Selected Publications

2026

1. ISR

   

   Contact-responsive high-gain robot motion controllers using a constrained disturbance observer

   Ji Wan Han and Min Jun Kim

   Intelligent Service Robotics, 2026

   DOI Bib Video

   @article{han2026contactresponsive,
     research_area = {robot_control},
     title = {{Contact-responsive high-gain robot motion controllers using a constrained disturbance observer}},
     author = {Han, Ji Wan and Kim, Min Jun},
     journal = {Intelligent Service Robotics},
     volume = {19},
     number = {5},
     eid = {89},
     year = {2026},
     publisher = {Springer Berlin Heidelberg},
     doi = {10.1007/s11370-026-00744-z},
   }

2. T-RO

   

   Mixture of Flow Matching and Particle Filter for Proprioception-based Online Contact Estimation

   Seo Wook Han and Min Jun Kim

   IEEE Transactions on Robotics (T-RO), 2026

   Accepted

   Bib Video

   @article{han2026mixture,
     research_area = {physical_ai},
     title = {{Mixture of Flow Matching and Particle Filter for Proprioception-based Online Contact Estimation}},
     author = {Han, Seo Wook and Kim, Min Jun},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2026},
     note = {Accepted},
   }

3. CoRL

   

   Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera

   Seoyoon Kim^*, Kanghyun Kim^*, Dongwoo Ko, Yeong Jin Heo, and Min Jun Kim

   Conference on Robot Learning (CoRL), 2026

   Accepted

   arXiv Bib

   @inproceedings{kim2026spatially,
     research_area = {physical_ai},
     title = {{Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera}},
     author = {Kim, Seoyoon and Kim, Kanghyun and Ko, Dongwoo and Heo, Yeong Jin and Kim, Min Jun},
     booktitle = {Conference on Robot Learning (CoRL)},
     year = {2026},
     note = {Accepted},
   }

4. T-RO

   

   Extreme High-Gain Friction Observer of Flexible Joint Robots With L1 Adaptive Framework

   Young Bin Lee^*, Tae Ho Yun^*, and Min Jun Kim

   IEEE Transactions on Robotics (T-RO), 2026

   Accepted

   Bib HTML Video

   @article{lee2026extreme,
     research_area = {robot_control},
     title = {{Extreme High-Gain Friction Observer of Flexible Joint Robots With L1 Adaptive Framework}},
     author = {Lee, Young Bin and Yun, Tae Ho and Kim, Min Jun},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2026},
     note = {Accepted},
   }

2025

1. RA-L

   

   Exact Fractional Order Impedance Rendering for Highly Flexible and Multi-Jointed Robots Using Time-Delay Estimation

   Tae Ho Yun, Fabian Beck, Min Jun Kim^†, and Jinoh Lee^†

   IEEE Robotics and Automation Letters (RA-L), 2025

   Bib HTML

   @article{yun2025exact,
     research_area = {robot_control},
     title = {{Exact Fractional Order Impedance Rendering for Highly Flexible and Multi-Jointed Robots Using Time-Delay Estimation}},
     author = {Yun, Tae Ho and Beck, Fabian and Kim, Min Jun and Lee, Jinoh},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2025},
   }

2. Mechatronics

   

   A Visco-Elastic Actuator with Linear Gas Spring and Variable Damping

   Florian C. Loeffl, Fabian Beck, Jinoh Lee, Min Jun Kim, and Manuel Keppler

   Mechatronics, 2025

   Bib HTML

   @article{loeffl2025visco,
     research_area = {hardware_design},
     title = {{A Visco-Elastic Actuator with Linear Gas Spring and Variable Damping}},
     author = {Loeffl, Florian C. and Beck, Fabian and Lee, Jinoh and Kim, Min Jun and Keppler, Manuel},
     journal = {Mechatronics},
     year = {2025},
   }

3. ICML

   

   Enhancing Rating-Based Reinforcement Learning to Effectively Leverage Feedback from Large Vision-Language Models

   Tung Minh Luu, Younghwan Lee, Donghoon Lee, Sunho Kim, Min Jun Kim, and Chang D. Yoo

   International Conference on Machine Learning (ICML), 2025

   arXiv Bib

   @inproceedings{luu2025enhancing,
     research_area = {physical_ai},
     title = {{Enhancing Rating-Based Reinforcement Learning to Effectively Leverage Feedback from Large Vision-Language Models}},
     author = {Luu, Tung Minh and Lee, Younghwan and Lee, Donghoon and Kim, Sunho and Kim, Min Jun and Yoo, Chang D.},
     booktitle = {International Conference on Machine Learning (ICML)},
     year = {2025},
   }

4. ICRA

   

