Publications

Journal Publications

• Gunmin Lee, Jaeseok Heo, Dohyeong Kim, Geunje Cheon, Jeongwoo Oh, Minyoung Hwang, Chanwoo Park, and Songhwai Oh, "SafeIL: Safety Constrained Imitation Learning for Autonomous Systems," Robotics and Autonomous Systems, vol. 199, May 2026, 105376. (Accepted) 

• Howoong Jun, Seongbo Ha, Jaewon Lee, Hyeonwoo Yu, and Songhwai Oh, "Memory-Efficient Voxelized Renderable Neural 3D Spatial Representation for Vision-Based Robotics," IEEE Robotics and Automation Letters, vol. 11, no. 1, pp.113-120, Jan. 2026. [Video] (Accepted) 

• Minjae Kang, Mineui Hong, and Songhwai Oh, "Playbook: Scalable Discrete Skill Discovery from Unstructured Datasets for Long-Horizon Decision-Making Problems," IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10162-10169, Oct. 2025. 

• Hogun Kee, Wooseok Oh, Minjae Kang, Hyemin Ahn, and Songhwai Oh, "Tidiness Score-Guided Monte Carlo Tree Search for Visual Tabletop Rearrangement," IEEE Robotics and Automation Letters, vol. 10, no. 10, pp.10090-10097, Oct. 2025. [Video] 

• Nuri Kim, Jeongho Park, Mineui Hong, and Songhwai Oh, "Semantic Environment Atlas for Object-Goal Navigation," Knowledge-Based Systems, vol. 304, article 112446, Nov. 2024.  

• Hwiyeon Yoo, Yunho Choi, Jeongho Park, and Songhwai Oh, "Commonsense-Aware Object Value Graph for Object Goal Navigation," IEEE Robotics and Automation Letters, vol. 9, no. 5, pp. 4423-4430, May 2024. 

• Taeoh Ha, Jeongwoo Oh, Gunmin Lee, Jaeseok Heo, Do Hyung Kim, Byungkyu Park, Chang-Gun Lee, and Songhwai Oh, "RIANet++: Road Graph and Image Attention Networks for Robust Urban Autonomous Driving under Road Changes," IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7815-7822, Nov. 2023. 

• Wooseok Oh, Hwiyeon Yoo, Timothy Ha, and Songhwai Oh, "Local Selective Vision Transformer for Depth Estimation Using a Compound Eye Camera," Pattern Recognition Letters, vol. 167, pp. 82-29, Mar. 2023. 

• Dohyeong Kim and Songhwai Oh, "Efficient Off-Policy Safe Reinforcement Learning Using Trust Region Conditional Value at Risk," IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7644-7651, Jul. 2022. [Video | Software] 

• JaeGoo Choy, Geonho Cha, and Songhwai Oh, "Unsupervised 3D Link Segmentation of Articulated Objects with a Mixture of Coherent Point Drift," IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7124-7131, Jul. 2022. [Project Page | Dataset | Video | Software] 

• Chanho Ahn, Eunwoo Kim, and Songhwai Oh, "Incremental Learning with Adaptive Model Search and a Nominal Loss Model," IEEE Access, vol. 10, pp. 16052-16062, 2022. 

• Mineui Hong, Kyungjae Lee, Minjae Kang, Wonsuhk Jung, and Songhwai Oh, "Dynamics-Aware Metric Embedding: Metric Learning in a Latent Space for Visual Planning," IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3388-3395, Apr. 2022. [Supplementary Material | Video | Software] 

• Dohyeong Kim and Songhwai Oh, "TRC: Trust Region Conditional Value at Risk for Safe Reinforcement Learning," IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2621-2628, Apr. 2022. [Video | Software] 

• Minjae Kang and Songhwai Oh, "Deep Latent-Space Sequential Skill Chaining from Incomplete Demonstrations," Intelligent Service Robotics, vol. 15, pp. 203–213, Apr. 2022. 

• 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, vol. 66, no.12, pp. 5816-5829, Dec. 2021.

• Eunwoo Kim, Chanho Ahn, and Songhwai Oh, "Auto-VirtualNet: Cost-Adaptive Dynamic Architecture Search for Multi-Task Learning," Neurocomputing, vol. 442, pp. 116-124, Jun. 2021.

