwan Ryu. “Our work extends the core principles of soft growing robots into assistive dressing technologies that can directly improve daily life. We will continue developing safe, flexible, and human-centered robotic technologies.”
The paper was published in IEEE Robotics and Automation Letters on November 19, 2025.
Paper Title: Self-Wearing Adaptive Garments via Soft Robotic Unfurling DOI: 10.1109/LRA.2025.3634909
2026.06.22 View 1044 -
KAIST Teams Win Both International Challenges at ICRA 2026 and CVPR 2026
Two research teams from KAIST have claimed first place in international challenge competitions held at the world’s premier robotics and computer vision conferences.
KAIST (President Kwang-Hyung Lee) announced that the ACDC-K Team and the Curaytor Team, both from the laboratory of Prof. Hyun Myung in the School of Electrical Engineering, won first place in international challenge competitions held in conjunction with the IEEE International Conference on Robotics and Automation (ICRA 2026) and the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2026), respectively.
The achievement highlights the global competitiveness of KAIST’s robotic perception and spatial intelligence technologies, with two teams from the same laboratory securing victories in leading international competitions across distinct research fields.
The ACDC-K Team won first place among more than 60 participating teams in the SLAM (Simultaneous Localization And Mapping) category of the Hilti×Trimble SLAM Challenge 2026, held during the Open Challenges in Robotics for Asset Inspection (OCRAIM) Workshop at ICRA 2026 in Vienna, Austria, from June 1 to 5.
Jointly organized by Hilti, Trimble, and the University of Oxford, the challenge evaluates robotic localization and mapping performance using sensor data collected from real construction sites. Participants were required to address practical challenges frequently encountered in construction environments, including non-overlapping front and rear fisheye camera configurations, low-texture indoor scenes, and rapid camera motion.
To tackle these challenges, the ACDC-K Team developed a robust visual-inertial SLAM system that fuses front and rear fisheye camera data with inertial measurements. By integrating feature-point and feature-line observations with adaptive constraints and correction mechanisms, the team achieved highly reliable localization and mapping performance in complex construction environments.
Meanwhile, the Curaytor Team won first place among eight participating teams in the Nothing Stands Still (NSS) Challenge 2026, held during the Computer Vision for the Built World (CV4AEC) Workshop at CVPR 2026 in Denver, Colorado, from June 3 to 7.
Jointly organized by Stanford University, ETH Zurich, and Oregon State University, the NSS Challenge evaluates 3D point cloud registration technologies for construction and industrial environments that evolve over time.
The Curaytor Team developed a novel multi-registration framework capable of aligning multiple LiDAR scans collected across different times and locations. The framework integrates feature extraction, correspondence estimation, robust global registration, registration confidence assessment, and change-aware refinement techniques. As a result, the team achieved highly accurate registration performance even in environments containing structural changes and dynamic objects.
“This achievement demonstrates the robustness of our visual-inertial SLAM and 3D LiDAR registration technologies in complex and constantly changing real-world environments,” said Prof. Hyun Myung. “It is particularly meaningful that our students secured first-place finishes in highly competitive international challenges hosted at two of the world’s most prestigious conferences in robotics and computer vision.”
Prof. Hyun Myung’s laboratory has consistently demonstrated excellence in spatial intelligence research. The laboratory previously won first place in the LiDAR track and ranked first among academic teams in the vision track of the Hilti SLAM Challenge in 2023. In addition, the Curaytor Team successfully defended its title in the NSS Challenge, securing back-to-back championships in 2025 and 2026.
2026.06.19 View 1718 -
Humanoid Robot Pilot PIBOT Wins Best Paper Award at the World’s Most Prestigious Robotics Magazine
< (From left of the award recipients) Ph. D candidate Sungjae Min, Ph. D candidate Gyuree Kang, Professor David Hyunchul Shim, Ph.D candidate Hyungjoo Kim >
KAIST announced on June 5th that a paper proposing an aircraft autonomous piloting framework based on the humanoid robot pilot ‘PIBOT,’ developed by a research team led by Professor David Hyunchul Shim of the School of Electrical Engineering, was selected as the Best Paper Award among the papers published in the IEEE Robotics & Automation Magazine (IEEE RAM) in 2025.
