Guided Multi-Fidelity Bayesian Optimization for Data-driven Controller Tuning with Digital Twins
M. Nobar, J. Keller, A. Forino, J. Lygeros, A. Rupenyan, IEEE Robotics and Automation Letters, vol. 11, no. 5, pp. 5294–5301, May 2026
CV
Education
- Ph.D in Physics, Vrije Universiteit Amsterdam, 2009
- M.S. in Laser Physics and Optics, Sofia University, 2005
- B.S. in Engineering Physics, Sofia University, 2003
Work experience
- September 2023: Rieter Endowed Professor for Industrial AI
- ZHAW University, Center for AI
- February 2018 - August 2023: Group Leader, Advanced Control and Automation
- Inspire AG (Research institute for technology transfer strongly linked to ETH Zurich)
- August 2021 - August 2023: Senior Scientist
- Automatic Control Laboratory, ETH Zurich
- January 2014 - August 2017: Head of Application Development
- Qualysense AG, Zurich
- March 2011 - September 2013: Postdoctoral fellow (ETH fellow on individual granf)
- Laboraotry for Ultrafast Spectroscopy and Attosecond Science, ETH Zurich
- January 2010 - January 2011: Postdoctoral researcher
- Van’t Hoff Institute for Molecular Science, University of Amsterdam
Publications
Bayesian Optimization for Automatic Tuning of Torque-Level Nonlinear Model Predictive Control
Gabriele Fadini, Deepak Ingole, Tong Duy Son, Alisa Rupenyan, European Control Conference (ECC), 2026
Autogeneration and optimization of pick-and-place trajectories in robotic systems: A data-driven approach
Mingkun Wu, Alisa Rupenyan, Burkhard Corves, Robotics and Computer-Integrated Manufacturing, Volume 97, 103080, 2026
Singularity-Avoidance Control of Robotic Systems with Model Mismatch and Actuator Constraints
Mingkun Wu, Alisa Rupenyan, Burkhard Corves, European Control Conference (ECC), Thessaloniki, Greece, 2025
Iterative learning control with mismatch compensation for residual vibration suppression in delta robots
Mingkun Wu, Alisa Rupenyan, Burkhard Corves, Nonlinear Dynamics, Volume 113, Pages 21631-21651, 2025
Adaptive Bayesian Optimization for High-Precision Motion Systems
Christopher König, Raamadaas Krishnadas, Efe C. Balta, Alisa Rupenyan, IEEE Transactions on Automation Science and Engineering, Volume 22, Pages 15627–15637, 2025
In-situ controller autotuning by Bayesian optimization for closed-loop feedback control of laser powder bed fusion process
Barış Kavas, Efe C Balta, Michael R Tucker, Raamadaas Krishnadas, Alisa Rupenyan, John Lygeros, Markus Bambach, Additive Manufacturing, volume 99, 2025
In-situ controller autotuning by Bayesian optimization for closed-loop feedback control of laser powder bed fusion process
Barış Kavas, Efe C. Balta, Michael R. Tucker, Raamadaas Krishnadas, Alisa Rupenyan, John Lygeros, Markus Bambach, Additive Manufacturing, Volume 99, 2025
Efficient safe learning for controller- and process parameter tuning
M Zagorowska, C König, H Yu, EC Balta, A Rupenyan, J Lygeros Engineering Applications of Artificial Intelligence, 2025
Time-varying safe data-driven optimization
Jialin Li, Marta Zagorowska, Giulia De Pasquale, Alisa Rupenyan, John Lygeros, NeurIPS, 2024
Robotics and Manufacturing Application
Alisa Rupenyan, Efe C. Balta (2024). "Robotics and Manufacturing Application." The Impact of Automatic Control Research on Industrial Innovation: Enabling a Sustainable Future, John Wiley & Sons, 2024.
Safe risk-averse bayesian optimization for controller tuning
Christopher König, Miks Ozols, Anastasia Makarova, Efe C Balta, Andreas Krause, Alisa Rupenyan (2023). "Safe risk-averse bayesian optimization for controller tuning." IEEE Robotics and Automation Letters. 8(8208 - 8215).
Talks
Innovation Booster Robotics as an Enabler in the Swiss Robotics Innovation Ecosystem
Talk at Swiss Robotics Day 2025, Lausanne, Switzerland
Keynote, Flexible automation for robot manufacturing tasks
Talk at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop Embodied AI and Edge Computing for Intelligent Robots, Hangzhou, China
Conference talk, Adaptive run-to-run optimization for precision motion systems
Talk at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop Embodied AI and Edge Computing for Intelligent Robots, Hangzhou, China
Keynote, AI-supported Optimization for Smart Manufacturing
Keynote at AI+X Summit, Zurich, Switzerland, Zurich, Switzerland
Conference talk, Singularity-Avoidance Control of Robotic Systems with Model Mismatch and Actuator Constraints
Conference proceedings talk at European Control Conference 2025, Thessaloniki, Greece
Keynote, Entrepreneurship in Control
Plenary Keynote at European Control Conference 2025, Thessaloniki, Greece
Keynote, Flexible automation for manufacturing tasks
Plenary Keynote at Innovation Booster Robotics, AI in Robotics, Rotkreuz, Switzerland
Workshop Control meets Practice in Advanced Manufacturing
Debate moderation at IEEE CASE 2024, Bari, Italy
Panel, Automatic Control Horizon: Roadmap and Industrial Innovation
Panel at European Control Conference 2024, Stockholm, Sweden
Keynote, Bayesian optimization algorithms for optimization in manufacturing
Talk at European Control Conference, Workshop Bayesian optimization meets control, Stockholm, Sweden
Plenary, Data-driven optimization and control in advanced manufacturing
Plenary Keynote at Benelux meeting on Systems and Control, Blankenberge, Belgium
Keynote, Data-driven optimization for manufacturing applications
Plenary at Swiss Technology Days, 2024, Dubendorf, Switzerland
Teaching
Service and leadership
Associate editor for Control Engineering Practice (a journal of IFAC, the International Federation of Automatic Control)
Executive member of the IFAC Industry Committee