Jaeyoun Choi

2 accepted papers

2026

Parameter-Robust MPPI for Safe Online Learning of Unknown Parameters

Matti Vahs, Jaeyoun Choi, Niklas Schmid, Jana Tumova, Chuchu Fan

RA-L 2026

Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Integral (PRMPPI) control, a framework that integrates online parameter learning with probabilistic safety constraints. PRMP

Cited by 0 Source ↗Scholar ↗

2021

A Twisted Elastic Rotary-Rail Actuator (TERRA) Using a Double-Stranded Helix Structure

Jae In Kim, Jaeyoun Choi, Junhyung Kim, Yong-Lae Park

RA-L 2021

Mechanically compliant systems have become one of the major concerns in robotics recently. Along with advanced control techniques, various designs of compliant actuators have been steadily proposed for taking advantages of shock absorption, low reflected inertia, and capability of energy storage. On

Cited by 1 Source ↗Scholar ↗