Research @ RLLAB
2020
Learning to Walk a Tripod Mobile Robot Using Nonlinear Soft Vibration Actuators with Entropy Adaptive Reinforcement Learning
- Jae In Kim, Mineui Hong, Kyungjae Lee, DongWook Kim, Yong-Lae Park, and Songhwai Oh, "Learning to Walk a Tripod Mobile Robot Using Nonlinear Soft Vibration Actuators with Entropy Adaptive Reinforcement Learning," IEEE Robotics and Automation Letters, 2020. [Supplementary Material] (Accepted)
Hierarchical 6-DoF Grasping with Approaching Direction Selection
- Yunho Choi, Hogun Kee, Kyungjae Lee, Jaegu Choy, and Songhwai Oh, "Hierarchical 6-DoF Grasping with Approaching Direction Selection," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2020.
2019
Generative Autoregressive Networks for 3D Dancing Move Synthesis from Music
- Hyemin Ahn, Jaehun Kim, Kihyun Kim, and Songhwai Oh, "Generative Autoregressive Networks for 3D Dancing Move Synthesis from Music," IEEE Robotics and Automation Letters, 2020. [arXiv preprint] (Accepted)
Unsupervised 3D Reconstruction Networks
- Geonho Cha, Minsik Lee, and Songhwai Oh, "Unsupervised 3D Reconstruction Networks," in Proc. of the International Conference on Computer Vision (ICCV), Oct. 2019.
Deep Predictive Autonomous Driving Using Multi-Agent Joint Trajectory Prediction and Traffic Rules
- Kyunghoon Cho, Timothy Ha, Gunmin Lee, and Songhwai Oh, "Deep Predictive Autonomous Driving Using Multi-Agent Joint Trajectory Prediction and Traffic Rules," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov. 2019.
Soft Action Particle Deep Reinforcement Learning for a Continuous Action Space
- Minjae Kang, Kyungjae Lee, and Songhwai Oh, "Soft Action Particle Deep Reinforcement Learning for a Continuous Action Space," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov. 2019.
2018
Interactive Text2Pickup Networks for Natural Language based Human-Robot Collaboration
- Hyemin Ahn, Sungjoon Choi, Nuri Kim, Geonho Cha, and Songhwai Oh, "Interactive Text2Pickup Networks for Natural Language based Human-Robot Collaboration," IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3308–3315, Oct. 2018. [arXiv preprint]
Uncertainty-Aware Learning from Demonstration Using Mixture Density Networks with Sampling-Free Variance Modeling
- Sungjoon Choi, Kyungjae Lee, Sungbin Lim, and Songhwai Oh, "Uncertainty-Aware Learning from Demonstration Using Mixture Density Networks with Sampling-Free Variance Modeling," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2018.
A Nonparametric Motion Flow Model for Human Robot Cooperation
- Sungjoon Choi, Kyungjae Lee, H. Andy Park, and Songhwai Oh, "A Nonparametric Motion Flow Model for Human Robot Cooperation," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2018.
Learning-Based Model Predictive Control under Signal Temporal Logic Specifications
- Kyunghoon Cho and Songhwai Oh, "Learning-Based Model Predictive Control under Signal Temporal Logic Specifications," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2018.
Sparse Markov Decision Processes with Causal Sparse Tsallis Entropy Regularization for Reinforcement Learning
- Kyungjae Lee, Sungjoon Choi, and Songhwai Oh, "Sparse Markov Decision Processes with Causal Sparse Tsallis Entropy Regularization for Reinforcement Learning," IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1466-1473, Jul. 2018. [Supplementary Material | arXiv preprint]
2017
Text2Action: Generative Adversarial Synthesis from Language to Action
- Hyemin Ahn, Timothy Ha, Yunho Choi, Hwiyeon Yoo, and Songhwai Oh, "Text2Action: Generative Adversarial Synthesis from Language to Action," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2018. [arXiv preprint]
Online Learning to Approach a Person with No-Regret
- Hyemin Ahn, Yoonseon Oh, Sungjoon Choi, Claire J. Tomlin, and Songhwai Oh, "Online Learning to Approach a Person with No-Regret," IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 52-59, Jan. 2018. [Supplementary Material]
Scalable Robust Learning from Demonstration with Leveraged Deep Neural Networks
- Sungjoon Choi, Kyungjae Lee, and Songhwai Oh, "Scalable Robust Learning from Demonstration with Leveraged Deep Neural Networks," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2017.
