DGIST · InnoCore Postdoctoral Fellow · 2026

Sanghoon Lee

Full-Stack Researcher for Embodied Intelligence

I unify AI, middleware, and control to realize Embodied Intelligence under uncertainty and resource constraints.

Research focus on Cyber-Physical AI, ROS 2 / DDS / Zenoh, and Physical AI.

Sanghoon Lee
Email Scholar GitHub LinkedIn CV
250+
Citations
33
Publications & Manuscripts
18
First / Co-First
100+
GitHub Stars
Research Vision

Cyber-Physical Artificial Intelligence (CPAI)

A research direction unifying AI (the Brain), ROS 2 (the Nerve), and CPS (the Body) to realize Embodied Intelligence systems that remain reliable under real-world uncertainty and resource constraints.

The Brain

AI

Good things happen often.

Physical AI · Multi-Robot Systems · Autonomous Mobile Robots · Deep Reinforcement Learning

The Nerve

ROS 2

All things stay connected.

DDS & Zenoh · Next-gen Middleware · Cross-layer Optimization · Software-Defined Robotics

The Body

CPS

Bad things never happen.

Wireless Control · Cyber-Physical Security · Resilient Architectures · Vulnerability Analysis

Interactive · Research Program

Explore the Full Research Program

An interactive map of how Embodied Intelligence, ROS 2 Middleware, and Networked Control connect under Cyber-Physical AI. Five axes, the Middleware Harness, and every publication in one view.
Recent

News

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 INFOCOM NetRobiCS 2026
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 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 IEEE 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 TIM
2025.03.25
Featured in the media
2025.03.12
Attended AW 2025 in Seoul
2025.03.06
Paper published in ACM TCPS
2025.01.26
Featured in the media
Outreach

Invited Talks

Complete List

Publications

33 international publications and manuscripts · Ph.D. dissertation · domestic papers · patents.
* indicates equal contribution as first authors.

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

7+ additional papers currently in preparation.