< The proposed PIBOT system framework capable of piloting based on aviation manuals and voice communication without modifying existing aircraft >
This award is highly meaningful as it signifies that grassroots research based entirely on domestic, independent initiatives has been recognized as a world-class achievement in robotics. The award ceremony took place in Vienna, Austria, on June 4, 2026 (local time) during the International Conference on Robotics and Automation (ICRA 2026). IEEE Robotics & Automation Magazine (IEEE RAM) is a prestigious academic magazine published by the IEEE Robotics and Automation Society (RAS), under the umbrella of IEEE, the world's largest technical professional organization. It is well known for delivering the latest research achievements, industry trends, and tutorials in the fields of robotics and automation, widely conveying robot technologies applicable to actual industrial sites to researchers in both industry and academia. As of 2025, IEEE RAM recorded an Impact Factor (IF) of 7.1, holding the second highest impact among IEEE publications in the field of robotics. In particular, it presents the Best Paper Award to research that has a significant academic and industrial impact among the papers published after undergoing rigorous peer review. This study was selected as a Future Challenge Defense Technology Research and Development Project by the Agency for Defense Development (ADD) in 2021 and was conducted based purely on domestic technology with support of approximately 5.7 billion won over five years. The research team received high praise for implementing Physical AI technology at an exceptionally high level, enabling a humanoid robot to systematically and adaptively perform complex tasks such as piloting aircraft based on artificial intelligence, going beyond simple walking or carrying items. Recently, humanoid robot technology has been developing rapidly in terms of athletic performance, such as tumbling or implementing complex movements. However, in the industrial sector, the applicability to actual industrial sites is drawing attention as a more critical factor. The pilot robot ‘PIBOT’ being developed by Professor David Hyunchul Shim's research team is designed to acquire specialized knowledge required for aircraft operation and to recognize and respond to actual flight situations in real time, going beyond simple repetitive tasks or logistics processing. Accordingly, it is evaluated as presenting a new direction for the utilization of humanoid robot technology, termed as Expert Physical AI.
< The research team's PIBOT sitting in an actual aircraft (KLA-100) and operating the instruments and control stick >
The research team has successfully completed Phase 1 of the research since the project launched in 2021, and since 2024, they have been developing Phase 2 of the pilot robot, which features a human-like physique and joint structure suitable for actual aircraft piloting. In addition, they are pursuing collaborative research with relevant organizations to expand and apply this technology to various mobile vehicle piloting fields, such as ground vehicles and ships, as well as aircraft.
< PIBOT performing piloting in an aircraft simulator device >
Professor David Hyunchul Shim said, “It is very meaningful that the pilot robot technology, proposed for the first time in the world by Korean researchers, has been recognized as a world-class research achievement thanks to the support of a large-scale national project. We will further develop our research in a direction where humanoid robots can help humans in real-world environments and safely operate complex systems.” In this study, PhD students Sungjae Min, Gyuree Kang, and Hyungjoo Kim participated as co-first authors, and Professor David Hyunchul Shim served as the corresponding author. The paper can be found through IEEE Xplore. ※ Paper Title: “Toward Fully Autonomous Aviation: PIBOT, a Humanoid Robot Pilot for Human-Centric Aircraft Cockpits”, Paper Links: https://doi.org/10.1109/MRA.2024.3505774, https://ieeexplore.ieee.org/document/10798973/ Meanwhile, this research was conducted with support from the Agency for Defense Development's Future Challenge Defense Technology Research and Development Project.
2026.06.05 View 1072 -
Professor Insik Shin Becomes First Korean to Win the RTSS Most Influential Paper Award
< KAIST Professor Insik Shin >
KAIST announced on December 21st that Professor Insik Shin from the School of Computing has received the Influential Paper Award 2025 at the IEEE Real-Time Systems Symposium (RTSS), the world's most prestigious international conference in the field of real-time systems.
This honor is a "Test of Time Award," presented to papers that have exerted a sustained and significant influence on both academia and industry for more than 10 years after publication. This marks the first time a Korean researcher has received this prestigious award. The ceremony took place at IEEE RTSS 2025 in Boston, USA, on December 4th (local time).
Professor Shin’s award-winning research is the "Periodic Resource Model," co published in 2003 with Professor Insup Lee of the University of Pennsylvania. Rather than trying to verify a complex machine or system all at once, this study developed a method to verify individual components—much like LEGO blocks—to ensure each meets its designated timing requirements. It mathematically guarantees that when these components are assembled, the entire system will operate safely.
