DGIST · InnoCore Postdoctoral Fellow

Sanghoon Lee

Researcher in ROS 2 Middleware & Physical AI

Systems that make AI
work on time, and work right.

Sanghoon Lee
Email Scholar GitHub LinkedIn CV
Research Vision

Cyber-Physical Artificial Intelligence (CPAI)

My vision is to advance Cyber-Physical AI, treating AI models as modules and integrating them into cyber-physical systems.
I study how computing, communication, and control work together, with ROS 2 middleware as a core foundation. I develop AI methods and the systems that put them into practice, considering both task performance and the conditions of execution.
The goal is to make these systems act on time and right, even with limited resources and uncertainty.

Cyber-Physical AI built on coupled computing, communication and control loops Control, computing and communication each evolve locally and form a larger causal loop. Communication appears on both the command and sensing paths. Middleware and runtime systems are shown at the center as an integration foundation, with Physical AI models as modules above it. Dashed connections indicate integration, while solid arrows show the causal loop. This is a conceptual research illustration. Transmission Actuation Sensing Reception Physical dynamics Execution Command path Sensing path Control Computing Communication AI models as modules Physical AI Integration foundation Middleware & Runtime Systems Connect · coordinate · execute
CPAI · Research Program

Explore the Full Research Program

Explore the research behind this vision, from ROS 2 middleware and communication to AI applications and dependable physical systems.
Recent

News

2026.10.05
Reached 300 citations on Google Scholar
2026.09.27
Attended IROS 2026 in Pittsburgh
2026.09.24
Presented ROS 2 Middleware Survival Guide at ROSCon 2026 in Toronto
2026.09.08
Paper accepted at ICTC 2026 in Jeju, South Korea
2026.09.07
Invited lecture at Kwangwoon University
2026.09.04
Invited seminar at KC ML2
2026.08.28
Two papers accepted at ACM Middleware 2026 in Tarragona, Spain
2026.08.22
QoS Guard accepted to the IEEE Internet of Things Journal
2026.08.08
Attended the 5th AI Robotics KR seminar in Seoul
2026.08.01
Released When Discovery Becomes a Storm preprint on arXiv
2026.07.27
Invited seminar at Diden Robotics
2026.07.20
Invited seminar at Medisby
2026.07.04
Attended ICROS 2026 in Daegu, South Korea
2026.07.02
Released The Three Dimensions of ROS 2 Middleware preprint on arXiv
2026.06.08
Released ros2probe and Robot Middleware Harness preprints on arXiv
2026.06.06
Talk accepted at ROSCon 2026 in Toronto
2026.06.06
Joined the Organizing Committee of ROSCon KR 2027, to be hosted at DGIST
2026.05.21
Attended IEEE INFOCOM 2026 in Tokyo
2026.04.23
Reached 200 citations on Google Scholar
2026.03.23
Invited seminar at DOGU
2026.03.09
Invited seminar at KETI
2026.03.04
Attended AW 2026 in Seoul
2026.02.10
Paper accepted to the IEEE International Conference on Computer Communications (INFOCOM) 2026 Workshop
2026.01.28
Invited seminar at Holiday Robotics
2026.01.23
CSI Lab Industry Week with 42dot, NAVER LABS, ROBOTIS
2026.01.21
Presented a session at ROSCon KR 2026 in Seongnam
2025.12.23
42Dot visited CSI Lab to discuss ROS 2 research and potential collaboration
2025.12.03
Online coffee chat with Riibotics
2025.11.26
Attended AIoT 2025 in Seoul
2025.11.17
Successfully defended Ph.D. dissertation
2025.11.04
Presented a poster at ICCAS 2025 in Incheon
2025.10.27
Attended ROSCon 2025 in Singapore
2025.09.27
Attended CoRL 2025 in Seoul
2025.09.22
Presented a poster at IEEE ICNP 2025 in Seoul
2025.09.08
Reached 100 citations on Google Scholar
2025.09.05
Paper accepted in the Journal of Industrial Information Integration (JIII)
2025.08.21
Discussed collaboration with KAIST URL Lab
2025.07.13
Attended ICML 2025 in Vancouver
2025.07.08
Presented a workshop paper at ICUFN 2025 in Lisbon
2025.07.01
Paper published in the IEEE International Conference on Computer Communications (INFOCOM)
2025.06.24
Attended CISC-S 2025 in Kyeungju
2025.06.18
Presented a poster at KICS Summer 2025 in Jeju
2025.06.13
Participated in Joint Workshop on Physical AI
2025.05.26
Featured in the media
2025.05.07
Paper published in IEEE Transactions on Instrumentation and Measurement (TIM)
2025.03.25
Featured in the media
2025.03.12
Attended AW 2025 in Seoul
2025.03.06
Paper published in ACM Transactions on Cyber-Physical Systems (TCPS)
2025.01.26
Featured in the media
Outreach