• 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

• Hogun Kee, Wooseok Oh, Minjae Kang, Hyemin Ahn, and Songhwai Oh, "Tidiness Score-Guided Monte Carlo Tree Search for Visual Tabletop Rearrangement," IEEE International Conference on Robotics and Automation (ICRA), May 2026. (RA-L option) [Video] (Accepted) 

• Minjae Kang, Mineui Hong, and Songhwai Oh, "Playbook: Scalable Discrete Skill Discovery from Unstructured Datasets for Long-Horizon Decision-Making Problems," IEEE International Conference on Robotics and Automation (ICRA), May 2026. (RA-L option) [Video] (Accepted) 

• Howoong Jun, Seongbo Ha, Jaewon Lee, Hyeonwoo Yu, and Songhwai Oh, "Memory-Efficient Voxelized Renderable Neural 3D Spatial Representation for Vision-Based Robotics," IEEE International Conference on Robotics and Automation (ICRA), May 2026. (RA-L option) [Video] (Accepted) 

• Geunje Cheon, Junseok Kim, Gunmin Lee, Subin Shin, Jeongho Park, Jaewon Lee, Hyeokjin Kwon, and Songhwai Oh, "Multi-Agent Tsallis Actor-Critic for Autonomous Vehicle Fleet Coordination on Road Graph Networks," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Nov. 2025.

• Minjae Kang, Hogun Kee, Hosung Lee, and Songhwai Oh, "Automatic Real-to-Sim-to-Real System through Iterative Interactions for Robust Robot Manipulation Policy Learning with Unseen Objects," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2025. [Video] 

• Jeongho Park and Songhwai Oh, "Context-Aware Multi-Agent Trajectory Transformer," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2025. [Video] 

• Wooseok Oh, Hogun Kee and Songhwai Oh, "Language-Guided Hierarchical Planning with Scene Graphs for Tabletop Object Rearrangement," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2025. [Video] 

• Dohyeong Kim, Hyeokjin Kwon, Junseok Kim, Gunmin Lee, and Songhwai Oh, "Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcement Learning Approach," in Proc of the IEEE International Conference on Robotics and Automation (ICRA), May 2025. [Video]

• Dohyeong Kim, Mineui Hong, Jeongho Park, and Songhwai Oh, "Conflict-Averse Gradient Aggregation for Constrained Multi-Objective Reinforcement Learning," in Proc. of the International Conference on Learning Representations (ICLR), Apr. 2025.

• Hojun Chung, Junseo Lee, Minsoo Kim, Dohyeong Kim, and Songhwai Oh, "Adversarial Environment Design via Regret-Guided Diffusion Models," in Proc. of Neural Information Processing Systems (NeurIPS), Dec. 2024. [Video] (Spotlight)

• Dohyeong Kim, Taehyun Cho, Seungyub Han, Hojun Chung, Kyungjae Lee, and Songhwai Oh, "Spectral-Risk Safe Reinforcement Learning with Convergence Guarantees," in Proc. of Neural Information Processing Systems (NeurIPS), Dec. 2024. 

• Hogun Kee and Songhwai Oh "Scene Generation for Object Rearrangement with Latent Diffusion Models," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2024.

• Jeongho Park, Obin Kwon and Songhwai Oh "Spatially-Conditional 3D Furniture Generation Model for Indoor Scene Synthesis," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2024.

• Jaeyeon Jeong, Jonghyun Park, and Songhwai Oh, "Effective Exploration Via Tsallis Actor-Critic on 6D Robot Grasping," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Nov. 2024. 

• Minsoo Kim, Obin Kwon, Howoong Jun, and Songhwai Oh, "RNR-Nav: A Real-World Visual Navigation System Using Renderable Neural Radiance Maps," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024. [Video] (Oral Presentation)

• Jae Goo Choy, Geonho Cha, Hogun Kee, and Songhwai Oh, "Unsupervised 3D Part Decomposition via Leveraged Gaussian Splatting," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024. [Video] 

• Minjae Kang, Hogun Kee, Yoseph Park, Junseok Kim, Jaeyeon Jeong, Geunje Cheon, Jaewon Lee, and Songhwai Oh, "Gradual Receptive Expansion Using Vision Transformer for Online 3D Bin Packing," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024. [Video] 

• Howoong Jun, Hyeonwoo Yu, and Songhwai Oh, "Renderable Street View Map-Based Localization: Leveraging 3D Gaussian Splatting for Street-Level Positioning," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024. [Video]