Paper Title: Periodic Resource Model for Compositional Real-Time Guarantees
DOI: 10.1109/REAL.2003.1253249
Thanks to this research, it has become possible to design real-time systems that cannot tolerate even a moment of delay—such as autonomous vehicles, aircraft, and industrial robots—with greater precision and safety. This breakthrough overcame the limitations of existing methods that required analyzing an entire system at once, which had become nearly impossible as the complexity of modern real-time systems increased rapidly.
Professor Shin presented a method to divide a system into small modules, verify that each module satisfies its time constraints, and mathematically prove that the safety of the entire system is guaranteed upon integration. This work is credited with establishing the foundation for modern compositional real-time scheduling theory.
At the time of its initial publication in 2003, this paper won the 'Best Paper Award' at RTSS—another first for a Korean researcher. Now, 20 years later, its academic and industrial value has been officially recognized once again. This is because the theory has transcended academic boundaries to become a core analytical tool in various safety-critical industries, including autonomous driving, aerospace control, and industrial automation.
The IEEE Technical Committee stated, "This model has established itself as a core language for modern real-time system design and has guided the direction of research and industry for the past 20 years." The paper is currently featured in textbooks at major universities in the United States and Europe, serving as a standard theory in the field.
"As a scholar, this is the award I have wanted most in my life," said Professor Shin. "I am honored to have it recognized that research from 20 years ago has truly had a major impact on the world. This was made possible by the many researchers and companies who applied this theory to actual systems."
Meanwhile, Professor Shin is expanding his research beyond real-time systems into the field of Artificial Intelligence (AI). He founded the faculty-led startup Fluiz and developed FluidGPT, a mobile AI agent technology that allows users to execute smartphone apps via voice commands. This technology recently won the AI Champion Competition hosted by the Ministry of Science and ICT. Experts evaluate Professor Shin as achieving rare success by bridging basic theory and applied technology, effectively linking research to industry.
2025.12.22 View 2090 -
IEEE President Professor Kramer Holds Special Lecture on Artificial Intelligence in the Electrical Engineering Department
Kathleen A. Kramer, President of the IEEE (Institute of Electrical and Electronics Engineers), the world's largest technical professional organization dedicated to electrical and electronic technology, visited our university on the 30th and delivered a special lecture under the theme, 'Drawing the Future of Artificial Intelligence Together.'
< IEEE Leadership and KAIST EE Meeting KITIS Director (Sung-Hyun Hong), KAIST EE Professors (Joonwoo Bae), (Ian Oakley), (Hye-Won Jeong), (Chang-Shik Choi), (Dong-Soo Han), Head of EE Department (Seunghyup Yoo), IEEE President (Kathleen A. Kramer), IEEE Senior Sales Director (Francis Staples), IEEE Regional Manager for APAC (Ira Tan), KAIST EE Professor (Hee-Jin Ahn), Head of Semiconductor System Engineering Department (Sung-Hwan Cho)>
Standing at the colloquium podium by invitation of the Department of Electrical Engineering (Head: Seung-Hyup Yoo), President Kramer emphasized based on IEEE's core vision, 'Advancing Technology for Humanity,' that "Artificial Intelligence (AI) is no longer a concept of the distant future; it has become a technology that is transforming human lives at the center of innovation."
< Photo of IEEE President's KAIST EE Colloquium Lecture >
She further added, "Technology must advance with human values at its core, and AI based on ethics and inclusiveness can lead to true innovation," sharing her insights on the direction of AI development and the social responsibility of technology.
Seung-Hyup Yoo, Head of the Department of Electrical Engineering, stated, "We expect President Kramer's visit to be a stepping stone that will not only widely promote our department's capabilities in advanced fields such as AI, semiconductors, signal processing, and robotics to the international academic community but also strengthen cooperation in various ways."
< Tea Meeting with the IEEE Leadership and the Vice Presidents . KITIS Director (Sung-Hyun Hong), IEEE Senior Sales Director (Francis Staples), IEEE President (Kathleen A. Kramer), KAIST Executive Vice President for Research (Sang Yup Lee), Head of EE Department (Seunghyup Yoo), IEEE Regional Manager for APAC (Ira Tan)>
Meanwhile, prior to the lecture, President Kramer paid a courtesy visit to Sang-Yup Lee, KAIST Executive Vice President for Research, and reaffirmed the commitment of both organizations to advancing sustainable technology and building an ethical and inclusive research ecosystem to contribute to a better life for humanity.
