Publications

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Preprints

Journal Publications

Yoonseon Oh, Kyunghoon Cho, Yunho Choi, and Songhwai Oh, "Chance-Constrained Multi-Layered Sampling-Based Path Planning for Temporal Logic-Based Missions," IEEE Transactions on Automatic Control, 2020. (Accepted)
Geonho Cha, Minsik Lee, Jungchan Cho, and Songhwai Oh, "Reconstruct as Far as You Can: Consensus of Non-Rigid Reconstruction from Feasible Regions," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 43, no. 2, pp. 623-637, Feb. 2021.
Nuri Kim, Donghoon Lee, and Songhwai Oh, "Learning Instance-Aware Object Detection Using Determinantal Point Processes," Computer Vision and Image Understanding, vol. 201, Dec. 2020. [arXiv preprint]
Eunwoo Kim, Minsik Lee, and Songhwai Oh, "Nonconvex Sparse Representation with Slowly Vanishing Gradient Regularizers," IEEE Access, vol. 8, pp. 132489-132501, 2020.
Hyemin Ahn, Jaehun Kim, Kihyun Kim, and Songhwai Oh, "Generative Autoregressive Networks for 3D Dancing Move Synthesis from Music," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3501-3508, Apr. 2020. [arXiv preprint | Video]
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, vol. 5, no. 2, pp. 2317-2324, Apr. 2020. [Supplementary Material | Video]
Seunggyu Chang, Chanho Ahn, Minsik Lee, and Songhwai Oh, "Graph-Matching-Based Correspondence Search for Nonrigid Point Cloud Registration," Computer Vision and Image Understanding, vol. 192, Mar. 2020.
Hwiyeon Yoo, Geonho Cha, and Songhwai Oh, "Deep Ego-Motion Classifiers for Compound Eye Cameras," Sensors, vol. 19, no. 23, Dec. 2019.
Eunwoo Kim, Minsik Lee, Songhwai Oh, "A Scalable Framework for Data-Driven Subspace Representation and Clustering," Pattern Recognition Letters, vol. 125, pp. 742-749, Jul. 2019.
Sungjoon Choi, Kyungjae Lee, and Songhwai Oh, "Robust Learning from Demonstrations with Mixed Qualities Using Leveraged Gaussian Processes," IEEE Transactions on Robotics, vol. 35, no. 3, pp. 564-576, Jun. 2019.
Geonho Cha, Minsik Lee, Jungchan Cho, and Songhwai Oh, "Deep Pose Consensus Networks," Computer Vision and Image Understanding, vol. 182, pp. 64-70, May 2019. [arXiv preprint]
Donghoon Lee, Ming-Hsuan Yang, and Songhwai Oh, "Head and Body Orientation Estimation Using Convolutional Random Projection Forests," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 41, no. 1, pp. 107-120, Jan. 2019.
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. [Video | arXiv preprint]
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 | Video | arXiv preprint]
Geonho Cha, Minsik Lee, Jungchan Cho, and Songhwai Oh, "Non-Rigid Surface Recovery with a Robust Local-Rigidity Prior," Pattern Recognition Letters, vol. 110, pp. 51-57, Jul. 2018.
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. [Video]
Eunwoo Kim, Sungjoon Choi, and Songhwai Oh, "Structured Kernel Subspace Learning for Autonomous Robot Navigation," Sensors, vol. 18, no. 2, Feb. 2018.
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 | Video]
Moonsub Byeon, Haanju Yoo, Kikyung Kim, Songhwai Oh, and Jin Young Choi, "Unified Optimization Framework for Localization and Tracking of Multiple Targets with Multiple Cameras," Computer Vision and Image Understanding, vol. 166, pp. 51-65, Jan. 2018.
Junghun Suh, Joonsig Gong, and Songhwai Oh, "Fast Sampling-Based Cost-Aware Path Planning with Nonmyopic Extensions Using Cross Entropy," IEEE Transactions on Robotics, vol. 33, no. 6, pp. 1313-1326, Dec. 2017. [Longer Version | Software]
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 | Video]
Minsik Lee, Jungchan Cho, and Songhwai Oh, "Procrustean Normal Distribution for Non-Rigid Structure from Motion," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 39, no. 7, pp. 1388-1400, Jul. 2017.