[33]
Cyber-Physical AI: Unifying Cyber-Physical Systems and Physical Artificial Intelligence
Sanghoon Lee, Guoliang Xing, Xue Liu, Karl H. Johansson, Kyung-Joon Park
ACM Transactions on Cyber-Physical Systems (TCPS), 20th Anniversary Special IssueInvited
[32]
Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer
Sanghoon Lee, Jiyeong Chae, Kyung-Joon Park
ACM/IFIP/USENIX International Middleware Conference (Middleware) 2026Under Review [arXiv]
[31]
ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware
Jisang Yu*, Sanghoon Lee*, Yeonwoo Choi, Kyung-Joon Park
ACM/IFIP/USENIX International Middleware Conference (Middleware) 2026Under Review [arXiv]
[30]
The Three Dimensions of ROS 2 Middleware
Sanghoon Lee, Taehun Kim, Angelo Corsaro, Kyung-Joon Park
ACM Computing Surveys (CSUR)Under Review [arXiv]
[29]
From Hype to Reality: A Survey of Physical AI in Industrial Robotics
Sanghoon Lee*, Jiyeong Chae*, Jinhong Park, Kyung-Joon Park
Engineering Applications of Artificial Intelligence (EAAI)Major Revision
[28]
Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification
Sanghoon Lee, Junha Kang, Kyung-Joon Park
IEEE Internet of Things Journal (IoT-J)Minor Revision [arXiv]
[27]
Probabilistic Latency Analysis of the Data Distribution Service in ROS 2
Sanghoon Lee, Hyung-Seok Park, Jiyeong Chae, Kyung-Joon Park
IEEE Transactions on Vehicular Technology (TVT)Under Review [arXiv]
[26]
Optimizing ROS 2 Communication for Wireless Robotic Systems
Sanghoon Lee, Taehun Kim, Yeonwoo Choi, Kyung-Joon Park
IEEE Internet of Things Journal (IoT-J)Under Review [arXiv]
[25]
LIMA: Local Intersection Marshaling Algorithm for Multi-Agent Path Finding in Large-Scale Industrial Environments
Sanghoon Lee*, Jisang Yu*, Geon-pyo Kim, Kyung-Joon Park
Robotics and Autonomous Systems (RAS), ElsevierUnder Review [SSRN]
[24]
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 Park
IEEE Internet of Things Journal (IoT-J)Under Review
[23]
Natural-Language to Operational Policies: LLM-Driven Costmaps for Industrial AMRs
Jiyeong Chae, Hyunkyo Seo, Heonjae Lee, Sanghoon Lee, Kyung-Joon Park
Robotics and Autonomous Systems (RAS)Major Revision
[22]
Robust Localization in Dynamic Indoor Environments Using Structure-Guided Point-wise LiDAR Scoring
Yeong-gi Hong, Donghyung Lee, Sanghoon Lee, Jiyeong Chae, Kyung-Joon Park
IEEE Sensors JournalUnder Review
[21]
Characterizing DDS Discovery Bursts in ROS 2 Multi-Robot Systems
Taehyun Kim, Sanghoon Lee, Kyung-Joon Park
International Conference on ICT Convergence (ICTC) 2026Under Review
[20]
Reliability-Aware 5G-V2X Network Topology Optimization at Signalized Intersection for Edge Learning
Seobin Jeong, Sanghoon Lee, Kyung-Joon Park
IEEE Open Journal of Vehicular Technology (OJ-VT)Under Review
[19]
Discovery Storm: Scalability Analysis of DDS and Zenoh in Large-Scale Wireless Robotic Networks
Sanghoon Lee, Yeonwoo Choi, Jiyeong Chae, Kyung-Joon Park
IEEE International Conference on Computer Communications (INFOCOM) NetRobiCS 2026 Workshop, Feb. 2026Published
[18]
Time-aware Costmap for Smoother and Less Disruptive AMR Navigation With ROS 2
Jiyeong Chae, Hyunkyo Seo, Sanghoon Lee, Kyung-Joon Park
International Journal of Control, Automation, and Systems (IJCAS), Dec. 2025Published
[17]
DIDoS: Disturbance-induced Denial-of-service Attack in Networked Cyber-physical Systems
Sangjun Kim, Sanghoon Lee, Kyung-Joon Park
International Journal of Control, Automation, and Systems (IJCAS), Nov. 2025Published
[16]
Vulnerability Analysis of Cross-Layer Attacks on ROS 2
Hyunho Ryu, Sanghoon Lee, Kyung-Joon Park
International Conference on ICT Convergence (ICTC) 2025, Oct. 2025Published
[15]
Poster: How to Send Large Data in ROS 2
Sanghoon Lee, Taehun Kim, Jiyeong Chae, Kyung-Joon Park
IEEE International Conference on Network Protocols (ICNP) 2025, Sep. 2025Published
[14]
From Issues to Routes: A Cooperative Costmap with Lifelong Learning for Multi-AMR Navigation
Jiyeong Chae*, Sanghoon Lee*, Hyunkyo Seo, Kyung-Joon Park
Journal of Industrial Information Integration (JIII), Sep. 2025Published
[13]
Integrating ROS 2 and Physical AI: Architecture and Challenges
Sanghoon Lee, Jiyeong Chae, Kyung-Joon Park
International Conference on Ubiquitous and Future Networks (ICUFN) 2025, Jul. 2025Published
[12]
An Analytical Latency Model of the Data Distribution Service in ROS 2
Hyung-Seok Park, Sanghoon Lee, Kyung-Joon Park
IEEE International Conference on Computer Communications (INFOCOM) 2025, May 2025Published
[11]
PINMAP: A Cost-efficient Algorithm for Glass Detection and Mapping Using Low-cost 2D LiDAR