Invited Talks

Complete List

Publications

35 international publications and manuscripts · Ph.D. dissertation · domestic papers · patents.
21 first or co-first authored. * indicates equal contribution as first authors.
Google Scholar ↗ · 300+ citations

Ph.D. Dissertation
★
Cyber-Physical Artificial Intelligence: A Unified Framework for Embodied Intelligence
Sanghoon Lee (Advisor: Prof. Kyung-Joon Park)DGIST · Feb. 2026
International Papers
Under Review

10+ additional papers currently in preparation.

[35]
The Settings Nobody Changes: How Default Transport Parameters Shape ROS 2 Performance
Sanghoon Lee, Sangung Yi, Jungsup Lee, Byeongheon KwonACM Middleware 2026, Industry Track
[34]
When Discovery Becomes a Storm: A ROS 2 Discovery Model for Wireless Robotic Networks
Yeonwoo Choi*, Sanghoon Lee*, Kyung-Joon ParkConference
[33]
The Three Dimensions of ROS 2 Middleware
Sanghoon Lee, Taehun Kim, Angelo Corsaro, Kyung-Joon ParkJournal
[32]
Optimizing ROS 2 for Large-Payload Transfer over Vehicular Wireless Networks
Sanghoon Lee, Taehun Kim, Jiyeong Chae, Kyung-Joon ParkIEEE VTC 2027-Spring
[31]
Exploiting ROS 2's Blind Spot: Cross-Layer Attacks from Discovery to ARP Spoofing
Hyunho Ryu*, Sanghoon Lee*, Young-Sik Kim, Dan Dongseong Kim, Kyung-Joon ParkIEEE Internet of Things Journal
[30]
Reliability-Aware 5G-V2X Network Topology Optimization at Signalized Intersection for Edge Learning
Seobin Jeong, Sanghoon Lee, Kyung-Joon ParkJournal
[29]
Cyber-Physical AI: Unifying Cyber-Physical Systems and Physical Artificial Intelligence Invited
Sanghoon Lee, Guoliang Xing, Xue Liu, Karl H. Johansson, Kyung-Joon ParkACM Transactions on Cyber-Physical SystemsMinor Revision
[28]
Robust Localization in Dynamic Indoor Environments Using Structure-Guided Point-wise LiDAR Scoring
Yeong-gi Hong, Donghyung Lee, Sanghoon Lee, Jiyeong Chae, Kyung-Joon ParkIEEE Systems JournalMajor Revision
[27]
From Hype to Reality: A Survey of Physical AI in Industrial Robotics
Sanghoon Lee*, Jiyeong Chae*, Jinhong Park, Kyung-Joon ParkEngineering Applications of Artificial IntelligenceMajor Revision
[26]
LIMA: Local Intersection Marshaling Algorithm for Multi-Agent Path Finding in Large-Scale Industrial Environments
Sanghoon Lee*, Jisang Yu*, Geon-pyo Kim, Kyung-Joon ParkRobotics and Autonomous SystemsMajor Revision
[25]
Natural-Language to Operational Policies: LLM-Driven Costmaps for Industrial AMRs
Jiyeong Chae, Hyunkyo Seo, Heonjae Lee, Sanghoon Lee, Kyung-Joon ParkRobotics and Autonomous SystemsMajor Revision
[24]
Probabilistic Latency Analysis of the Data Distribution Service in ROS 2
Sanghoon Lee, Hyung-Seok Park, Jiyeong Chae, Kyung-Joon ParkIEEE Transactions on Vehicular TechnologyMajor Revision
Publications
[23]
An Empirical Diagnosis of DDS Discovery Bursts in Wireless ROS 2 Multi-Robot Systems Best Paper Award