   CDM: Contact Diffusion Model for Multi-Contact Point Localization

   Seo Wook Han and Min Jun Kim

   IEEE International Conference on Robotics and Automation (ICRA), 2025

   arXiv Bib HTML Video

   @inproceedings{han2025cdm,
     research_area = {physical_ai},
     title = {{CDM: Contact Diffusion Model for Multi-Contact Point Localization}},
     author = {Han, Seo Wook and Kim, Min Jun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
   }

2024

1. arXiv

   

   SPLIT: SE(3)-diffusion via Local Geometry-based Score Prediction for 3D Scene-to-Pose-Set Matching Problems

   Kanghyun Kim and Min Jun Kim

   arXiv preprint, 2024

   arXiv Bib Video

   @article{kim2024split,
     research_area = {physical_ai},
     title = {{SPLIT: SE(3)-diffusion via Local Geometry-based Score Prediction for 3D Scene-to-Pose-Set Matching Problems}},
     author = {Kim, Kanghyun and Kim, Min Jun},
     journal = {arXiv preprint},
     year = {2024},
   }

2. T-RO

   

   Bidirectional Energy Flow Modulation for Passive Admittance Control

   Donghyeon Lee, Dongwoo Ko, Min Jun Kim, and Wan Kyun Chung

   IEEE Transactions on Robotics (T-RO), 2024

   Bib HTML

   @article{lee2024bidirectional,
     research_area = {robot_control},
     title = {{Bidirectional Energy Flow Modulation for Passive Admittance Control}},
     author = {Lee, Donghyeon and Ko, Dongwoo and Kim, Min Jun and Chung, Wan Kyun},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2024},
   }

3. IROS

   

   Design of a Fully Actuated Drone with Non-Isotropic Wrench Shape

   Seongsu Park and Min Jun Kim

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   Bib HTML Video

   @inproceedings{park2024design,
     research_area = {hardware_design},
     title = {{Design of a Fully Actuated Drone with Non-Isotropic Wrench Shape}},
     author = {Park, Seongsu and Kim, Min Jun},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024},
   }

4. IROS

   

   Disturbance-Aware Model Predictive Control of Underactuated Robotics Systems

   Jiwon Kim and Min Jun Kim

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   Bib HTML Video

   @inproceedings{kim2024disturbanceaware,
     research_area = {robot_control},
     title = {{Disturbance-Aware Model Predictive Control of Underactuated Robotics Systems}},
     author = {Kim, Jiwon and Kim, Min Jun},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024},
   }

5. L-CSS

   

   Disturbance Observer With Constraints

   Tae Ho Yun and Min Jun Kim

   IEEE Control Systems Letters (L-CSS), 2024

   Bib HTML

   @article{yun2024disturbance,
     research_area = {robot_control},
     title = {{Disturbance Observer With Constraints}},
     author = {Yun, Tae Ho and Kim, Min Jun},
     journal = {IEEE Control Systems Letters (L-CSS)},
     year = {2024},
   }

6. ICRA

   

   Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks

   Seo Wook Han, Maged Iskandar, Jinoh Lee, and Min Jun Kim

   IEEE International Conference on Robotics and Automation (ICRA), 2024

   arXiv Bib HTML Video

   @inproceedings{han2024online,
     research_area = {robot_control},
     title = {{Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks}},
     author = {Han, Seo Wook and Iskandar, Maged and Lee, Jinoh and Kim, Min Jun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
   }

7. ICRA

   

   Constrained Nonlinear Disturbance Observer for Robotic Systems

   Ji Wan Han, Daehyung Park, and Min Jun Kim

   IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib HTML

   @inproceedings{han2024constrained,
     research_area = {robot_control},
     title = {{Constrained Nonlinear Disturbance Observer for Robotic Systems}},
     author = {Han, Ji Wan and Park, Daehyung and Kim, Min Jun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
   }

8. ICRA

   

   Graph-Based 3D Collision-Distance Estimation Network with Probabilistic Graph Rewiring

   Minjae Song, Yeseung Kim, Min Jun Kim, and Daehyung Park

   IEEE International Conference on Robotics and Automation (ICRA), 2024

   arXiv Bib HTML

   @inproceedings{song2024graph,
     research_area = {physical_ai},
     title = {{Graph-Based 3D Collision-Distance Estimation Network with Probabilistic Graph Rewiring}},
     author = {Song, Minjae and Kim, Yeseung and Kim, Min Jun and Park, Daehyung},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
   }

2023

1. ICRA

   