Sungjoon Choi, Eunwoo Kim, Kyungjae Lee, Songhwai Oh, "Real-Time Nonparametric Reactive Navigation of Mobile Robots in Dynamic Environments," Robotics and Autonomous Systems, vol. 91, pp. 11–24, May 2017.
Jungchan Cho, Minsik Lee, and Songhwai Oh, "Single Image 3D Human Pose Estimation Using a Procrustean Normal Distribution Mixture Model and Model Transformation," Computer Vision and Image Understanding, vol. 155, pp. 150–161, Feb. 2017.
Eunwoo Kim, Minsik Lee, and Songhwai Oh, "Robust Elastic-Net Subspace Representation," IEEE Transactions on Image Processing, vol. 25, no. 9, pp. 4245-4259, Sep. 2016.
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. [Video]
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. [Longer Version | Video]
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. [Video]
Eunwoo Kim and Songhwai Oh, "Robust Orthogonal Matrix Factorization for Efficient Subspace Learning," Neurocomputing, vol. 167, pp. 218-229, Nov. 2015.
Kwang Moo Yi, Soo Wan Kim, Shimin Yin, Songhwai Oh, and Jin Young Choi, "Tracking of Non-Rigid Objects with Partial Occlusion through Elastic Structure of Local Patches and Hierarchical Diffusion," Image and Vision Computing, vol. 39, pp. 23-37, Jul. 2015.
Sungjoon Choi, Mahdi Jadaliha, Jongeun Choi, and Songhwai Oh, "Distributed Gaussian Process Regression Under Localization Uncertainty," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 137, no. 3, Mar. 2015. [Longer Version]
Eunwoo Kim, Minsik Lee, Chong-Ho Choi, Nojun Kwak, and Songhwai Oh, "Efficient l1-Norm-Based Low-Rank Matrix Approximations for Large-Scale Problems Using Alternating Rectified Gradient Method," IEEE Transactions on Neural Networks and Learning Systems, vol. 26, no. 2, pp. 237-251, Feb. 2015.
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. [Video]
Donghoon Lee, Inhwan Hwang, and Songhwai Oh, "OPTIMUS: Online Persistent Tracking and Identification of Many Users for Smart Spaces," Machine Vision and Applications, vol. 25, no. 4, pp. 901-917, May 2014.
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. [Preprint | Video]
Hyeongseok Oh, Geonho Cha, and Songhwai Oh, "Samba: A Real-Time Motion Capture System Using Wireless Camera Sensor Networks," Sensors, vol. 14, no. 3, pp. 5516–5535, Mar. 2014.
Jungchan Cho, Minsik Lee, Chong-Ho Choi, and Songhwai Oh, "EM-GPA: Generalized Procrustes Analysis with Hidden Variables for 3D Shape Modeling," Computer Vision and Image Understanding, vol. 117, no. 11, pp. 1549–1559, Nov. 2013.
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. [Video]
Phoebus Chen, Kirak Hong, Nikhil Naikal, Shankar Sastry, Doug Tyger, Posu Yan, Allen Yang, Lung-Chung Chang, Leon Lin, Simon Wang, Edgar Lobaton, Songhwai Oh, Parvez Ahammad, "A Low-Bandwidth Camera Sensor Platform with Applications in Smart Camera Networks," ACM Transactions on Sensor Networks, vol. 9, no. 2, pp. 21:1-21:23, Mar. 2013.
Zaihong Shuai, Sangseok Yoon, Songhwai Oh, and Ming-Hsuan Yang, "Traffic Modeling and Prediction Using Sensor Networks: Who Will Go Where and When?" ACM Transactions on Sensor Networks, vol. 9, no. 1, pp. 6:1-6:28, Nov. 2012.
Songhwai Oh, "A Scalable Multi-Target Tracking Algorithm for Wireless Sensor Networks," International Journal of Distributed Sensor Networks, vol. 2012, Sep. 2012.
Yunfei Xu, Jongeun Choi, and Songhwai Oh, "Mobile Sensor Network Navigation Using Gaussian Processes with Truncated Observations," IEEE Transactions on Robotics, vol. 27, no. 6, pp. 1118-1131, Dec. 2011.
