Publications
Preprints/Submitted
[September 23, 2025] Yitaek Kim, Casper Hewson Rask, and Christoffer Sloth, Tac2Motion: Contact-Aware Reinforcement Learning with Tactile Feedback for Robotic Hand Manipulation, Dexterous Humanoid Manipulation Workshop, Humaniod, 2025. ArXiv
[September 15, 2025] Frederik Hagelskjær, Yitaek Kim, Casper Hewson Rask, Haegu Lee, and Christoffer Sloth, FT-Pose: In-Hand Object Pose Distribution Estimation with Finger Tip Tactile Sensing, IEEE International Conference on Robotics and Automation (ICRA), Under review, 2026.
[September 15, 2025] Haegu Lee, Yitaek Kim, Casper Hewson Rask, and Christoffer Sloth, Manipulation via Force Distribution at Contact, IEEE International Conference on Robotics and Automation (ICRA), Under review, 2026.
[June 16, 2025] Haegu Lee, Yitaek Kim, Victor Melbye Staven, Christoffer Sloth, Trajectory Optimization for In-Hand Manipulation with Tactile Force Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Accepted, 2025. ArXiv
[June 15, 2025] Wilbert Peter Empleo, Yitaek Kim, Hansoul Kim, Thiusius Rajeeth Savarimuthu, Iñigo Iturrate, Safe Uncertainty-Aware Learning of Robotic Suturing, IEEE Transactions on Medical Robotics and Bionics, Under review, 2025. ArXiv
2025
Yitaek Kim and Christoffer Sloth, Robust Adaptive Time-Varying Control Barrier Function with Application to Robotic Surface Treatment, IEEE European Control Conference (ECC), 2025 ArXiv
Yitaek Kim, Ersin Das, Jeeseop Kim, Aaron D Ames, Joel W Burdick, and Christoffer Sloth, Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation,IEEE European Control Conference (ECC), 2025 ArXiv
Yitaek Kim, Jeeseop Kim, Albert H Li, Aaron D Ames, and Christoffer Sloth, Robust adaptive safe robotic grasping with tactile sensing, IEEE European Control Conference (ECC), 2025 ArXiv
Yitaek Kim, Iñigo Iturrate, Christoffer Sloth, and Hansoul Kim, Safety-Ensured Robotic Control Framework for Cutting Task Automation in Endoscopic Submucosal Dissection, IEEE Access, 2025. ArXiv or Xplore
Emil Lykke Diget, Yitaek Kim, and Christoffer Sloth, Safety Critical Control of a System With Element‐Wise Estimation of Unknown Time‐Varying Parameters, International Journal of Robust and Nonlinear Control, 2025. Link
2024
Yitaek Kim, Jeeseop Kim, Aaron D Ames, and Christoffer Sloth, Robust safety-critical control for input-delayed system with delay estimation, IEEE European Control Conference (ECC), 2024. Xplore
Rasmus Laurvig Haugaard, Yitaek Kim, and Thorbjørn Mosekjær Iversen, Fixture calibration with guaranteed bounds from a few correspondence-free surface points, IEEE International Conference on Robotics and Automation (ICRA), 2024. ArXiv or Xplore
Yitaek Kim, Iñigo Iturrate, Jeppe Langaa, and Christoffer Sloth, Safe robust adaptive control under both parametric and nonparametric uncertainty, Advanced Robotics, 2024. Link
2023
Yitaek Kim, Aljaz Kramberger, Anders Glent Buch, and Christoffer Sloth, Contact-based pose estimation of workpieces for robotic setups, IEEE International Conference on Robotics and Automation (ICRA), 2023. Xplore
Iñigo Iturrate, Yitaek Kim, Aljaz Kramberger, and Christoffer Sloth, In-Hand Pose Refinement Based on Contact Point Information, International Conference on Robotics in Alpe-Adria Danube Region, 2023. Link
2022
Yitaek Kim, Christoffer Sloth, and Aljaz Kramberger, A framework for transferring surface finishing skills to new surface geometries, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Xplore
Yitaek Kim, Christoffer Sloth, and Aljaz Kramberger, Skill transfer for surface finishing tasks based on estimation of key parameters, IEEE 18th International Conference on Automation Science and Engineering (CASE), 2022. Xplore
Cheonyu Park, Baekseok Kim, Yitaek Kim, Younseal Eum, Hyunjong Song, Dongkuk Yoon, Jeongin Moon, Jeakweon Han, Carved turn control with gate vision recognition of a humanoid robot for giant slalom skiing on ski slopes, MDPI Sensors, 2022. Link
2018-2021
You can find the papers on the Google Scholar