Convergence analysis of ODE models for accelerated first-order methods via positive semidefinite kernels
Jungbin Kim, and Insoon Yang
Advances in Neural Information Processing Systems (NeurIPS), accepted.

Control of fab lifters via deep reinforcement learning: A semi-MDP approach
Giho Kim, Jaeuk Shin, Gihun Kim, Joonrak Kim, and Insoon Yang
IEEE Transactions on Automation Science and Engineering, accepted.

Distributionally robust differential dynamic programming with Wasserstein distance
Astghik Hakobyan, and Insoon Yang
IEEE Control Systems Letters, 7:2329-2334, 2023. (Selected for presentation at CDC 23)

Data-driven stochastic optimization using upper confidence bounds: Performance guarantees and distributional robustness
Youngchae Cho, and Insoon Yang
IEEE Conference on Decision and Control (CDC), 2023.

On concentration bounds for Bayesian identification of linear non-Gaussian systems
Yeoneung Kim, Gihun Kim, and Insoon Yang
IEEE Conference on Decision and Control (CDC), 2023.

Unifying Nesterov’s accelerated gradient methods for convex and strongly convex objective functions
Jungbin Kim, and Insoon Yang
International Conference on Machine Learning (ICML), 2023. (Oral)

Distributionally robust optimization with unscented transform for learning-based motion control in dynamic environments
Astghik Hakobyan, and Insoon Yang
IEEE International Conference on Robotics and Automation (ICRA), 2023.

Maximum entropy optimal control of continuous-time dynamical systems
Jeongho Kim, and Insoon Yang
IEEE Transactions on Automatic Control, 68(4):2018-2033, 2023.

Distributional robustness in minimax linear quadratic control with Wasserstein distance
Kihyun Kim, and Insoon Yang
SIAM Journal on Control and Optimization, 61(2):458-483, 2023.

Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach
Astghik Hakobyan, and Insoon Yang
IEEE Transactions on Robotics, 39(1):718-737, 2023.

Improved regret analysis for variance-adaptive linear bandits and horizon-free linear mixture MDPs,
Yeoneung Kim, Insoon Yang, and Kwang-Sung Jun
Advances in Neural Information Processing Systems (NeurIPS), 2022.

Wasserstein distributionally robust control of partially observable linear systems: Tractable approximation and performance guarantee
Astghik Hakobyan, and Insoon Yang
IEEE Conference on Decision and Control (CDC), 2022.

On affine policies for Wasserstein distributionally robust unit commitment
Youngchae Cho, and Insoon Yang
IEEE Conference on Decision and Control (CDC), 2022.

Infusing model predictive control into meta-reinforcement learning for mobile robots in dynamic environments
Jaeuk Shin, Astghik Hakobyan, Mingyu Park, Yeoneung Kim, Gihun Kim, and Insoon Yang
IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10065-10072, 2022. (Selected for presentation at IROS 22)

On representation formulas for optimal control: A Lagrangian perspective
Yeoneung Kim, and Insoon Yang
IET Control Theory & Applications (CTA), accepted.

Accelerated gradient methods for geodesically convex optimization: Tractable algorithms and convergence analysis
Jungbin Kim, and Insoon Yang
International Conference on Machine Learning (ICML), PMLR 162, pp. 11255-11282, 2022.

Risk-sensitive safety analysis using conditional value-at-risk
Margaret P. Chapman, Riccardo Bonalli, Kevin M. Smith, Insoon Yang, Marco Pavone, and Claire J. Tomlin
IEEE Transactions on Automatic Control, accepted.

Wasserstein distributionally robust motion control for collision avoidance using conditional value-at-risk
Astghik Hakobyan, and Insoon Yang
IEEE Transactions on Robotics, vol. 38, no. 2, pp. 939-957, 2022.

Stochastic consensus dynamics for nonconvex optimization on the Stiefel manifold: Mean-field limit and convergence
Seung-Yeal Ha, Myeongju Kang, Dohyun Kim, Jeongho Kim, and Insoon Yang
Mathematical Models and Methods in Applied Sciences (M3AS), vol. 32, no. 3, pp. 533-617, 2022.

Hamilton-Jacobi deep Q-learning for deterministic continuous-time systems with Lipschitz continuous controls
Jeongho Kim, Jaeuk Shin, and Insoon Yang
Journal of Machine Learning Research (JMLR), vol. 22, no. 206, pp. 1-34, 2021.

Wasserstein distributionally robust stochastic control: A data-driven approach
Insoon Yang
IEEE Transactions on Automatic Control, vol. 66, no. 8, pp. 3863-3870, 2021.