Hoam Chung, Songhwai Oh, David H. Shim, and Shankar Sastry, "Toward Robotic Sensor Webs: Algorithms, Systems, and Experiments," Proceedings of the IEEE, vol. 99, no. 9, pp. 1562-1586, Sep. 2011.
Shimin Yin, Jin Hee Na, Jin Young Choi, and Songhwai Oh, "Hierarchical Kalman-particle filter with adaptation to motion changes for object tracking," Computer Vision and Image Understanding, vol. 115, no. 6, pp. 885-900, Jun. 2011.
Jongeun Choi, Songhwai Oh, and Roberto Horowitz, "Distributed Learning and Cooperative Control for Multi-Agent Systems," Automatica, vol. 45, no. 12, pp. 2802-2814, Dec. 2009.
Songhwai Oh, Stuart Russell, and Shankar Sastry, "Markov Chain Monte Carlo Data Association for Multi-Target Tracking," IEEE Transactions on Automatic Control, vol. 54, no. 3, pp. 481-497, Mar. 2009. [Software]
Songhwai Oh, Inseok Hwang, and Shankar Sastry, "Distributed Multitarget Tracking and Identity Management," Journal of Guidance, Control, and Dynamics, vol. 31, no. 1, pp. 12-29, Jan. 2008.
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.

Conference Publications

Kyungjae Lee, Hongjun Yang, Sungbin Lim, and Songhwai Oh, "Optimal Algorithms for Stochastic Multi-Armed Bandits with Heavy Tailed Rewards," in Proc. of Neural Information Processing Systems (NeurIPS), Dec. 2020. [Supplementary Material] (Accepted)
Kyungjae Lee, Jaegu Choy, Yunho Choi, Hogun Kee, and Songhwai Oh, "No-Regret Shannon Entropy Regularized Neural Contextual Bandit Online Learning for Robotic Grasping," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020. [Video] (Accepted)
Gunmin Lee, Dohyung Kim, Wooseok Oh, Kyungjae Lee, and Songhwai Oh, "MixGAIL: Autonomous Driving Using Demonstrations with Mixed Qualities," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020. [Video] (Accepted)
Kyungdo Kim, Yoon Kyung Lee, Hyemin Ahn, Sowon Hahn, and Songhwai Oh, "Pedestrian Intention Prediction for Autonomous Driving Using a Multiple Stakeholder Perspective Model," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020. [Video] (Accepted)
Nuri Kim, Yunho Choi, Minjae Kang, and Songhwai Oh, "GOPE: Geometry-Aware Optimal Viewpoint Path Estimation Using a Monocular Camera," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2020.
Yunho Choi, Nuri Kim, Jeongho Park, and Songhwai Oh, "Viewpoint Estimation for Visual Target Navigation by Leveraging Keypoint Detection," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2020.
Hwiyeon Yoo, Nuri Kim, Jeongho Park, and Songhwai Oh, "Path-Following Navigation Network Using Sparse Visual Memory," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2020.
Obin Kwon and Songhwai Oh, "Learning to Use Topological Memory for Visual Navigation", in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2020.
Kyungjae Lee, Sungyub Kim, Sungbin Lim, Sungjoon Choi, Mineui Hong, Jaein Kim, Yong-Lae Park, and Songhwai Oh, "Generalized Tsallis Entropy Reinforcement Learning and Its Application to Soft Mobile Robots," in Proc. of Robotics: Science and Systems (RSS), Jul. 2020. [Supplementary Material | arXiv preprint]
Kyungjae Lee, Yunho Choi, and Songhwai Oh, "Inverse Optimal Control from Demonstrations with Mixed Qualities," in Proc. of the International Conference on Ubiquitous Robots, Jun. 2020.
Jaegoo Choy, Kyungjae Lee, and Songhwai Oh, "Sparse Actor-Critic: Sparse Tsallis Entropy Regularized Reinforcement Learning in a Continuous Action Space," in Proc. of the International Conference on Ubiquitous Robots, Jun. 2020.
Timothy Ha, Kyunghoon Cho, Geonho Cha, Kyungjae Lee, and Songhwai Oh, "Vehicle Control with Prediction Model Based Monte-Carlo Tree Search," in Proc. of the International Conference on Ubiquitous Robots, Jun. 2020.