   A Reachability Tree-Based Algorithm for Robot Task and Motion Planning

   Kanghyun Kim, Daehyung Park, and Min Jun Kim

   IEEE International Conference on Robotics and Automation (ICRA), 2023

   arXiv Bib HTML Video

   @inproceedings{kim2023reachability,
     research_area = {physical_ai},
     title = {{A Reachability Tree-Based Algorithm for Robot Task and Motion Planning}},
     author = {Kim, Kanghyun and Park, Daehyung and Kim, Min Jun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023},
   }

2. ICRA

   

   Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms

   Seo Wook Han and Min Jun Kim

   IEEE International Conference on Robotics and Automation (ICRA), 2023

   arXiv Bib HTML Video

   @inproceedings{han2023proprioceptive,
     research_area = {physical_ai},
     title = {{Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms}},
     author = {Han, Seo Wook and Kim, Min Jun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023},
   }

3. ICRA

   

   Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators

   Jinyeong Jeong and Min Jun Kim

   IEEE International Conference on Robotics and Automation (ICRA), 2023

   arXiv Bib HTML Video

   @inproceedings{jeong2023passivity,
     research_area = {robot_control},
     title = {{Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators}},
     author = {Jeong, Jinyeong and Kim, Min Jun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023},
   }

4. ICRA

   

   Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based actuation

   Yuri S. Sarkisov, Andre Coelho, Maihara G. Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott, and Konstantin Kondak

   IEEE International Conference on Robotics and Automation (ICRA), 2023

   arXiv Bib HTML

   @inproceedings{sarkisov2023hierarchical,
     research_area = {robot_control},
     title = {{Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based actuation}},
     author = {Sarkisov, Yuri S. and Coelho, Andre and Santos, Maihara G. and Kim, Min Jun and Tsetserukou, Dzmitry and Ott, Christian and Kondak, Konstantin},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023},
   }

2022

1. ICRA

   

   A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function

   Jinyeong Jeong, Hrishik Mishra, Christian Ott, and Min Jun Kim

   IEEE International Conference on Robotics and Automation (ICRA), 2022

   Bib HTML

   @inproceedings{jeong2022memory,
     research_area = {robot_control},
     title = {{A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function}},
     author = {Jeong, Jinyeong and Mishra, Hrishik and Ott, Christian and Kim, Min Jun},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2022},
   }

2. T-RO

   

   Passive Impedance Control of Robots with Viscoelastic Joints via Inner-loop Torque Control

   Min Jun Kim, Alexander Werner, Florian Loeffl, and Christian Ott

   IEEE Transactions on Robotics (T-RO), 2022

   Bib HTML

   @article{kim2022passive,
     research_area = {robot_control},
     title = {{Passive Impedance Control of Robots with Viscoelastic Joints via Inner-loop Torque Control}},
     author = {Kim, Min Jun and Werner, Alexander and Loeffl, Florian and Ott, Christian},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2022},
   }

2020

1. T-Mech

   

   Asymptotically stable disturbance observer-based compliance control of electro-hydrostatic actuators

   Woongyong Lee, Min Jun Kim, and Wan Kyun Chung

   IEEE/ASME Transactions on Mechatronics, 2020

   Bib HTML

   @article{lee2020asymptotically,
     research_area = {robot_control},
     title = {{Asymptotically stable disturbance observer-based compliance control of electro-hydrostatic actuators}},
     author = {Lee, Woongyong and Kim, Min Jun and Chung, Wan Kyun},
     journal = {IEEE/ASME Transactions on Mechatronics},
     year = {2020},
   }

2. IROS

   

   Compliance Control of Cable-Suspended Aerial Manipulator Using Hierarchical Control Framework

   Chiara Gabellieri, Yuri S. Sarkisov, Andre Coelho, Lucia Pallottino, Konstantin Kondak, and Min Jun Kim

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

   Bib HTML

   @inproceedings{gabellieri2020compliance,
     research_area = {robot_control},
     title = {{Compliance Control of Cable-Suspended Aerial Manipulator Using Hierarchical Control Framework}},
     author = {Gabellieri, Chiara and Sarkisov, Yuri S. and Coelho, Andre and Pallottino, Lucia and Kondak, Konstantin and Kim, Min Jun},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2020},
   }

3. ICRA

   

   Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

   Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, and Konstantin Kondak

   IEEE International Conference on Robotics and Automation (ICRA), 2020

   Bib HTML

   @inproceedings{sarkisov2020optimal,
     research_area = {robot_control},
     title = {{Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor}},
     author = {Sarkisov, Yuri S. and Kim, Min Jun and Coelho, Andre and Tsetserukou, Dzmitry and Ott, Christian and Kondak, Konstantin},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2020},
   }

4. ICRA

   