Jiyeong Chae, Hyunkyo Seo, Sanghoon Lee, Kyung-Joon Park
IEEE Transactions on Instrumentation and Measurement (TIM), May 2025Published
[10]
Cyber-Physical AI: Systematic Research Domain for Integrating AI and Cyber-Physical Systems
Sanghoon Lee, Jiyeong Chae, Kyung-Joon Park
ACM Transactions on Cyber-Physical Systems (TCPS), Feb. 2025Published
[9]
Priority-Driven Resource Allocation with Reuse for Platooning in 5G Vehicular Network
Tae-Woo Kim, Sanghoon Lee, Dong-Hyung Lee, Kyung-Joon Park
Sustainability, Feb. 2025Published
[8]
Learning-enabled Flexible Job-Shop Scheduling for Scalable Smart Manufacturing
Sihoon Moon, Sanghoon Lee, Kyung-Joon Park
Journal of Manufacturing Systems (JMS), Sep. 2024Published
[7]
False Alarm Prevention through Domain Knowledge-driven Machine Learning: Leakage Detection in Water Distribution Networks
Sanghoon Lee*, Jiyeong Chae*, Sihoon Moon, Kyung-Joon Park
IEEE Sensors Journal, Aug. 2024Published
[6]
Learning-Enabled Network-Control Co-design for Energy-Efficient Industrial Internet of Things
Sihoon Moon, Sanghoon Lee, Wonhong Jeon, Kyung-Joon Park
IEEE Transactions on Network and Service Management (TNSM), Apr. 2024Published
[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 Park
IEEE Transactions on Industrial Informatics (TII), Feb. 2024Published
[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 Park
IEEE Transactions on Industrial Cyber-Physical Systems (TICPS), Oct. 2023Published
[3]
Graph-based Reinforcement Learning for Flexible Job Shop Scheduling with Transportation Constraints
Sihoon Moon, Sanghoon Lee, Kyung-Joon Park
Annual Conference of the IEEE Industrial Electronics Society (IECON) 2023, Oct. 2023Published
[2]
Real-Time Controller Reconfiguration for Delay-Resilient Cyber-Physical Systems
Sangjun Kim, Sanghoon Lee, Kyung-Joon Park
IEEE Access, Oct. 2022Published
[1]
Resilient Controller Reconfiguration under Network Delay Attack in Cyber-Physical Systems
Sangjun Kim, Sanghoon Lee, Kyung-Joon Park
International Conference on Electronics, Information, and Communication (ICEIC) 2022Published
Domestic Papers
[D4]
End-to-End Latency Analysis of Reliable Communication in ROS 2 over Wireless Multi-hop
Taehyun Kim, Sanghoon Lee, Kyung-Joon Park
Korean Institute of Communication and Information Sciences (KICS) Summer Conference, Jun. 2025
[D3]
Channel Modeling Analysis in Satellite-Terrestrial Integrated Network Using SDN
Hyunho Ryu, Sanghoon Lee, Kyung-Joon Park
Korean Institute of Communication and Information Sciences (KICS) Summer Conference, Jun. 2024
[D2]
SDN Based Multipath Routing Algorithm in Satellite-Terrestrial Integrated Network
Haewon Jeon, Sanghoon Lee, Dong-Hyung Lee, Changhee Joo, Kyung-Joon Park
Korean Society for Aeronautical and Space Sciences (KSAS) Spring Conference, Apr. 2024
[D1]
Sound-based Machine Fault Diagnosis via Active Learning in Industrial Environments
Jiyeong Chae, Sanghoon Lee, Kyung-Joon Park
Korean Institute of Communication and Information Sciences (KICS) Winter Conference, Jan. 2024
Patents
[P3]
Method and Apparatus for Generating Indoor Maps
Jiyeong Chae, Hyunkyo Seo, Sanghoon Lee, Kyung-Joon Park
Republic of Korea, App. No. 10-2024-0145250, Oct. 22, 2024Filed
[P2]
Method and Apparatus for Detecting Leakage in Water Pipeline Networks
Young-gi Hong, Kyung-Joon Park, Sanghoon Lee, Jiyeong Chae
Republic of Korea, App. No. 10-2025-0008593, Jan 21, 2025
[P1]
Leakage Detection Device and Method
Kyung-Joon Park, Sanghoon Lee, Jiyeong Chae
Republic 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 · Combined Program (UG-G.) · Major GPA 4.3 / 4.3
2019.06 — 2019.09
International Student Program
UCLA, Los Angeles, USA · Major GPA 4.3 / 4.3
2018.03 — 2022.02
B.S. in Computer Science
DGIST · Major GPA 3.99 / 4.3

Technical Stack

Systems
C++PythonRust Linux KernelDockerGit
Middleware
ROS 2DDSZenohTCP/IPUDP
Intelligence
PyTorchTensorFlowNav2 MoveIt 2CartographerAMCL
Simulation
NVIDIA Isaac SimMuJoCoGazebo MATLABNS-3OMNeT++
Recognition

Honors & Awards

[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 [28]
— —
DDS Optimizer for Wireless Large Payloads
ROS 2 · Wireless · DDS Optimizer
GitHub Paper [26]
— —
ros2probe
ROS 2 · eBPF · Observability
GitHub Project Page Paper [31]
— —
Service

Activities

Conferences

Presented & Organized
2027
ROSCon KR 2027 (Organizing Committee, Daegu, South Korea)
2026
ROSCon 2026 (Talk, Toronto, Canada)·ICTC 2026 (Invited Talk, Jeju, South Korea)·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
IEEETransactions on Systems, Man, and Cybernetics
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