Hak Yi — accepted AI-conference papers

2026

Indirect Adaptive Predictor Preview Control with Unknown Time Varying Input Delay and Parameter

ICRA 2026poster

This paper presents an indirect adaptive predictor–preview control architecture for continuous-time systems with unknown time-varying input delays and unknown (slowly varying) parameters. An adaptive super-twisting algorithm (STA) estimates the unknown delay online using a monotone ramp probe, and a…

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2026

Stable Worker Intention Recognition Via Transformer and CRF-Ontology Decoding for Human–Robot Collaboration

Hwijin Park, HyunBin Kwon, Hyundo Lee, Cheol Woo Park, Hak Yi

ICRA 2026poster

This paper proposes a transformer-based single stream model with CRF–ontology decoding for stable worker intention recognition in human–robot collaboration(HRC). Although existing intention recognition methods achieve high accuracy, they often suffer from temporal prediction instability and logicall…

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