Cost-Aware Path Planning under Co-Safe Temporal Logic Specifications
- Kyunghoon Cho, Junghun Suh, Claire J. Tomlin, and Songhwai Oh, "Cost-Aware Path Planning under Co-Safe Temporal Logic Specifications," IEEE Robotics and Automation Letters, vol. 2, no. 4, pp. 2308-2315, Oct. 2017. [Supplementary Material]
Chance-Constrained Target Tracking Using Sensors with Bounded Fan-Shaped Sensing Regions
- Yoonseon Oh, Sungjoon Choi, and Songhwai Oh, "Chance-Constrained Target Tracking Using Sensors with Bounded Fan-Shaped Sensing Regions," Autonomous Robots, vol. 42, no. 2, pp. 307–327, Feb. 2018.
2016
Inverse Reinforcement Learning with Leveraged Gaussian Processes
- Kyungjae Lee, Sungjoon Choi, and Songhwai Oh, "Inverse Reinforcement Learning with Leveraged Gaussian Processes," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2016.
Robust Modeling and Prediction in Dynamic Environments Using Recurrent Flow Networks
- Sungjoon Choi, Kyungjae Lee, and Songhwai Oh, "Robust Modeling and Prediction in Dynamic Environments Using Recurrent Flow Networks," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2016.
Gaussian Random Paths for Real-Time Motion Planning
- Sungjoon Choi, Kyungjae Lee, and Songhwai Oh, "Gaussian Random Paths for Real-Time Motion Planning," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2016.
Multiple-Hypothesis Chance-Constrained Target Tracking Under Identity Uncertainty
- Yoonseon Oh and Songhwai Oh, "Multiple-Hypothesis Chance-Constrained Target Tracking Under Identity Uncertainty," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2016
Complex Non-Rigid 3D Shape Recovery Using a Procrustean Normal Distribution Mixture Model
- Jungchan Cho, Minsik Lee, and Songhwai Oh, "Complex Non-Rigid 3D Shape Recovery Using a Procrustean Normal Distribution Mixture Model," International Journal of Computer Vision, vol. 117, no. 3, pp. 226-246, May 2016.
Vision-Based Coordinated Localization for Mobile Sensor Networks
- Junghun Suh, Seungil You, Sungjoon Choi, and Songhwai Oh, "Vision-Based Coordinated Localization for Mobile Sensor Networks," IEEE Transactions on Automation Science and Engineering, vol. 13, no. 2, pp. 611-620, Apr. 2016.
2015
Energy-Efficient Motion Planning for Higher Dimensional Problems Using Stochastic Optimization
- Junghun Suh, Joonsig Gong, and Songhwai Oh, "Energy-Efficient High-Dimensional Motion Planning for Humanoids Using Stochastic Optimization," in Proc. of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov. 2015
Leveraged Non-Stationary Gaussian Process Regression
- Sungjoon Choi, Eunwoo Kim, Kyungjae Lee, and Songhwai Oh, "Leveraged Non-Stationary Gaussian Process Regression for Autonomous Robot Navigation," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2015.
Robust Structured Low-Rank Matrix Approximation in GPR
- Eunwoo Kim, Sungjoon Choi, and Songhwai Oh, "Structured Low-Rank Matrix Approximation in Gaussian Process Regression for Autonomous Robot Navigation," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2015.
Chance-Constrained Target Tracking for Mobile Robots
- Yoonseon Oh, Sungjoon Choi, and Songhwai Oh, "Chance-Constrained Target Tracking for Mobile Robots," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2015.
2014
Smartphone-Controlled Telerobotic Systems
- Hyemin Ahn, Hyunjun Kim, Yoonseon Oh, and Songhwai Oh, "Smartphone-Controlled Telerobotic Systems," in Proc. of the IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), Aug. 2014.
SmartPTA: A Smartphone-Based Human Motion Evaluation System
- Geonho Cha, Joonsig Gong, and Songhwai Oh, "SmartPTA: A Smartphone-Based Human Motion Evaluation System," in Proc. of the IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), Aug. 2014.
