Watch experiment ↗01Locomotion and loco-manipulation
Humanoid Control
- Locomotion
- Whole-body motion
- Physical AI
OPEN POSITIONSRCI Lab is recruiting motivated undergraduate researchers and graduate students.
Recruitment details →ROBOT CONTROL · PHYSICAL AI · INTELLIGENCE
Robots that move withpurpose.
We build control and intelligence that help robots move, collaborate, and make decisions in complex, human-centered environments.
- 2023
- Established
- 17
- Graduate researchers
- 4
- Research interns
WHAT WE DO
Control Everything.
In the Real World.
From optimal control to Physical AI, our work connects rigorous methods with experiments on real robotic systems.
Watch experiment ↗01
Watch experiment ↗02Dynamic coordination for complex robots
Whole-body Control
- Whole-body control
- Hierarchical QP
- Mobile manipulation
Watch experiment ↗03Real-time decisions under constraints
Optimal Control
- MPPI
- DDP
- Trajectory optimization
Watch experiment ↗04Planning on complex constraint manifolds
Constrained Motion Planning
- Motion planning
- Closed-chain
- RRT
Watch experiment ↗05Language-guided robot behavior
Visual Language Action
- VLA
- Robot learning
- Manipulation
06Semantic maps for embodied navigation
Visual Language Navigation
- VLN
- Semantic mapping
- Embodied AI
SELECTED WORK
Recent publications
Research across robot control, motion planning, navigation, and learning-enabled robotic systems.
Browse publications →Manifold-Constrained MPPI: Real-Time Sampling-Based Control for Nonlinear Equality-Constrained Robotic Systems
High-Performance Fixed-Time Active Fault-Tolerant Control of Robotic Manipulators via Sparse Physics-Informed Dynamics Learning
Instance-Enriched Semantic Maps for Visual Language Navigation
LAB UPDATES
Latest news
Our MC-MPPI paper by Seulchan Lee has been accepted to International Journal of Control, Automation, and Systems.
Seulchan Lee, Sanghyun Kim†, “Manifold-Constrained MPPI: Real-Time Sampling-Based Control for Nonlinear Equality-Constrained Robotic Systems,” International Journal of Control, Automation, and Systems, 2026.
Our paper by Jaerak Son has been accepted to the Journal of Institute of Control, Robotics and Systems.
손재락, 심재훈†, 김상현†, “유계 참조 보상과 조향률 제약을 통한 이중 조향 이동로봇의 정밀 도킹 성능 개선,” 제어·로봇·시스템학회 논문지, 2026.
RCI Lab completed a technology transfer to MetaMotionX.
기술명: MPPI 자율주행 알고리즘의 고도화 SW 개발 · 구분: 기술이전 · 이전기업: 메타모션엑스
RCI Lab has been selected for Anthropic's Claude for Scientists program.
Through the program, all lab members receive premium (Max) Claude access for research, coding, and writing.
RCI Lab won a grant from Mobinn.
과제명: 시뮬레이션 상 모바일 로봇 탑재 매니퓰레이터 모션 및 제어 개발 · 과제형태: 산학협력 · 지원기관: 모빈 · 수행기간: 2026
Sanghyun Kim has been appointed to the organizing committee for IEEE ICRA 2027.
Sanghyun Kim will serve as an Associate Editor for IEEE-RAS Humanoids 2026.
Our paper by Thanh Nguyen Truong has been accepted to Information Sciences.
Thanh Nguyen Truong, Sanghyun Kim†, “High-Performance Fixed-Time Active Fault-Tolerant Control of Robotic Manipulators via Sparse Physics-Informed Dynamics Learning,” Information Sciences, 2026.
RCI Lab won a grant from PIE Robotics.
과제명: 자율 공정을 위한 모션 플래닝 기술 개발 · 과제형태: 산학협력 · 지원기관: PIE Robotics · 수행기간: 2026
RCI Lab won a grant from KailosLab.
과제명: 화학 실험 자동화를 위한 VLM 기반 제어 기술 개발 · 과제형태: 산학협력 · 지원기관: 카이로스랩 · 수행기간: 2026