I am a Ph.D. student at the Seoul National University (SNU), Seoul, working with Professor Insoon Yang. I received my B.S. degree in Automation and Control from the National Polytechnic University of Armenia (NPUA), Yerevan in 2018; and an M.S. degree in Electrical and Computer Engineering from SNU in 2020.

Research Interests

  • Safety in Autonomous Systems
  • Distributionally Robust Optimization and Control
  • Motion Planning and Control


  1. Hakobyan, A. and Yang, I., 2022. Wasserstein Distributionally Robust Control of Partially Observable Linear Systems: Tractable Approximation and Performance Guarantee. arXiv preprint arXiv:2203.17045.
  2. Hakobyan, A. and Yang, I., 2021. Toward Improving the Distributional Robustness of Risk-Aware Controllers in Learning-Enabled Environments. In 2021 60th IEEE Conference on Decision and Control (CDC) (pp. 6024-6031).
  3. Hakobyan, A. and Yang, I., 2021. Wasserstein Distributionally Robust Motion Control for Collision Avoidance Using Conditional Value-at-Risk. IEEE Transactions on Robotics.
  4. Shin, J., Hakobyan, A., Park, M., Kim, Y., Kim, G. and Yang, I., 2021. Infusing Model Predictive Control into Meta-Reinforcement Learning for Mobile Robots in Dynamic Environments. arXiv preprint arXiv:2109.07120.
  5. Hakobyan, A. and Yang, I., 2021. Distributionally Robust Risk Map for Learning-Based Motion Planning and Control: A Semidefinite Programming Approach. arXiv preprint arXiv:2105.00657.
  6. Hakobyan, A. and Yang, I., 2020. Learning-Based Distributionally Robust Motion Control with Gaussian Processes. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7667-7674).
  7. Hakobyan, A. and Yang, I., 2020. Wasserstein Distributionally Robust Motion Planning and Control with Safety Constraints Using Conditional Value-at-Risk. In 2020 IEEE International Conference on Robotics and Automation (ICRA) (pp. 490-496).
  8. Hakobyan, A., Kim, G.C. and Yang, I., 2019. Risk-Aware Motion Planning and Control Using CVaR-Constrained Optimization. IEEE Robotics and Automation Letters, 4(4), pp.3924-3931.

Awards and Scholarships

  • SNU Global Scholarship (2022, Spring)
  • SNU Development Fund Scholarship (2021, Fall)
  • SNU Global Scholarship (2021, Spring)
  • Best ECE M.S. Thesis Award (2020)
  • Korean Government Scholarship Program, KGSP (2018-2020)