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 International Conference on Robotics and Automation (ICRA), May 2020. (RA-L option) [Supplementary Material | Video]
Yunho Choi, Hogun Kee, Kyungjae Lee, Jaegu Choy, Junhong Min, Sohee Lee, 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. [Video]
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.
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.
Chanho Ahn, Eunwoo Kim, and Songhwai Oh, "Deep Elastic Networks with Model Selection for Multi-Task Learning," in Proc. of the International Conference on Computer Vision (ICCV), Oct. 2019. [Supplementary Material]
Geonho Cha, Minsik Lee, and Songhwai Oh, "Unsupervised 3D Reconstruction Networks," in Proc. of the International Conference on Computer Vision (ICCV), Oct. 2019.
Eunwoo Kim, Chanho Ahn, Philip Torr, and Songhwai Oh, "Deep Virtual Networks for Memory Efficient Inference of Multiple Tasks," in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2019. [arXiv preprint]
Yunho Choi, Kyungjae Lee, and Songhwai Oh, "Distributional Deep Reinforcement Learning with a Mixture of Gaussians," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2019.
Kyungjae Lee, Yunho Choi, and Songhwai Oh, "Inverse Optimal Control from Demonstrations with Mixed Qualities," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Learning Legged Locomotion, May 2019.
Kyungjae Lee, Sungjoon Choi, and Songhwai Oh, "Maximum Causal Tsallis Entropy Imitation Learning", in Proc. of Neural Information Processing Systems (NIPS), Dec. 2018. [Supplementary Material | arXiv preprint]
Hyemin Ahn, Sungjoon Choi, Nuri Kim, Geonho Cha, and Songhwai Oh, "Interactive Text2Pickup Networks for Natural Language based Human-Robot Collaboration," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2018. (RA-L option) [Video | arXiv preprint]
Kyunghoon Cho, Geonho Cha, Hyunki Hong, Beom Hee Lee, and Songhwai Oh, "Human Trajectory Analysis using LSTM Recurrent Networks," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2018.
Donghoon Lee, Sangdoo Yun, Sungjoon Choi, Hwiyeon Yoo, Ming-Hsuan Yang, and Songhwai Oh, "Unsupervised Holistic Image Generation from Key Local Patches," in Proc. of the European Conference on Computer Vision (ECCV), Sep. 2018. [Supplementary Material | arXiv preprint]
Eunwoo Kim, Chanho Ahn, and Songhwai Oh, "NestedNet: Learning Nested Sparse Structures in Deep Neural Networks," in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2018. [Supplementary Material | arXiv preprint] (Spotlight Presentation, Acceptance Rate: 8.7%)
Yoonseon Oh, Kyunghoon Cho, and Songhwai Oh, "Robust Multi-Objective Path Planning for Flying Robots under Wind Disturbance," in Proc. of the International Conference on Ubiquitous Robots, Jun. 2018.
Kyungjae Lee, Sungjoon Choi, and Songhwai Oh, "Sparse Markov Decision Processes with Causal Sparse Tsallis Entropy Regularization for Reinforcement Learning," IEEE International Conference on Robotics and Automation (ICRA), May 2018. (RA-L option) [Supplementary Material | Video | arXiv preprint]
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. [Video | arXiv preprint | Software]
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. [Video]
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. [Video]
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. [Video]
Yoonseon Oh, Kyunghoon Cho, Yunho Choi, and Songhwai Oh, "Robust Multi-Layered Sampling-Based Path Planning for Temporal Logic-Based Missions," in Proc. of the IEEE Conference on Decision and Control (CDC), Dec. 2017.
Inhwan Hwang, Geonho Cha, and Songhwai Oh, "Multi-Modal Human Action Recognition Using Deep Neural Networks Fusing Image and Inertial Sensor Data," in Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Nov. 2017.
Sungjoon Choi, Kyungjae Lee, and Songhwai Oh, "A Multi-Agent Coverage Algorithm with Connectivity Maintenance," in Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Nov. 2017.
Geonho Cha, Hwiyeon Yoo, Donghoon Lee, and Songhwai Oh, "Light-Weight Semantic Segmentation for Compound Images," in Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Nov. 2017.