2025.11.06 View 2082 -
KAIST Professor Jee-Hwan Ryu Receives Global IEEE Robotics Journal Best Paper Award
- Professor Jee-Hwan Ryu of Civil and Environmental Engineering receives the Best Paper Award from the Institute of Electrical and Electronics Engineers (IEEE) Robotics Journal, officially presented at ICRA, a world-renowned robotics conference.
- This is the highest level of international recognition, awarded to only the top 5 papers out of approximately 1,500 published in 2024.
- Securing a new working channel technology for soft growing robots expands the practicality and application possibilities in the field of soft robotics.
< Professor Jee-Hwan Ryu (left), Nam Gyun Kim, Ph.D. Candidate (right) from the KAIST Department of Civil and Environmental Engineering and KAIST Robotics Program >
KAIST (President Kwang-Hyung Lee) announced on the 6th that Professor Jee-Hwan Ryu from the Department of Civil and Environmental Engineering received the 2024 Best Paper Award from the Robotics and Automation Letters (RA-L), a premier journal under the IEEE, at the '2025 IEEE International Conference on Robotics and Automation (ICRA)' held in Atlanta, USA, on May 22nd.
This Best Paper Award is a prestigious honor presented to only the top 5 papers out of approximately 1,500 published in 2024, boasting high international competition and authority.
The award-winning paper by Professor Ryu proposes a novel working channel securing mechanism that significantly expands the practicality and application possibilities of 'Soft Growing Robots,' which are based on soft materials that move or perform tasks through a growing motion similar to plant roots.
< IEEE Robotics Journal Award Ceremony >
Existing soft growing robots move by inflating or contracting their bodies through increasing or decreasing internal pressure, which can lead to blockages in their internal passages. In contrast, the newly developed soft growing robot achieves a growing function while maintaining the internal passage pressure equal to the external atmospheric pressure, thereby successfully securing an internal passage while retaining the robot's flexible and soft characteristics.
This structure allows various materials or tools to be freely delivered through the internal passage (working channel) within the robot and offers the advantage of performing multi-purpose tasks by flexibly replacing equipment according to the working environment.
The research team fabricated a prototype to prove the effectiveness of this technology and verified its performance through various experiments. Specifically, in the slide plate experiment, they confirmed whether materials or equipment could pass through the robot's internal channel without obstruction, and in the pipe pulling experiment, they verified if a long pipe-shaped tool could be pulled through the internal channel.
< Figure 1. Overall hardware structure of the proposed soft growing robot (left) and a cross-sectional view composing the inflatable structure (right) >
Experimental results demonstrated that the internal channel remained stable even while the robot was growing, serving as a key basis for supporting the technology's practicality and scalability.
Professor Jee-Hwan Ryu stated, "This award is very meaningful as it signifies the global recognition of Korea's robotics technology and academic achievements. Especially, it holds great significance in achieving technical progress that can greatly expand the practicality and application fields of soft growing robots. This achievement was possible thanks to the dedication and collaboration of the research team, and I will continue to contribute to the development of robotics technology through innovative research."
< Figure 2. Material supplying mechanism of the Soft Growing Robot >
This research was co-authored by Dongoh Seo, Ph.D. Candidate in Civil and Environmental Engineering, and Nam Gyun Kim, Ph.D. Candidate in Robotics. It was published in IEEE Robotics and Automation Letters on September 1, 2024.
(Paper Title: Inflatable-Structure-Based Working-Channel Securing Mechanism for Soft Growing Robots, DOI: 10.1109/LRA.2024.3426322)
This project was supported simultaneously by the National Research Foundation of Korea's Future Promising Convergence Technology Pioneer Research Project and Mid-career Researcher Project.
2025.06.09 View 11531 -
Professor Hyun Myung's Team Wins First Place in a Challenge at ICRA by IEEE
< Photo 1. (From left) Daebeom Kim (Team Leader, Ph.D. student), Seungjae Lee (Ph.D. student), Seoyeon Jang (Ph.D. student), Jei Kong (Master's student), Professor Hyun Myung >
A team of the Urban Robotics Lab, led by Professor Hyun Myung from the KAIST School of Electrical Engineering, achieved a remarkable first-place overall victory in the Nothing Stands Still Challenge (NSS Challenge) 2025, held at the 2025 IEEE International Conference on Robotics and Automation (ICRA), the world's most prestigious robotics conference, from May 19 to 23 in Atlanta, USA.