Taehyun Kim*, Sanghoon Lee*, Kyung-Joon ParkICTC 2026
[22]
Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification
Sanghoon Lee, Junha Kang, Kyung-Joon ParkIEEE Internet of Things Journal, Early Access, 2026 Open version
[21]
Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer
Sanghoon Lee, Jiyeong Chae, Kyung-Joon ParkACM Middleware 2026
[20]
ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware
Jisang Yu*, Sanghoon Lee*, Yeonwoo Choi, Kyung-Joon ParkACM Middleware 2026
[19]
Discovery Storm: Scalability Analysis of DDS and Zenoh in Large-Scale Wireless Robotic Networks
Sanghoon Lee, Yeonwoo Choi, Jiyeong Chae, Kyung-Joon ParkIEEE INFOCOM 2026 Workshop
[18]
Time-aware Costmap for Smoother and Less Disruptive AMR Navigation With ROS 2
Jiyeong Chae, Hyunkyo Seo, Sanghoon Lee, Kyung-Joon ParkInternational Journal of Control, Automation, and Systems, 2025
[17]
DIDoS: Disturbance-induced Denial-of-service Attack in Networked Cyber-physical Systems
Sangjun Kim, Sanghoon Lee, Kyung-Joon ParkInternational Journal of Control, Automation, and Systems, 2025
[16]
Vulnerability Analysis of Cross-Layer Attacks on ROS 2
Hyunho Ryu, Sanghoon Lee, Kyung-Joon ParkICTC 2025
[15]
Poster: How to Send Large Data in ROS 2
Sanghoon Lee, Taehun Kim, Jiyeong Chae, Kyung-Joon ParkIEEE ICNP 2025 · Poster
[14]
From Issues to Routes: A Cooperative Costmap with Lifelong Learning for Multi-AMR Navigation
Jiyeong Chae*, Sanghoon Lee*, Hyunkyo Seo, Kyung-Joon ParkJournal of Industrial Information Integration, 2025
[13]
Integrating ROS 2 and Physical AI: Architecture and Challenges
Sanghoon Lee, Jiyeong Chae, Kyung-Joon ParkICUFN 2025 · Workshop
[12]
An Analytical Latency Model of the Data Distribution Service in ROS 2
Hyung-Seok Park, Sanghoon Lee, Doosik Um, Hyunho Ryu, Kyung-Joon ParkIEEE INFOCOM 2025
[11]
PINMAP: A Cost-efficient Algorithm for Glass Detection and Mapping Using Low-cost 2D LiDAR
Jiyeong Chae, Hyunkyo Seo, Sanghoon Lee, Kyung-Joon ParkIEEE Transactions on Instrumentation and Measurement, 2025
[10]
Cyber-Physical AI: Systematic Research Domain for Integrating AI and Cyber-Physical Systems
Sanghoon Lee, Jiyeong Chae, Kyung-Joon ParkACM Transactions on Cyber-Physical Systems, 2025
[9]
Priority-Driven Resource Allocation with Reuse for Platooning in 5G Vehicular Network
Tae-Woo Kim, Sanghoon Lee, Dong-Hyung Lee, Kyung-Joon ParkSustainability, 2025
[8]
Learning-enabled Flexible Job-Shop Scheduling for Scalable Smart Manufacturing
Sihoon Moon, Sanghoon Lee, Kyung-Joon ParkJournal of Manufacturing Systems, 2024
[7]
False Alarm Prevention through Domain Knowledge-driven Machine Learning: Leakage Detection in Water Distribution Networks
Sanghoon Lee*, Jiyeong Chae*, Sihoon Moon, Kyung-Joon ParkIEEE Sensors Journal, 2024