   Visual-Inertial Telepresence for Aerial Manipulation

   Jongseok Lee, Ribin Balachandran, Yuri S. Sarkisov, Marco De Stefano, Andre Coelho, Kashmira Shinde, Min Jun Kim, Rudolph Triebel, and Konstantin Kondak

   IEEE International Conference on Robotics and Automation (ICRA), 2020

   Bib HTML

   @inproceedings{lee2020visual,
     research_area = {physical_ai},
     title = {{Visual-Inertial Telepresence for Aerial Manipulation}},
     author = {Lee, Jongseok and Balachandran, Ribin and Sarkisov, Yuri S. and De Stefano, Marco and Coelho, Andre and Shinde, Kashmira and Kim, Min Jun and Triebel, Rudolph and Kondak, Konstantin},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2020},
   }

2019

1. T-RO

   

   Model-free friction observers for flexible joint robots with torque measurements

   Min Jun Kim, Fabian Beck, Christian Ott, and Alin Albu-Schäffer

   IEEE Transactions on Robotics (T-RO), 2019

   Bib HTML

   @article{kim2019modelfree,
     research_area = {robot_control},
     title = {{Model-free friction observers for flexible joint robots with torque measurements}},
     author = {Kim, Min Jun and Beck, Fabian and Ott, Christian and Albu-Schäffer, Alin},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2019},
   }

2. ICRA

   

   Development of SAM: cable-Suspended Aerial Manipulator

   Yuri S. Sarkisov^*, Min Jun Kim^*, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, and Konstantin Kondak

   IEEE International Conference on Robotics and Automation (ICRA), 2019

   Bib HTML

   @inproceedings{sarkisov2019development,
     research_area = {hardware_design},
     title = {{Development of SAM: cable-Suspended Aerial Manipulator}},
     author = {Sarkisov, Yuri S. and Kim, Min Jun and Bicego, Davide and Tsetserukou, Dzmitry and Ott, Christian and Franchi, Antonio and Kondak, Konstantin},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2019},
   }

3. T-Mech

   

   A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions

   Min Jun Kim, Woongyong Lee, Jae Yeon Choi, Goobong Chung, Kyung-Lyong Han, I Seop Choi, Christian Ott, and Wan Kyun Chung

   IEEE/ASME Transactions on Mechatronics, 2019

   Bib HTML

   @article{kim2019passivity,
     research_area = {robot_control},
     title = {{A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions}},
     author = {Kim, Min Jun and Lee, Woongyong and Choi, Jae Yeon and Chung, Goobong and Han, Kyung-Lyong and Choi, I Seop and Ott, Christian and Chung, Wan Kyun},
     journal = {IEEE/ASME Transactions on Mechatronics},
     year = {2019},
   }

2018

1. IROS

   

   Passive Compliance Control of Aerial Manipulators

   Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, and Christian Ott

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

   Bib HTML

   @inproceedings{kim2018passive,
     research_area = {robot_control},
     title = {{Passive Compliance Control of Aerial Manipulators}},
     author = {Kim, Min Jun and Balachandran, Ribin and De Stefano, Marco and Kondak, Konstantin and Ott, Christian},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2018},
   }

2. RA-L

   

   A Stabilizing Controller for Regulation of UAV With Manipulator

   Min Jun Kim, Konstantin Kondak, and Christian Ott

   IEEE Robotics and Automation Letters (RA-L), 2018

   Bib HTML

   @article{kim2018stabilizing,
     research_area = {robot_control},
     title = {{A Stabilizing Controller for Regulation of UAV With Manipulator}},
     author = {Kim, Min Jun and Kondak, Konstantin and Ott, Christian},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2018},
   }

2017

1. IROS

   

   Disturbance-observer-based PD control of electro-hydrostatically actuated flexible joint robots

   Woongyong Lee, Min Jun Kim, and Wan Kyun Chung

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

   Bib

   @inproceedings{lee2017disturbance,
     research_area = {robot_control},
     title = {{Disturbance-observer-based PD control of electro-hydrostatically actuated flexible joint robots}},
     author = {Lee, Woongyong and Kim, Min Jun and Chung, Wan Kyun},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2017},
   }

2. ICRA

   

   Enhancing joint torque control of series elastic actuators with physical damping

   Min Jun Kim, Alexander Werner, Florian Christoph Loeffl, and Christian Ott

   IEEE International Conference on Robotics and Automation (ICRA), 2017

   Bib HTML

   @inproceedings{kim2017enhancing,
     research_area = {robot_control},
     title = {{Enhancing joint torque control of series elastic actuators with physical damping}},
     author = {Kim, Min Jun and Werner, Alexander and Loeffl, Florian Christoph and Ott, Christian},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2017},
   }