Yunho Choi, Inhwan Hwang, and Songhwai Oh, "Wearable Gesture Control of Agile Micro Quadrotors," in Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Nov. 2017.
Hwiyeon Yoo, Donghoon Lee, Geonho Cha, and Songhwai Oh, "Estimating Objectness Using a Compound Eye Camera," in Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Nov. 2017.
Kyunghoon Cho, Geonho Cha, Jung Hyun Oh, Beom Hee Lee, and Songhwai Oh, "Surface Recognition Using a Dash Robot," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2017.
Hwiyeon Yoo, Geonho Cha, and Songhwai Oh, "Understanding Visual Information with a Compound Eye Camera," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2017.
Hyemin Ahn, Yoonseon Oh, Sungjoon Choi, Claire J. Tomlin, and Songhwai Oh, "Online Learning to Approach a Person with No-Regret," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2017. (RA-L option) [Supplementary Material | Video]
Kyunghoon Cho, Junghun Suh, Claire J. Tomlin, and Songhwai Oh, "Cost-Aware Path Planning under Co-Safe Temporal Logic Specifications," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2017. (RA-L option) [Supplementary Material | Video]
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. [Video]
Kyunghoon Cho, Yunho Choi, and Songhwai Oh, "Reactive Controller Synthesis for UAV Mission Planning," in Proc. of the International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jun. 2017.
Seunggyu Chang, Sungjoon Choi, and Songhwai Oh, "Self-Correcting Online Navigation via Leveraged Gaussian Processes," in Proc. of the International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jun. 2017.
Junghun Suh, Kyunghoon Cho, and Songhwai Oh, "Efficient Graph-Based Informative Path Planning Using Cross Entropy," in Proc. of the IEEE Conference on Decision and Control (CDC), Dec. 2016.
Donghoon Lee, Geonho Cha, Ming-Hsuan Yang, and Songhwai Oh, "Individualness and Determinantal Point Processes for Pedestrian Detection," in Proc. of the European Conference on Computer Vision (ECCV), Oct. 2016. (Supplementary Material) [Software]
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. [Video]
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. [Video]
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. [Video]
Minsik Lee, Jungchan Cho, and Songhwai Oh, "Consensus of Non-Rigid Reconstructions," in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2016. (Oral Presentation, Acceptance Rate: 3.9%)
Sungjoon Choi, Kyungjae Lee, and Songhwai Oh, "Robust Learning from Demonstration Using Leveraged Gaussian Processes and Sparse-Constrained Optimization," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2016. (Best Conference Paper Award Finalist)
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. [Video]
Donghoon Lee, Ming-Hsuan Yang, and Songhwai Oh, "Fast and Accurate Head Pose Estimation via Random Projection Forests," in Proc. of the International Conference on Computer Vision (ICCV), Dec. 2015. [Software]
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.
Jinyoung Choi, Sunwoo Lee, Yoonseon Oh, and Songhwai Oh, "Pedestrian-following service robot applications using chance-constrained target tracking," in Proc. of the International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Oct. 2015.
Moonsub Byeon, Songhwai Oh, Kikyung Kim, Haan-Ju Yoo, and Jin Young Choi, "Efficient Spatio-Temporal Data Association Using Multidimensional Assignment in Multi-Camera Multi-Target Tracking," in Proc. of the British Machine Vision Conference (BMVC), Sep. 2015.
Inhwan Hwang and Songhwai Oh, "A Non-Visual Sensor Triggered Life Logging System Using Canonical Correlation Analysis," in Proc. of the IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), Aug. 2015.
Eunwoo Kim, Minsik Lee, and Songhwai Oh, "Elastic-Net Regularization of Singular Values for Robust Subspace Learning," in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2015. [Software]
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. [Video]
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. [Video]
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. [Video]
Yoonseon Oh and Songhwai Oh, "Robust Localization Using RGB-D Images," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2014.
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. [Video]
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/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2014. [Video]
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. [Video]
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. [Video]
Minsik Lee, Chong-Ho Choi, and Songhwai Oh, "A Procrustean Markov Process for Non-Rigid Structure Recovery," in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2014.