Appropriate Smart Factory for SMEs: Concept, Application and Perspective
Woo-Kyun Jung, Dong-Ryul Kim, Hyunsu Lee, Tae-Hun Lee, Insoon Yang, Byeng D. Youn, Daniel Zontar, Matthias Brockmann, Christian Brecher, Sung-Hoon Ahn
International Journal of Precision Engineering and Manufacturing, vol. 22, pp. 201-215, 2021.

On Anderson acceleration for partially observable Markov decision processes
Melike Ermis, Mingyu Park, and Insoon Yang
Proceedings of the 60th IEEE Conference on Decision and Control (CDC), pp. 4478-4485, 2021.

Toward improving the distributional robustness of risk-aware controllers in learning-enabled environments
Astghik Hakobyan, and Insoon Yang
Proceedings of the 60th IEEE Conference on Decision and Control (CDC), pp. 6024-6031, 2021.

A convex optimization approach to dynamic programming in continuous state and action spaces
Insoon Yang
Journal of Optimization Theory and Applications (JOTA), vol. 187, pp. 133-157, 2020.

Multi-objective predictive taxi dispatch via network flow optimization
Beomjun Kim, Jeongho Kim, Subin Huh, Seungil You, and Insoon Yang
IEEE Access, vol. 8, pp. 21437-21452, 2020.

A3DQN: Adaptive Anderson acceleration for deep Q-networks
Melike Ermis, and Insoon Yang
Proceedings of the 2020 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL), pp. 250-257, 2020.

Minimax control of ambiguous linear stochastic systems using the Wasserstein metric
Kihyun Kim, and Insoon Yang
Proceedings of the 59th IEEE Conference on Decision and Control (CDC), pp. 1777-1784, 2020.

A stochastic consensus method for nonconvex optimization on the Stiefel manifold
Jeongho Kim, Myeongju Kang, Dohyun Kim, Seung-Yeal Ha, and Insoon Yang
Proceedings of the 59th IEEE Conference on Decision and Control (CDC), pp. 1050-1057, 2020.

Learning-based distributionally robust motion control with Gaussian processes
Astghik Hakobyan, and Insoon Yang
Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7667-7674, 2020.

Hamilton-Jacobi-Bellman equations for Q-learning in continuous time
Jeongho Kim, and Insoon Yang
Proceedings of the 2nd Conference on Learning for Dynamics and Control (L4DC), pp. 739-748, 2020.

Wasserstein distributionally robust motion planning and control with safety constraints using conditional value-at-risk
Astghik Hakobyan, and Insoon Yang
Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 490-496, 2020.

STAR: Spatio-temporal prediction of air quality using a multimodal approach
Tien-Cuong Bui, Joonyoung Kim, Taewoo Kang, Donghyeon Lee, Junyoung Choi, Insoon Yang, Kyomin Jung, and Sang Kyun Cha
Proceedings of the 2020 Conference on Intelligent Systems Conference (IntelliSys), pp. 389-406, 2020.

Data-driven distributionally robust stochastic control of energy storage for wind power ramp management using the Wasserstein metric
Insoon Yang
Energies, vol. 12, no. 23, 4577, 2019.

Risk-aware motion planning and control using CVaR-constrained optimization
Astghik Hakobyan, Gyeong Chan Kim, and Insoon Yang
IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3924-3931, 2019. (Selected for presentation at IROS 19)

Sample efficient home power anomaly detection in real time using semi-supervised learning
Xinlin Wang, Insoon Yang, and Sung-Hoon Ahn
IEEE Access, vol. 7, pp.139712-139725, 2019.

Submodularity of storage placement optimization in power networks
Junjie Qin, Insoon Yang, and Ram Rajagopal
IEEE Transactions on Automatic Control, vol. 64, no. 8, pp. 3268-3283, 2019.

Stochastic subgradient methods for dynamic programming in continuous state and action spaces 
Sunho Jang, and Insoon Yang
Proceedings of the 58th IEEE Conference on Decision and Control (CDC), pp. 7287-7293, 2019.

On improving the robustness of reinforcement learning-based controllers using disturbance observer
Jeong Woo Kim, Hyungbo Shim, and Insoon Yang
Proceedings of the 58th IEEE Conference on Decision and Control (CDC), pp. 847-852, 2019.

A dynamic game approach to distributionally robust safety specifications for stochastic systems
Insoon Yang
Automatica, vol. 94, pp. 94-101, 2018.

Smart machining process using machine learning: A review and perspective on machining industry
Dong-Hyeon Kim, Thomas J. Y. Kim, Xinlin Wang, Mincheol Kim, Ying-Jun Quan, Jin Woo Oh, Soo-Hong Min, Hyungjung Kim, Binayak Bhandari, Insoon Yang, and Sung-Hoon Ahn
International Journal of Precision Engineering and Manufacturing-Green Technology, vol. 5, no. 4, pp. 555-568, 2018.