• Hyeokjin Kwon, Gunmin Lee, Junseo Lee, and Songhwai Oh "Safe CoR: A Dual-Expert Approach to Integrating Imitation Learning and Safe Reinforcement Learning Using Constraint Rewards," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024. [Video]

• Hwiyeon Yoo, Yunho Choi, Jeongho Park, and Songhwai Oh, "Commonsense-Aware Object Value Graph for Object Goal Navigation," 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Sep. 2024. (RA-L option) 

• Obin Kwon, Dongki Jung, Youngji Kim, Soohyun Ryu, Suyong Yeon, Songhwai Oh, and Donghwan Lee, "WayIL: Image-based Indoor Localization with Wayfinding Maps," in Proc of the IEEE International Conference on Robotics and Automation (ICRA), May 2024. [Video] 

• Hojun Chung, Jeongwoo Oh, Jaeseok Heo, Gunmin Lee, and Songhwai Oh, "MAC-ID: Multi-Agent Reinforcement Learning with Local Coordination for Individual Diversity," in Proc of the IEEE International Conference on Robotics and Automation (ICRA), May 2024. [Video] 

• Mineui Hong, Minjae Kang, and Songhwai Oh, "Diffused Task-Agnostic Milestone Planner," in Proc. of Neural Information Processing Systems (NeurIPS), Dec. 2023. 

• Dohyeong Kim, Kyungjae Lee, and Songhwai Oh, "Trust Region-Based Safe Distributional Reinforcement Learning for Multiple Constraints," in Proc. of Neural Information Processing Systems (NeurIPS), Dec. 2023. 

• Minyoung Hwang, Gunmin Lee, Hogun Kee, Chan Woo Park, Kyungjae Lee, and Songhwai Oh, "Sequential Preference Ranking for Efficient Reinforcement Learning from Human Feedback," in Proc. of Neural Information Processing Systems (NeurIPS), Dec. 2023. 

• Minjae Kang, Junseok Kim, Hogun Kee, and Songhwai Oh, "Object Rearrangement Planning for Target Retrieval in a Confined Space with Lateral View," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2023. [Video] 

• Junseo Lee, Jaeseok Heo, Dohyeong Kim, Gunmin Lee, and Songhwai Oh, "Dual Variable Actor-Critic for Adaptive Safe Reinforcement Learning," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2023. [Video] 

• Jeongho Park, Obin Kwon and Songhwai Oh "Attention-Based Randomized Ensemble Multi-Agent Q-Learning," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2023. 

• Obin Kwon, Jeongho Park, and Songhwai Oh, "Renderable Neural Radiance Map for Visual Navigation,"  in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2023. [Project Page | Video | Supplementary Material | arXiv preprint]  (Highlight Paper at CVPR 2023, Acceptance Rate: 2.5%)

• Minyoung Hwang, Jaeyeon Jeong, Minsoo Kim, Yoonseon Oh, and Songhwai Oh, "Meta-Explore: Exploratory Hierarchical Vision-and-Language Navigation Using Scene Object Spectrum Grounding,"  in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Jun. 2023. [Project Page | Video | Supplementary Material | arXiv preprint]

• Jeongwoo Oh, Jaeseok Heo, Junseo Lee, Gunmin Lee, Minjae Kang, Jeongho Park, and Songhwai Oh, "SCAN: Socially-Aware Navigation Using Monte Carlo Tree Search," in Proc of the IEEE International Conference on Robotics and Automation (ICRA), May 2023. [Video]

• Hogun Kee, Minjae Kang, Dohyeong Kim, Jaegoo Choy, and Songhwai Oh, "SDF-Based Graph Convolutional Q-Networks for Rearrangement of Multiple Objects," in Proc of the IEEE International Conference on Robotics and Automation (ICRA), May 2023. [Video]

• Nuri Kim, Obin Kwon, Hwiyeon Yoo, Yunho Choi, Jeongho Park, and Songhwai Oh, "Topological Semantic Graph Memory for Image-Goal Navigation," in Proc of the Conference on Robot Learning (CoRL), Dec. 2022. [Project Page | Software | Video | Supplementary Material]  (Oral Presentation, Acceptance Rate: 6.5%) 

• Gunmin Lee, Wooseok Oh, Jeongwoo Oh, Seungyoun Shin, Dohyeong Kim, Jaeyeon Jeong, Sungjoon Choi, and Songhwai Oh "Semi-Supervised Imitation Learning with Mixed Qualities of Demonstrations for Autonomous Driving," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Nov. 2022. 

