Dohyeon Lee

I am an undergraduate student in the Department of IT Convergence Engineering at POSTECH in South Korea.
I am currently working to address the following two problems.
• How robots can maintain agility, even in complex tasks and scenarios.
• Enable rapid adaptation to unseen tasks and environments.
I think we can achieve the two goals above only by fully leveraging both the information we can obtain from data and the physical information the robot possesses. By combining learning-based methods and model-based methods, I aim to ensure that the robot can maintain fast and natural movements in any situation(complex, unseen). Ultimately, I aim to implement an algorithm that can fully draw out the robot’s hardware capabilities and achieve performance that surpasses human demonstrations.

Email / Scholar / Youtube / CV

Publications

Representative papers are highlighted.
(Equal contributions are denoted by *)

A Highly Maneuverable Flying Squirrel Drone with agility-improving Foldable Wings
Dohyeon Lee*, Jun-Gill Kang*, Soohee Han
IEEE Robotics and Automation Letters (RA-L), 2025
project page / video / arxiv

Develop general trajectory tracking controller of flying squirrel with learned wing dynamics.

A Highly Maneuverable Flying Squirrel Drone with Controllable Foldable Wings
Jun-Gill Kang*, Dohyeon Lee*, Soohee Han
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
project page / video / arxiv

Build and control non-linear dynamics governed flying squirrel inspired quadrotor using reinforcement learning.

Projects

	Reachability-Aware MPPI for aggressive maneuvers 08.2025-Current • Environment estimation from the sample history of MPPI. • Obtain the reachable set using an empirical gramian based method.
	Development of highly maneuverable Flying Squirrel Drone 06.2022-06.2025 video • Implement integral backstepping based Lyapunov stable controller for drone. • Implement adaptive Kalman filters for state estimation under aggressive maneuvers. • Collect data using Mocap and GNSS for training neural net dynamics model. • Implement simulation for full SE(3) dynamics model using MATLAB using ode45 integrator. Skills : Linkage system design, 3D CAD, Hardware design, GNSS, Mocap, Learning from demonstration
	Sloshing control with Physics-Informed RNN by 6-axis manipulator 08.2023 - 02.2024 Related achievement: 1st place, 2023 Undergraduate Group Research Program, POSTECH video • Development of 6-axis manipulator hardware and stabilization of low-level control system. • Proposal and Implementation of a Physics-Informed RNN for water state observer. • Implement LQR controller and velocity motion planning of manipulator for water sloshing control. Skills : 3D CAD, 3D printing, Physics-Informed Learning, ROS2
	Whole-body control of quadrupedal robot with arm by off-policy RL 06.2023-08.2023 video • implement off-policy (SAC) and on-policy (PPO) RL to a Legged-manipulator robot in the Isaac Gym. • Designed a learning pipeline for whole-body control of a legged-manipulator robot using a VAE and replay buffer of an off-policy RL. Skills : OSC(operational space controller), Isaac Gym, RL
	Development of Glidable Flying Squirrel Drone 02.2022-06.2022 video • Develop Glidable drone with foldable wings. • Simulating gliding drone with matlab. Skills : 3D CAD, 3D printing, Kalman Filter
	Quadruped-wheel robot control with impedance control 08.2021-01.2022 Related achievement: 1st place, 2021 Undergraduate Group Research Program, POSTECH video • Development of quadruped-wheel robot hardware and stabilization of low-level control system. • Balancing control with inverse kinematics. • Application of impedance control to the robot legs. Skills : 3D CAD, 3D printing, CAN protocol, UDP protocol, simulating impedance control with matlab
	Development of self-driving platform using mecanum wheel and 2D lidar 11.2020-02.2021 Related achievement: 3rd place, 2021 ICT Convergence Project Contest, devicemart video • Directly implement mapping and A* algorithms with Python. • Development SLAM algorithm from scratch. • Hardware development. Skills : 3D CAD, 3D printing, ROS1

In the Media

About Flying Squirrel Drone Research
International Media Coverage: TechXplore(Cover Article) , NEW ATLAS(Cover Article) , heise online , TechieTonics(Personal Interview), ...
Domestic Media Coverage: SBS(Korea Major Media) , YTN(Korea Major Media) , ...

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