The NSS Challenge was co-hosted by HILTI, a global construction company based in Liechtenstein, and Stanford University's Gradient Spaces Group. It is an expanded version of the HILTI SLAM (Simultaneous Localization and Mapping)* Challenge, which has been held since 2021, and is considered one of the most prominent challenges at 2025 IEEE ICRA.*SLAM: Refers to Simultaneous Localization and Mapping, a technology where robots, drones, autonomous vehicles, etc., determine their own position and simultaneously create a map of their surroundings.
< Photo 2. A scene from the oral presentation on the winning team's technology (Speakers: Seungjae Lee and Seoyeon Jang, Ph.D. candidates of KAIST School of Electrical Engineering) >
This challenge primarily evaluates how accurately and robustly LiDAR scan data, collected at various times, can be registered in situations with frequent structural changes, such as construction and industrial environments. In particular, it is regarded as a highly technical competition because it deals with multi-session localization and mapping (Multi-session SLAM) technology that responds to structural changes occurring over multiple timeframes, rather than just single-point registration accuracy.
The Urban Robotics Lab team secured first place overall, surpassing National Taiwan University (3rd place) and Northwestern Polytechnical University of China (2nd place) by a significant margin, with their unique localization and mapping technology that solves the problem of registering LiDAR data collected across multiple times and spaces. The winning team will be awarded a prize of $4,000.
< Figure 1. Example of Multiway-Registration for Registering Multiple Scans >
The Urban Robotics Lab team independently developed a multiway-registration framework that can robustly register multiple scans even without prior connection information. This framework consists of an algorithm for summarizing feature points within scans and finding correspondences (CubicFeat), an algorithm for performing global registration based on the found correspondences (Quatro), and an algorithm for refining results based on change detection (Chamelion). This combination of technologies ensures stable registration performance based on fixed structures, even in highly dynamic industrial environments.
< Figure 2. Example of Change Detection Using the Chamelion Algorithm>
LiDAR scan registration technology is a core component of SLAM (Simultaneous Localization And Mapping) in various autonomous systems such as autonomous vehicles, autonomous robots, autonomous walking systems, and autonomous flying vehicles.
Professor Hyun Myung of the School of Electrical Engineering stated, "This award-winning technology is evaluated as a case that simultaneously proves both academic value and industrial applicability by maximizing the performance of precisely estimating the relative positions between different scans even in complex environments. I am grateful to the students who challenged themselves and never gave up, even when many teams abandoned due to the high difficulty."
< Figure 3. Competition Result Board, Lower RMSE (Root Mean Squared Error) Indicates Higher Score (Unit: meters)>
The Urban Robotics Lab team first participated in the SLAM Challenge in 2022, winning second place among academic teams, and in 2023, they secured first place overall in the LiDAR category and first place among academic teams in the vision category.
2025.05.30 View 15382 -
KAIST debuts “DreamWaQer” - a quadrupedal robot that can walk in the dark
- The team led by Professor Hyun Myung of the School of Electrical Engineering developed “DreamWaQ”, a deep reinforcement learning-based walking robot control technology that can walk in an atypical environment without visual and/or tactile information
- Utilization of “DreamWaQ” technology can enable mass production of various types of “DreamWaQers”
- Expected to be used in exploration of atypical environment involving unique circumstances such as disasters by fire.
A team of Korean engineering researchers has developed a quadrupedal robot technology that can climb up and down the steps and moves without falling over in uneven environments such as tree roots without the help of visual or tactile sensors even in disastrous situations in which visual confirmation is impeded due to darkness or thick smoke from the flames.
KAIST (President Kwang Hyung Lee) announced on the 29th of March that Professor Hyun Myung's research team at the Urban Robotics Lab in the School of Electrical Engineering developed a walking robot control technology that enables robust 'blind locomotion' in various atypical environments.
< (From left) Prof. Hyun Myung, Doctoral Candidates I Made Aswin Nahrendra, Byeongho Yu, and Minho Oh. In the foreground is the DreamWaQer, a quadrupedal robot equipped with DreamWaQ technology. >
The KAIST research team developed "DreamWaQ" technology, which was named so as it enables walking robots to move about even in the dark, just as a person can walk without visual help fresh out of bed and going to the bathroom in the dark. With this technology installed atop any legged robots, it will be possible to create various types of "DreamWaQers".