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. [Video]
Sungjoon Choi, Mahdi Jadaliha, Jongeun Choi, and Songhwai Oh, "Distributed Gaussian Process Regression for Mobile Sensor Networks Under Localization Uncertainty," in Proc. of the IEEE Conference on Decision and Control (CDC), Dec. 2013.
Junghun Suh and Songhwai Oh, "Efficient Environmental Monitoring Using Cost-Aware Path Planning," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2013.
Hyung Jin Chang, Jiyun Kim, Jungchan Cho, Songhwai Oh, Kwang Moo Yi, and Jin Young Choi, "Action Chart: A Representation for Efficient Recognition of Complex Activities," in Proc. of the British Machine Vision Conference (BMVC), Sep. 2013. [Video]
Sungjoon Choi, Eunwoo Kim, and Songhwai Oh, "Human Behavior Prediction for Smart Homes Using Deep Learning," in Proc. of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Aug. 2013.
Donghoon Lee and Songhwai Oh, "Understanding Human-Place Interaction from Tracking and Identification of Many Users," in Proc. of the IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), Aug. 2013.
Minsik Lee, Jungchan Cho, Chong-Ho Choi, and Songhwai Oh, "Procrustean Normal Distribution for Non-Rigid Structure from Motion," in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2013. (Oral Presentation, Acceptance Rate: 3.2%) [Software]
Junghun Suh and Songhwai Oh, "A Cost-Aware Path Planning Algorithm for Mobile Robots," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2012.
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. [Video]
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. [Video]
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. [Video]
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. [Video]
Jungchan Cho, Inhwan Hwang, Yoonseon Oh and Songhwai Oh, "A Context-Aware History Map of User Activities," in Proc. of the IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Work-In-Progress, Apr. 2012.
Junghun Suh, Seungil You, and Songhwai Oh, "A Smartphone-Based Multi-Robot Management System," in Proc. of the IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Work-In-Progress, Apr. 2012.
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. [Video]
Songhwai Oh, "A Distributed Deterministic Approximation Algorithm for Data Association," in Proc. of the IEEE International Conference on Distributed Computing in Sensor Systems (DCOSS), Jun. 2011. [Talk]
Songhwai Oh, Yunfei Xu, and Jongeun Choi, “Explorative Navigation of Mobile Sensor Networks Using Sparse Gaussian Processes,” in Proc. of the IEEE Conference on Decision and Control (CDC), Dec. 2010.
Songhwai Oh and Jongeun Choi, “Distributed Learning in Mobile Sensor Networks Using Cross Validation,” in Proc. of the IEEE Conference on Decision and Control (CDC), Dec. 2010.
Kwang Moo Yi, Soo Wan Kim, Ha Wook Chung, Songhwai Oh, and Jin Young Choi, “Non-Rigid Object Tracking with Elastic Structure of Local Patches and Hierarchical Sampling", in Proc. of the 25th International Conference of Image and Vision Computing New Zealand (IVCNZ), Nov. 2010.
Zaihong Shuai, Songhwai Oh, and Ming-Hsuan Yang, "Traffic Modeling and Prediction Using Camera Sensor Networks," in Proc. of the ACM/IEEE International Conference on Distributed Smart Cameras (ICDSC), Atlanta, GA, Sep. 2010.
Soo Wan Kim, Kwang Moo Yi, Songhwai Oh, and Jin Young Choi, "Recovery Video Stabilization Using MRF-MAP Optimization," in Proc. of the International Conference on Pattern Recognition (ICPR), Istanbul, Turkey, Aug. 2010
Kirak Hong, Songhwai Oh, Posu Yan, Phoebus Chen, Shankar Sastry, "Multihop Routing in Camera Sensor Networks : An Experimental Study (poster)," in Proc. of the ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN), San Francisco, CA, Apr. 2009.
Manish Kushwaha, Songhwai Oh, Isaac Amundson, Xenofon Koutsoukos, and Akos Ledeczi, "Target Tracking in Urban Environments using Audio-Video Signal Processing in Heterogeneous Wireless Sensor Networks," in Proc. of the 42nd Asilomar Conference on Signals, Systems and Computers, Pacific Grove, CA, Oct. 2008.