A Robust Autoregressive GPMM Using l1-Norm Based Low-Rank Kernel Matrix Approximation
- Eunwoo Kim, Sungjoon Choi, and Songhwai Oh, "A Robust Autoregressive Gaussian Process Motion Model Using l1-Norm Based Low-Rank Kernel Matrix Approximation," in Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS), Sep. 2014.
Playing Alkagi with a Humanoid Robot Nao
- Joonsig Gong and Songhwai Oh, "Playing Alkagi with a Humanoid Robot," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2014.
Action Classification Using Body Sensor Networks
Robust Action Recognition Using Local Motion and Group Sparsity
- Jungchan Cho, Minsik Lee, Hyung Jin Chang, and Songhwai Oh, "Robust Action Recognition Using Local Motion and Group Sparsity," Pattern Recognition, vol. 47, no. 5, pp. 1813–1825, May 2014.
Real-Time Gaussian Process Motion Control
- Sungjoon Choi, Eunwoo Kim, and Songhwai Oh, "Real-Time Navigation in Crowded Dynamic Environments Using Gaussian Process Motion Control," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Jun. 2014.
Before 2013
Nao Dancing to SNSD's Dancing Queen
PASU | Personal Area Situation Understanding System
- Sangseok Yoon, Hyeongseok Oh, Donghoon Lee, and Songhwai Oh, "PASU: A Personal Area Situation Understanding System Using Wireless Camera Sensor Networks," Personal and Ubiquitous Computing, vol. 17, no. 4, pp. 713-727, Apr. 2013.
VibePhone for Surface Recognition
- Jungchan Cho, Inhwan Hwang, and Songhwai Oh, "VibePhone: Efficient Surface Recognition for Smartphones Using Vibration," Pattern Analysis and Applications, vol. 19, no. 1, pp. 251-265, Feb. 2016.
- Jungchan Cho, Inhwan Hwang, and Songhwai Oh, "Vibration-Based Surface Recognition for Smartphones," in Proc. of the International Workshop on Cyber-Physical Systems, Networks, and Applications (CPSNA), Aug., 2012.
VibeComm for Communication between Smart Devices without Radios
- Inhwan Hwang, Jungchan Cho, and Songhwai Oh, "VibeComm: Radio-Free Wireless Communication for Smart Devices Using Vibration," Sensors, vol. 14, no. 11, pp. 21151-21173, Nov. 2014.
- Inhwan Hwang, Jungchan Cho, and Songhwai Oh, "Privacy-Aware Communication for Smartphones Using Vibration," in Proc. of the International Workshop on Cyber-Physical Systems, Networks, and Applications (CPSNA), Aug., 2012.
Multi-Robot Coordination
Kinect-Based Teleoperation of Willow Garage's PR2 Robot
Cooperative Indoor Localization Using Multiple Robots
- Junghun Suh, Seungil You, and Songhwai Oh, "A Cooperative Localization Algorithm for Mobile Sensor Networks," in Proc. of the IEEE International Conference on Automation Science and Engineering (CASE), Aug., 2012.
Topological Mapping and Navigation for iRobot Create
- Junyoung Kim, Juyong Kim, Seungil You, Yoonseon Oh, and Songhwai Oh, "Actionable Topological Mapping for Navigation Using Nearby Objects," in Proc. of the IEEE International Conference on Automation Science and Engineering (CASE), Aug., 2012.
Virtual Lock: A Smartphone Application for Personal Surveillance Using Camera Sensor Networks
- Sangseok Yoon, Hyeongseok Oh, Donghoon Lee, and Songhwai Oh, "Virtual Lock: A Smartphone Application for Personal Surveillance Using Camera Sensor Networks," in Proc. of the International Workshop on Cyber-Physical Systems, Networks, and Applications (CPSNA), Aug., 2011.
NEST Final Experiment
- Songhwai Oh, Luca Schenato, Phoebus Chen, and Shankar Sastry, " Tracking and Coordination of Multiple Agents Using Sensor Networks : System Design, Algorithms and Experiments," Proceedings of the IEEE, vol. 95, no. 1, pp. 234-254, Jan. 2007.