Existing walking robot controllers are based on kinematics and/or dynamics models. This is expressed as a model-based control method. In particular, on atypical environments like the open, uneven fields, it is necessary to obtain the feature information of the terrain more quickly in order to maintain stability as it walks. However, it has been shown to depend heavily on the cognitive ability to survey the surrounding environment.
In contrast, the controller developed by Professor Hyun Myung's research team based on deep reinforcement learning (RL) methods can quickly calculate appropriate control commands for each motor of the walking robot through data of various environments obtained from the simulator. Whereas the existing controllers that learned from simulations required a separate re-orchestration to make it work with an actual robot, this controller developed by the research team is expected to be easily applied to various walking robots because it does not require an additional tuning process.
DreamWaQ, the controller developed by the research team, is largely composed of a context estimation network that estimates the ground and robot information and a policy network that computes control commands. The context-aided estimator network estimates the ground information implicitly and the robot’s status explicitly through inertial information and joint information. This information is fed into the policy network to be used to generate optimal control commands. Both networks are learned together in the simulation.
While the context-aided estimator network is learned through supervised learning, the policy network is learned through an actor-critic architecture, a deep RL methodology. The actor network can only implicitly infer surrounding terrain information. In the simulation, the surrounding terrain information is known, and the critic, or the value network, that has the exact terrain information evaluates the policy of the actor network.
This whole learning process takes only about an hour in a GPU-enabled PC, and the actual robot is equipped with only the network of learned actors. Without looking at the surrounding terrain, it goes through the process of imagining which environment is similar to one of the various environments learned in the simulation using only the inertial sensor (IMU) inside the robot and the measurement of joint angles. If it suddenly encounters an offset, such as a staircase, it will not know until its foot touches the step, but it will quickly draw up terrain information the moment its foot touches the surface. Then the control command suitable for the estimated terrain information is transmitted to each motor, enabling rapidly adapted walking.
The DreamWaQer robot walked not only in the laboratory environment, but also in an outdoor environment around the campus with many curbs and speed bumps, and over a field with many tree roots and gravel, demonstrating its abilities by overcoming a staircase with a difference of a height that is two-thirds of its body. In addition, regardless of the environment, the research team confirmed that it was capable of stable walking ranging from a slow speed of 0.3 m/s to a rather fast speed of 1.0 m/s.
The results of this study were produced by a student in doctorate course, I Made Aswin Nahrendra, as the first author, and his colleague Byeongho Yu as a co-author. It has been accepted to be presented at the upcoming IEEE International Conference on Robotics and Automation (ICRA) scheduled to be held in London at the end of May. (Paper title: DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning)
The videos of the walking robot DreamWaQer equipped with the developed DreamWaQ can be found at the address below.
Main Introduction: https://youtu.be/JC1_bnTxPiQ Experiment Sketches: https://youtu.be/mhUUZVbeDA0
Meanwhile, this research was carried out with the support from the Robot Industry Core Technology Development Program of the Ministry of Trade, Industry and Energy (MOTIE). (Task title: Development of Mobile Intelligence SW for Autonomous Navigation of Legged Robots in Dynamic and Atypical Environments for Real Application)
< Figure 1. Overview of DreamWaQ, a controller developed by this research team. This network consists of an estimator network that learns implicit and explicit estimates together, a policy network that acts as a controller, and a value network that provides guides to the policies during training. When implemented in a real robot, only the estimator and policy network are used. Both networks run in less than 1 ms on the robot's on-board computer. >
< Figure 2. Since the estimator can implicitly estimate the ground information as the foot touches the surface, it is possible to adapt quickly to rapidly changing ground conditions. >
< Figure 3. Results showing that even a small walking robot was able to overcome steps with height differences of about 20cm. >
2023.05.18 View 20145 -
Professor Sang Kil Cha Receives IEEE Test-of-Time Award
Professor Sang Kil Cha from the Graduate School of Information Security (GSIS) in the School of Computing received the Test-of-Time Award from IEEE Security & Privacy, a top conference in the field of information security.
The Test-of-Time Award recognizes the research papers that have influenced the field of information security the most over the past decade. Three papers were selected this year, and Professor Cha is the first Korean winner of the award.