[6]
Learning-Enabled Network-Control Co-design for Energy-Efficient Industrial Internet of Things
Sihoon Moon, Sanghoon Lee, Wonhong Jeon, Kyung-Joon ParkIEEE Transactions on Network and Service Management, 2024
[5]
Deep Reinforcement Learning-driven Scheduling in Multijob Serial Lines: A Case Study in Automotive Parts Assembly
Sanghoon Lee, Jinyoung Kim, Yongsoon Eun, Kyung-Joon ParkIEEE Transactions on Industrial Informatics, 2024
[4]
A Survey and Perspective on Industrial Cyber-Physical Systems (ICPS): From ICPS to AI-augmented ICPS
Jiyeong Chae*, Sanghoon Lee*, Junhyung Jang, Seohyung Hong, Kyung-Joon ParkIEEE Transactions on Industrial Cyber-Physical Systems, 2023
[3]
Graph-based Reinforcement Learning for Flexible Job Shop Scheduling with Transportation Constraints
Sihoon Moon, Sanghoon Lee, Kyung-Joon ParkIEEE IECON 2023
[2]
Real-Time Controller Reconfiguration for Delay-Resilient Cyber-Physical Systems
Sangjun Kim, Sanghoon Lee, Kyung-Joon ParkIEEE Access, 2022
[1]
Resilient Controller Reconfiguration under Network Delay Attack in Cyber-Physical Systems
Sangjun Kim, Sanghoon Lee, Kyung-Joon ParkICEIC 2022
Domestic Papers
[D4]
End-to-End Latency Analysis of Reliable Communication in ROS 2 over Wireless Multi-hop Networks Best Paper Award
Taehyun Kim, Sanghoon Lee, Kyung-Joon ParkKICS Summer Conference, 2025
[D3]
Channel Modeling and SDN-based Routing Path Design for Satellite-Terrestrial Integrated Networks
Hyunho Ryu, Sanghoon Lee, Kyung-Joon ParkKICS Summer Conference, 2024
[D2]
SDN Based Multipath Routing Algorithm in Satellite-Terrestrial Integrated Network
Haewon Jeon, Sanghoon Lee, Dong-Hyung Lee, Changhee Joo, Kyung-Joon ParkKSAS Spring Conference, 2024
[D1]
Sound-based Machine Fault Diagnosis via Active Learning in Industrial Environments with Labeling Constraints
Jiyeong Chae, Sanghoon Lee, Kyung-Joon ParkKICS Winter Conference, 2024
Patents
[P5]
Apparatus and Method for Non-Intrusive Observation of ROS 2 Communication
Sanghoon Lee, Jisang Yu, Kyung-Joon ParkRepublic of Korea, App. No. 10-2026-0190940, Oct. 6, 2026
[P4]
Apparatus and Method for Multi-Agent Path Finding in Warehouse Environments
Sanghoon Lee, Jisang Yu, Kyung-Joon ParkRepublic of Korea, App. No. 10-2026-0184456, Sep. 28, 2026
[P3]
Method and Apparatus for Generating Indoor Maps
Jiyeong Chae, Hyunkyo Seo, Sanghoon Lee, Kyung-Joon ParkRepublic of Korea, App. No. 10-2024-0145250, Oct. 22, 2024
[P2]
Method and Apparatus for Detecting Leakage in Water Pipeline Networks
Young-gi Hong, Kyung-Joon Park, Sanghoon Lee, Jiyeong ChaeRepublic of Korea, App. No. 10-2025-0008593, Jan 21, 2025
[P1]
Leakage Detection Device and Method
Kyung-Joon Park, Sanghoon Lee, Jiyeong ChaeRepublic of Korea, App. No. 10-2024-0004960, Jan 11, 2024
Background

