Mizuho AOKI

Researcher Working on Motion Planning and Control in Robotics and Autonomous Driving

self_taken_photo

About Me

Researcher working on motion planning and control in robotics and autonomous driving.


Profile

Researchmap Profile https://researchmap.jp/mizuhoaoki
Nationality Japan
Affiliation AIST; National Institute of Advanced Industrial Science and Technology
Laboratory SMRG; Smart Mobility Research Group
Interests
  • Motion Planning & Control
  • Model Predictive Control (MPC)
  • Model Predictive Path-Integral (MPPI) Control
  • Reinforcement Learning
  • Generative Models (diffusion/flow matching)

Skills

Python (often leveraging JAX)

C++/C

ROS/ROS 2

Unity

Matlab

Projects


Paper [Ph.D. dissertation] Nullspace MPC: a novel multi-objective control framework.

OSS jax_generative_models

Paper [IROS2024] MPPI Controller for Navigation of 4WIDS Vehicle (or Swerve Drive Robot)

Prize Joined F1TENTH Autonomous Racing Competition (4th in ICRA 2023, 3rd in IV 2023, top 8 in ICRA 2024)

OSS python_simple_mppi

Prize Won 1st prize in Japan Automotive AI Challenge 2022 (Simulation)

Achievements


2025/12 Preprint
Mizuho Aoki, Kohei Honda, Yasuhiro Yoshimura, Takeshi Ishita, Ryo Yonetani, "VLG-Loc: Vision-Language Global Localization from Labeled Footprint Maps", arXiv preprint arXiv:2512.12793, 2025 (Research internship at CyberAgent AI Lab)
Website PDF Code Dataset Video
2025/09/29 Ph.D. Dissertation
Mizuho Aoki, "Nonlinear Model Predictive Control for Autonomous Vehicles: Enhancement via Simplified Physics-Aware Prediction and Decomposed Optimization", Ph.D. Dissertation, Nagoya University, 2025
Website PDF Code Repository
2024/09/01 Journal
Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, "Priority-Based Decomposition of Multi-Objective Control Problem for Holonomic Vehicle Motion Planning in Arbitrary Obstacle Avoidance", Transactions of the Society of Instrument and Control Engineers, 2024, Vol.61, No.9, p. 409-419, 2025/09/25, Online ISSN 1883-8189, Print ISSN 0453-4654, https://doi.org/10.9746/sicetr.61.409
PDF
2025/01 Proceeding
Kentaro Sugiura, Hiroyuki Okuda, Mizuho Aoki, Kazuma Uchida, Tatsuya Suzuki, Inducibility Analysis of Pedestrian's Interactive Behavior, IEEE/SICE International Symposium on System Integration 2025 (SII2025), Germany, 2024.
IEEE Xplore
2024/10 Proceeding
Mizuho Aoki , Kohei Honda, Hiroyuki Okuda , and Tatsuya Suzuki, Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Website PDF arXiv Poster Code Video IEEE Xplore
2024/04/01 - 2026/03/31 Grant
Research Fellowship for Young Scientists DC2 from Japan Society for the Promotion of Science (JSPS)
KAKEN
2024/05 Proceeding
Kohei Honda, Naoki Akai, Kosuke Suzuki, Mizuho Aoki , Hirotaka Hosogaya , Hiroyuki Okuda , and Tatsuya Suzuki, Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles, IEEE International Conference on Robotics and Automation (ICRA), 2024
PDF Code Video IEEE Xplore
2023/12/23 Award
Received the IEEE ITS Society Nagoya Chapter Young Researcher Award 2023
2023/11/14 Proceeding
Kentaro Sugiura, Mizuho Aoki, Hiroyuki Okuda, Tatsuya Suzuki, "Evaluation of Controllability of Interaction Between Pedestrian and Autonomous Mobile Robot in Shared Mobility Space", 20th International Conference on Informatics in Control, Automation And Robotics (ICINCO), Italy, 2023.
2023/09/06 Proceeding
Koki Hoshino , Kohei Honda , Mizuho Aoki , Hiroyuki Okuda, and Tatsuya Suzuki, "Actual-Vehicle Verification of Automatic Parking in Narrow Spaces Considering Precise Collision Avoidance Constraints for Rectangular Objects", SICE Annual Conference, Japan, 2023.
IEEE Xplore
2023/06/07 Prize
Our team Suzlab got 3rd prize and 4th place in the F1TENTH autonomous racing competitions at IV 2023 and ICRA 2023
2023/04/01 - 2024/03/31 Grant
Nagoya University Interdisciplinary Frontier Fellowship
2023/03/31 Award
Received an Excellent Student Award from the Society of Instrument and Control Engineers (SICE)
2023/03/07 Award
Received a Graduate School Research Award from the Society of Automotive Engineers of Japan (JSAE)
2023/03/06 Prize
Won 1st prize in Japan Automotive AI Challenge 2022 (simulation)
2022/09/18 Proceeding
Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, Akira Ito, Daisuke Nagasaka, "Obstacle Avoidance Control Based on Nonlinear MPC for All Wheel Driven In-Wheel EV in Steering Failure", 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), pp. 2863-2868, regular paper, Macau, China, Oct. 8-12, 2022.
PDF IEEE Xplore
2022/06/26 Prize
Won 3rd prize in Japan Automotive AI Challenge 2022 (integration)
2022/05/25 Journal
Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, "Evaluation of Vehicle Prediction Models for Model Predictive Path-Tracking Control", Transaction of Society of Automotive Engineers of Japan, 2022, Vol.53, No.3, p. 687-692, 2022/05/25, Online ISSN 1883-0811, Print ISSN 0287-8321, https://doi.org/10.11351/jsaeronbun.53.687
PDF
2021/07/11 Proceeding
Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, and Tatsuya Suzuki, "Comparative Study of Prediction Models for Model Predictive Path-Tracking Control in Wide Driving Speed Range", 2021 IEEE Intelligent Vehicles Symposium (IV), pp. 1261-1267, Japan, 2021.
PDF IEEE Xplore
2021/04/01 - 2026/03/31 Grant
Nagoya University TMI WISE Program Scholarship
About TMI
2021/04/01 - 2023/03/31 Scholarship
Rinnai Scholarship for Graduate Students
2021/03/31 Award
Received the 2022 President's Award of Nagoya University
2021/03/31 Award
Received an Excellent Student Award from the Robotics Society of Japan

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