The paper by Professor Cha was published in 2012 under the title, “Unleashing Mayhem on Binary Code”. It was the first to ever suggest an algorithm that automatically finds bugs in binary code and creates exploits that links them to an attack code.
The developed algorithm is a core technique used for world-class cyber security hacking competitions like the Cyber Grand Challenge, an AI hacking contest.
Starting with this research, Professor Cha has carried out various studies to develop technologies that can find bugs and vulnerabilities through binary analyses, and is currently developing B2R2, a Korean platform that can analyze various binary codes.
2022.06.13 View 10203 -
Professor Hyunjoo Jenny Lee to Co-Chair IEEE MEMS 2025
Professor Hyunjoo Jenny Lee from the School of Electrical Engineering has been appointed General Chair of the 38th IEEE MEMS 2025 (International Conference on Micro Electro Mechanical Systems). Professor Lee, who is 40, is the conference’s youngest General Chair to date and will work jointly with Professor Sheng-Shian Li of Taiwan’s National Tsing Hua University as co-chairs in 2025.
IEEE MEMS is a top-tier international conference on microelectromechanical systems and it serves as a core academic showcase for MEMS research and technology in areas such as microsensors and actuators.
With over 800 MEMS paper submissions each year, the conference only accepts and publishes about 250 of them after a rigorous review process recognized for its world-class prestige. Of all the submissions, fewer than 10% are chosen for oral presentations.
2022.04.18 View 13374 -
Prof. Changho Suh Named the 2021 James L. Massey Awardee
Professor Changho Suh from the School of Electrical Engineering was named the recipient of the 2021 James L.Massey Award. The award recognizes outstanding achievement in research and teaching by young scholars in the information theory community. The award is named in honor of James L. Massey, who was an internationally acclaimed pioneer in digital communications and revered teacher and mentor to communications engineers.
Professor Suh is a recipient of numerous awards, including the 2021 James L. Massey Research & Teaching Award for Young Scholars from the IEEE Information Theory Society, the 2019 AFOSR Grant, the 2019 Google Education Grant, the 2018 IEIE/IEEE Joint Award, the 2015 IEIE Haedong Young Engineer Award, the 2013 IEEE Communications Society Stephen O. Rice Prize, the 2011 David J. Sakrison Memorial Prize (the best dissertation award in UC Berkeley EECS), the 2009 IEEE ISIT Best Student Paper Award, the 2020 LINKGENESIS Best Teacher Award (the campus-wide Grand Prize in Teaching), and the four Departmental Teaching Awards (2013, 2019, 2020, 2021).
Dr. Suh is an IEEE Information Theory Society Distinguished Lecturer, the General Chair of the Inaugural IEEE East Asian School of Information Theory, and a Member of the Young Korean Academy of Science and Technology. He is also an Associate Editor of Machine Learning for the IEEE Transactions on Information Theory, the Editor for the IEEE Information Theory Newsletter, a Column Editor for IEEE BITS the Information Theory Magazine, an Area Chair of NeurIPS 2021, and on the Senior Program Committee of IJCAI 2019–2021.
2021.07.27 View 14660 -
Prof. Junil Choi Receives the Neal Shepherd Memorial Award
Professor Junil Choi of the School of Electrical Engineering received the 2021 Neal Shepherd Memorial Award from the IEEE Vehicular Technology Society. The award recognizes the most outstanding paper relating to radio propagation published in major journals over the previous five years.
Professor Cho, the recipient of the 2015 IEEE Signal Processing Society’s and the 2019 IEEE Communications Society’s Best Paper Award, was selected as the awardee for his paper titled “The Impact of Beamwidth on Temporal Channel Variation in Vehicular Channels and Its Implications” in IEEE Transaction on Vehicular Technology in 2017.
In this paper, Professor Choi and his team derived the channel coherence time for a wireless channel as a function of the beamwidth, taking both Doppler effect and pointing error into consideration. The results showed that a nonzero optimal beamwidth exists that maximizes the channel coherence time. To reduce the impact of the overhead of doing realignment in every channel coherence time, the paper showed that the beams should be realigned every beam coherence time for the best performance.
Professor Choi said, “It is quite an honor to receive this prestigious award following Professor Joonhyun Kang who won the IEEE VTS’s Jack Neubauer Memorial Award this year. It shows that our university’s pursuit of excellence in advanced research is being well recognized.”
2021.07.26 View 11844