Phoebus Wei-Chih Chen, Parvez Ahammad, Colby Boyer, Shih-I Huang, Leon Lin, Edgar J. Lobaton, Marci Lenore Meingast, Songhwai Oh, Simon Wang, Posu Yan, Allen Yang, Chuohao Yeo, Lung-Chung Chang, Doug Tygar, and S. Shankar Sastry, "CITRIC: A Low-Bandwidth Wireless Camera Network Platform," in Proc. of the ACM/IEEE International Conference on Distributed Smart Cameras (ICDSC), Stanford University, CA, Sep. 2008.
Marci Meingast, Manish Kushwaha, Songhwai Oh, Xenofon Koutsoukos, Akos Ledeczi, and Shankar Sastry, "Fusion-Based Localization for a Heterogeneous Camera Network," in Proc. of the ACM/IEEE International Conference on Distributed Smart Cameras (ICDSC), Stanford University, CA, Sep. 2008.
Manish Kushwaha, Songhwai Oh, Isaac Amundson, Xenofon Koutsoukos, and Akos Ledeczi, "Target Tracking in Heterogeneous Sensor Networks Using Audio and Video Sensor Fusion," in Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Seoul, Korea, Aug. 2008.
Jongeun Choi, Joonho Lee, and Songhwai Oh, "Biologically-inspired Navigation Strategies for Swarm Intelligence using Spatial Gaussian Processes," in Proc. of the 17th IFAC World Congress, Seoul, Korea, Jul. 2008.
Songhwai Oh, "Bayesian Formulation of Data Association and Markov Chain Monte Carlo Data Association," in Proc. of the Robotics: Science and Systems Conference (RSS) Workshop Inside Data association, ETH Zurich, Switzerland, Jun. 2008.
Jongeun Choi, Joonho Lee, and Songhwai Oh, "Swarm Intelligence for Achieving the Global Maximum using Spatio-Temporal Gaussian Processes," in Proc. of the American Control Conference (ACC), Seattle, WA, Jun. 2008.
Jongeun Choi, Songhwai Oh, and Roberto Horowitz, "Cooperatively Learning Mobile Agents for Gradient Climbing," in Proc. of the IEEE Conference on Decision and Control (CDC), New Orleans, LA, Dec. 2007.
Marci Meingast, Songhwai Oh, and Shankar Sastry, "Automatic Camera Network Localization using Object Image Tracks," in Proc. of the International Conference on Computer Vision (ICCV) Workshop on Visual Representations and Modeling of Large-scale environments, Rio de Janeiro, Brazil, Oct. 2007.
Songhwai Oh and Shankar Sastry, "Approximate Estimation of Distributed Networked Control Systems," in Proc. of the American Control Conference (ACC), New York, NY, Jul. 2007.
Songhwai Oh and Shankar Sastry, "Distributed Networked Control System with Lossy Links: State Estimation and Stabilizing Communication Control," in Proc. of the IEEE International Conference on Decision and Control (CDC), San Diego, CA, Dec. 2006.
Songhwai Oh, Phoebus Chen, Michael Manzo, and Shankar Sastry, "Instrumenting Wireless Sensor Networks for Real-Time Surveillance," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, May 2006.
Chen et al., "Experiments in Instrumenting Wireless Sensor Networks for Real-Time Surveillance (video)," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, May 2006.
Songhwai Oh and Shankar Sastry, "An Efficient Algorithm for Tracking Multiple Maneuvering Targets," in Proc. of the IEEE International Conference on Decision and Control (CDC), Seville, Spain, Dec. 2005.
Songhwai Oh, Inseok Hwang, Kaushik Roy, and Shankar Sastry, "A Fully Automated Distributed Multiple-Target Tracking and Identity Management Algorithm," in Proc. of the AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, Aug. 2005.
Songhwai Oh and Shankar Sastry, "A Polynomial-Time Approximation Algorithm for Joint Probabilistic Data Association," in Proc. of the American Control Conference (ACC), Portland, OR, Jun. 2005.
Songhwai Oh and Shankar Sastry, "Tracking on a Graph," in Proc. of the ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN), Los Angeles, CA, Apr. 2005.
Songhwai Oh, Luca Schenato, and Shankar Sastry, "A Hierarchical Multiple-Target Tracking Algorithm for Sensor Networks," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, Apr. 2005.
