RobotTransformation — personal simulation source preview
The engineering question is practical: how can one system integrator author, diagnose, recover, and hand over workflows spanning different robots and pieces of equipment?
RobotTransformation is a personal project, separate from employer work, exploring common task, authority, state, result, and recovery contracts. Development has moved here from RX Platform and RX Solutions; their source histories remain available.
The October 8 v0.1.0 source preview covers configuring, saving, reopening, running, and inspecting a material alignment/regrasp workflow in simulation. Post-publication verification failures remain unresolved. It is not yet qualified for physical deployment or available as an installable product.
Read the preview and verification update.
AntBot navigation — merged open-source contribution
AntBot PR #1, merged on April 13, 2026, separates real-robot and simulation launch paths, normalizes LiDAR scans for the real platform, updates Nav2 controller and costmap configuration, and adds operating documentation. The contribution makes different sensing and controller assumptions explicit in the two environments.
Constrained assembly — Soma Cube
The Soma Cube preprint studies legal-action masked DQN and robot regrasp constraints on a Doosan M0609. Jaehong Oh, Seungjun Jung, and Sawoong Kim are the coauthors; I am the first author of the August 2025 preprint.
See the project repository and arXiv record for the reported methods and results. These experimental results are not a general production or functional-safety qualification.
Cognitive-robotics research archive
- Cognitive Synergy Architecture: SEGO — a preprint on semantic scene graphs and cognitive robotics.
- Towards Cognitive Collaborative Robots — a review preprint on perception, planning, explainable control, motion, and human intention.
Related
- Unified Latent Representation — representation, intervention, and evidence questions.
- Delay-robust control — the scoped scalar result and its system-level limits.
- About and experience — professional work and selected projects.