About

Experience

2026.02 — Now
InnoCore Postdoctoral Research Fellow
Research Group for Bio-Embodied Physical AI, DGIST
2022.02 — 2026.02
Graduate Research Assistant
CSI Lab, DGIST
2020.08 — 2022.02
Undergraduate Research Student
CSI Lab, DGIST
2020.01 — 2020.02
Research Intern (Winter)
CAS Lab, DGIST

Education

2022.02 — 2026.02
Ph.D. in Electrical Engineering and Computer Science
DGIST, South Korea · Major GPA 4.3 / 4.3
2019.06 — 2019.09
International Student Program
UCLA, USA · Major GPA 4.3 / 4.3
2018.03 — 2022.02
B.S. in Computer Science
DGIST, South Korea · Major GPA 3.99 / 4.3
Recognition

Honors & Awards

[10]
Best Paper Award
2026 · International Conference on ICT Convergence (ICTC 2026)
An Empirical Diagnosis of DDS Discovery Bursts in Wireless ROS 2 Multi-Robot Systems
[9]
Early-Career Researcher Academic Research Grant
2026 · Korean Institute of Communication and Information Sciences (KICS)
[8]
Best Paper Award
2025 KICS Summer Conference
[7]
Next-Generation Engineering Researcher
Institute for Promotion of Engineering and Science of Korea (IPESK)
[6]
Excellence Award · Future Tech Division, Aero Future Tech & Business Idea Contest
Hanwha Aerospace
Team Leader
[5]
2023 Top 100 Excellent National R&D Achievements
Ministry of Science and ICT (MSIT)
Participant Researcher
[4]
ACM MobiHoc Student Grant
ACM SIGMOBILE
[1-3]
Dean's List (Academic Excellence Award)
DGIST
Fall 2021, Spring 2021, Spring 2020
Code

Open Source

Code releases accompanying recent publications. Stars and forks fetched live from GitHub.

QoS Guard
ROS 2 · DDS QoS · Static Validator
GitHub Project Page Paper
— —
DDS Optimizer for Wireless Large Payloads
ROS 2 · Wireless · DDS Optimizer
GitHub Paper
— —
ros2probe
ROS 2 · eBPF · Observability
GitHub Project Page Paper
— —
Service

Activities

Conferences

Presented & Organized
2027
ROSCon KR 2027 (Organizing Committee, Daegu, South Korea)
2026
Middleware 2026 (2 Papers, Tarragona, Spain)·ROSCon 2026 (Talk, Toronto, Canada)·ICTC 2026 (Paper · Invited Talk, Jeju, South Korea)·NSF CPS 20th Anniversary Workshop (Invited Talk, Arlington, VA, USA)·ROSCon KR 2026 (Session, Seongnam, South Korea)·IEEE INFOCOM 2026 (Workshop, Tokyo, Japan)
2025
ICCAS 2025 (Poster, Incheon, South Korea)·IEEE ICNP 2025 (Poster, Seoul, South Korea)·ICUFN 2025 (Workshop Paper, Lisbon, Portugal)·KICS Summer 2025 (Poster, Jeju, South Korea)
Attended
2026
AW 2026 (Seoul, South Korea)·KICS Summer 2026 (Jeju, South Korea)·ICROS 2026 (Daegu, South Korea)·IFAC 2026 (Busan, South Korea)·IROS 2026 (Pittsburgh, USA)
2025
AIoT 2025 (Seoul, South Korea)·ROSCon 2025 (Singapore)·CoRL 2025 (Seoul, South Korea)·ICML 2025 (Vancouver, Canada)·CISC-S 2025 (Kyeungju, South Korea)·Joint Workshop on Physical AI (South Korea)·AW 2025 (Seoul, South Korea)
2024
AIoT 2024 (Seoul, South Korea)·AW 2024 (Seoul, South Korea)·JCCI 2024 (Busan, South Korea)·ROSCon 2024 (Odense, Denmark)·KICS Winter 2024 (PyeongChang, South Korea)·KICS Summer 2024 (Jeju, South Korea)
2023
ICML 2023 (Hawaii, USA)·KICS Summer 2023 (Jeju, South Korea)
2022
ICEIC 2022 (Jeju, South Korea)·ACM MobiHoc 2022 (Seoul, South Korea)·ICROS 2022 (Geoje, South Korea)

Peer Review

2026 — Present
Springer NatureArtificial Intelligence ReviewComputing
IEEEInternet of Things Journal (IoT-J)Transactions on Industrial Informatics (TII)Transactions on Systems, Man, and Cybernetics (TSMC)
2025 — Present
Springer NatureScientific ReportsInternational Journal of Computational Intelligence Systems
IEEEJournal of Communications and Networks (JCN)Systems JournalTransactions on Network and Service Management (TNSM)
ElsevierExpert Systems With ApplicationsComputers and Operations Research
2024 — Present
SpringerMachine Learning
ElsevierICT Express
IEEETransactions on Industrial Cyber-Physical Systems (TICPS)
2023 — Present
IEEEAccess