Safety-aware optimal control of stochastic systems using conditional value-at-risk
Samantha Samuelson, and Insoon Yang
Proceedings of the 2018 American Control Conference (ACC), pp. 6285-6290, 2018. (Extended version)

A convex optimization approach to distributionally robust Markov decision processes with Wasserstein distance
Insoon Yang
IEEE Control Systems Letters, vol. 1, no. 1, pp. 164-169, 2017. (Selected for presentation at CDC 17)

Optimal control of conditional value-at-risk in continuous time
Christopher W. Miller, and Insoon Yang
SIAM Journal on Control and Optimization, vol. 55, no. 2, pp. 856-884, 2017.

Variance-constrained risk sharing in stochastic systems
Insoon Yang, Duncan S. Callaway, and Claire J. Tomlin
IEEE Transactions on Automatic Control, vol. 62, no. 4, pp. 1865-1879, 2017.

Distributionally robust stochastic control with conic confidence sets
Insoon Yang
Proceedings of the 56th IEEE Conference on Decision and Control (CDC), pp. 4291-4296, 2017.

Data-driven distributionally robust control of energy storage to manage wind power fluctuations
Samantha Samuelson, and Insoon Yang
Proceedings of the 1st IEEE Conference on Control Technology and Applications (CCTA), pp. 199-204, 2017.

Online combinatorial optimization for Interconnected refrigeration systems: linear approximation and submodularity
Insoon Yang
Proceedings of the 20th IFAC World Congress, pp. 7389-7396, 2017.

Approximation algorithms for optimization of combinatorial dynamical systems
Insoon Yang, Samuel A. Burden, Ram Rajagopal, S. Shankar Sastry, and Claire J. Tomlin
IEEE Transactions on Automatic Control, vol. 61, no. 9, pp. 2644-2649, 2016.

Submodularity of energy storage placement in power networks (Best Student Paper Award finalist)
Junjie Qin, Insoon Yang, and Ram Rajagopal
Proceedings of the 55th IEEE Conference on Decision and Control (CDC), pp. 686-693, 2016. (Extended version)

Reducing electricity price volatility via stochastic storage control
Insoon Yang, and Asuman E. Ozdaglar
Proceedings of the 2016 American Control Conference (ACC), pp. 4138-4144, 2016.

Reaction-diffusion systems in protein networks: global existence and identification
Insoon Yang, and Claire J. Tomlin
Systems & Control Letters, vol. 74, pp. 50-57, 2014.

Micro ECM with ultrasonic vibrations using a semi-cylindrical tool
Insoon Yang, Min Su Park, and Chong Nam Chu
International Journal of Precision Engineering and Manufacturing, vol. 10, no. 2, pp. 5-10, 2009. 

Indirect load control for financial risk management in electricity markets via risk-limiting dynamic contracts
Insoon Yang, Duncan S. Callaway, and Claire J. Tomlin
Proceedings of the 2015 American Control Conference (ACC), pp. 3025-3031, 2015.

Utility learning model predictive control for personal electric loads
Insoon Yang, Melanie N. Zeilinger, and Claire J. Tomlin
Proceedings of the 53rd IEEE Conference on Decision and Control (CDC), pp. 4868-4874, 2014.

Direct load control for electricity market risk management via risk-limiting dynamic contracts
Insoon Yang, Duncan S. Callaway, and Claire J. Tomlin
Proceedings of the 52nd Allerton Conference on Communication, Control, and Computing, pp. 1058-1063, 2014.

Path integral formulation of stochastic optimal control with generalized costs
Insoon Yang, Matthias Morzfeld, Claire J. Tomlin, and Alexandre J. Chorin
Proceedings of the 19th IFAC World Congress, pp. 6994-7000, 2014.

Dynamic contracts with partial observations: application to indirect load control 
Insoon Yang, Duncan S. Callaway, and Claire J. Tomlin
Proceedings of the 2014 American Control Conference (ACC), pp. 1224-1230, 2014. 

Infinitesimal interconnection variation in nonlinear networked systems 
Insoon Yang, Samuel A. Burden, S. Shankar Sastry, and Claire J. Tomlin
Proceedings of the 52nd IEEE Conference on Decision and Control (CDC), pp. 1417-1422, 2013. 

Regularization-based identification for level set equations 
Insoon Yang, and Claire J. Tomlin
Proceedings of the 52nd IEEE Conference on Decision and Control (CDC), pp. 1058-1064, 2013. 

Identification of surface tension in mean curvature flow 
Insoon Yang, and Claire J. Tomlin
Proceedings of 2013 American Control Conference (ACC), pp. 3284-3289, 2013. 

One-shot computation of reachable sets for differential games 
Insoon Yang, Sabine Becker-Weimann, Mina J. Bissell, and Claire J. Tomlin
Proceedings of the 16th ACM International Conference on Hybrid Systems: Computation and Control (HSCC), pp. 183-192, 2013.