Research interests

Robust control for uncertain dynamic systems. I designed a canonical internal-model filter that embeds known disturbance dynamics into a DOB-style output-regulation controller asymptotically cancelling matched disturbances while stabilizing an uncertain integrator-chain plant under bounded uncertainty, with stability guarantees proven rather than tuned.

My doctoral work at IE University’s Cyber-Physical Life Lab: how heterogeneous robots, AI agents, and humans agree on tasks and share information without a central coordinator. I frame agreement and task allocation as a control problem, building mechanisms that stay stable and safe when communication between agents is intermittent, extending disturbance rejection from a single plant to a network of them.

VLA models for robotic manipulation, made sample-efficient and robust enough for modest hardware and real robots. A recent field study injected point-cloud data into the π0 VLA family on an SO-101 arm, cutting frame-edge failure from 40% to 10% under appearance and viewpoint shift using a single 12 GB GPU, 70 real-robot demonstrations, and ~0.15% of parameters trainable.