Luca Schenato, Songhwai Oh, and Shankar Sastry, "Swarm Coordination for Pursuit Evasion Games using Sensor Networks," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, Apr. 2005.
Songhwai Oh, Stuart Russell, and Shankar Sastry, "Markov Chain Monte Carlo Data Association for General Multiple-Target Tracking Problems," in Proc. of the IEEE International Conference on Decision and Control (CDC), Paradise Island, Bahamas, Dec. 2004.
Songhwai Oh, Jin Kim, and Shankar Sastry, "A Sampling-based Approach to Nonparametric Dynamic System Identification and Estimation," in Proc. of the American Control Conference (ACC), Boston, MA, Jun. 2004. (Best Student Paper Award Finalist)

Books and Book Chapters

Sukhan Lee, Hanseok Ko, and Songhwai Oh, Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical Systems, ser. Lecture Notes in Electrical Engineering, vol. 501, Springer International Publishing, 2018.
Manish Kushwaha, Songhwai Oh, Isaac Amundson, Xenofon Koutsoukos, and Akos Ledeczi, "Tracking in Urban Environments Using Sensor Networks Based on Audio-Video Fusion," in Handbook on Ambient Intelligence and Smart Environments, Eds. Hideyuki Nakashima, Juan Carlos Augusto, and Hamid Aghajan, Springer, Oct. 2009.
Phoebus Chen, Songhwai Oh, and Shankar Sastry, "Modeling and Analysis of Wireless Networked Systems," in Homeland Security Technology Challenges: From Sensing and Encrypting to Mining and Modeling, Eds. Giorgio Franceschetti and Marina Grossi, Artech House, Jul. 2008.

Technical Reports

Kyungjae Lee, Sungyub Kim, Sungbin Lim, Sungjoon Choi, Mineui Hong, Jaein Kim, Yong-Lae Park and Songhwai Oh, "Supplementary Material for Generalized Tsallis Entropy Reinforcement Learning and Its Application to Soft Mobile Robots", ECE, Seoul National University, Technical Report, 2020.
Kyungjae Lee, Jaegu Choy, Yunho Choi, Hogun Kee, and Songhwai Oh, "No-Regret Shannon Entropy Regularized Neural Contextual Bandit Online Learning for Robotic Grasping: Supplementary Material", ECE, Seoul National University, Technical Report, 2019.
Donghoon Lee, Ming-Hsuan Yang, and Songhwai Oh, "Generative Single Image Reflection Separation", arXiv preprint: 1801.04102, 2018.
Sungjoon Choi, Kyungjae Lee, Andy H. Park, and Songhwai Oh, "Imitation Learning with Density Matching Policy Learning: Supplementary Material", ECE, Seoul National University, Technical Report, 2017.
Kyungjae Lee, Sungjoon Choi, and Songhwai Oh, "Sparse Markov Decision Processes with Causal Sparse Tsallis Entropy Regularization for Reinforcement Learning: Supplementary Material", ECE, Seoul National University, Technical Report, 2017.
Junghun Suh, Joonsig Gong, and Songhwai Oh, "Fast Sampling-Based Cost-Aware Path Planning with Nonmyopic Extensions Using Cross Entropy (longer version)," ECE, Seoul National University, Technical Report, 2017.
Hyemin Ahn, Yoonseon Oh, Sungjoon Choi, Claire J. Tomlin, and Songhwai Oh, "Online Learning to Approach a Person with No-Regret: Supplementary Material", ECE, Seoul National University, Technical Report, 2017.
Kyunghoon Cho, Junghun Suh, Claire J. Tomlin, and Songhwai Oh, "Cost-Aware Path Planning under Co-Safe Temporal Logic Specifications: Supplementary Material", ECE, Seoul National University, Technical Report, 2017.
Sungjoon Choi, Kyoungjae Lee, and Songhwai Oh, "Gaussian Random Paths," ECE, Seoul National University, Technical Report, 2015.
Junghun Suh, Seungil You, Sungjoon Choi, and Songhwai Oh, "Vision-Based Coordinated Localization for Mobile Sensor Networks (longer version)," ECE, Seoul National University, Technical Report, 2014.