• Howoong Jun, Sangil Lee, and Songhwai Oh, "EventPointNet: Robust Keypoint Detection with Neuromorphic Camera Data," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Nov. 2022. [Software] 

• Dohyeong Kim, Jaeseok Heo, and Songhwai Oh, "SafeTAC: Safe Tsallis Actor-Critic Reinforcement Learning for Safer Exploration," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022. [Video] 

• Jeongwoo Oh, Gunmin Lee, Jeongeun Park, Wooseok Oh, Jaeseok Heo, Hojun Chung, Do Hyung Kim, Byungkyu Park, Chang-Gun Lee, Sungjoon Choi, and Songhwai Oh, "Towards Defensive Autonomous Driving: Collecting and Probing Driving Demonstrations of Mixed Qualities," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022. [Project Page | Dataset | Video] 

• Dohyeong Kim, Yunho Kim, Kyungjae Lee, and Songhwai Oh, "Safety Guided Policy Optimization," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022. [Video] 

• Minjae Kang, Hogun Kee, Junseok Kim, and Songhwai Oh, "Grasp Planning for Occluded Objects in a Confined Space with Lateral View Using Monte Carlo Tree Search," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022. [Video] 

• Timothy Ha, Jeongwoo Oh, Hojun Chung, Gunmin Lee, and Songhwai Oh, "RIANet: Road Graph and Image Attention Network for Urban Autonomous Driving," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022. [Video] 

• Dohyeong Kim and Songhwai Oh, "Efficient Off-Policy Safe Reinforcement Learning Using Trust Region Conditional Value at Risk," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022. (RA-L option) [Video | Software] 

• JaeGoo Choy, Geonho Cha, and Songhwai Oh, "Unsupervised 3D Link Segmentation of Articulated Objects with a Mixture of Coherent Point Drift," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022. (RA-L option) [Project Page | Dataset | Video | Software] 

• Hyemin Ahn, Obin Kwon, Kyungdo Kim, Jaeyeon Jeong, Howoong Jun, Hongjung Lee, Dongheui Lee, and Songhwai Oh, "Visually Grounding Language Instruction for History-Dependent Manipulation," in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2022.  

• Mineui Hong, Kyungjae Lee, Minjae Kang, Wonsuhk Jung, and Songhwai Oh, "Dynamics-Aware Metric Embedding: Metric Learning in a Latent Space for Visual Planning," IEEE International Conference on Robotics and Automation (ICRA), May 2022. (RA-L option) [Supplementary Material | Video | Software]  

• Dohyeong Kim and Songhwai Oh, "TRC: Trust Region Conditional Value at Risk for Safe Reinforcement Learning," IEEE International Conference on Robotics and Automation (ICRA), May 2022. (RA-L option) [Video | Software]  

• Seunggyu Chang, Jungchan Cho, and Songhwai Oh, "Texture Generation Using Dual-Domain Feature Flow with Multi-View Hallucinations," in Proc. of the AAAI Conference on Artificial Intelligence (AAAI), Feb. 2022.  

• Obin Kwon, Nuri Kim, Yunho Choi, Hwiyeon Yoo, Jeongho Park, and Songhwai Oh, "Visual Graph Memory with Unsupervised Representation for Visual Navigation," in Proc. of the International Conference on Computer Vision (ICCV), Oct. 2021. [Project Page | Supplementary Material | Video | Software]  

• Hwiyeon Yoo, Jungho Yi, Jong Mo Seo, and Songhwai Oh, "Actualization of Deep Ego-motion Classification on Miniaturized Octagonal Compound Eye Camera," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2021. (Best Poster Paper Award Winner)

• Wooseok Oh, Hwiyeon Yoo, Timothy Ha, and Songhwai Oh, "Vision-Based 3D Reconstruction Using a Compound Eye Camera," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2021.

• Mineui Hong and Songhwai Oh "Learning Latent Dynamics from Multi-View Observations for Image-Based Control," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2021.

• Hogun Kee, Dohyeong Kim, and Songhwai Oh, "Decomposed Q-Learning for Non-Prehensile Rearrangement Problem," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2021.

• Obin Kwon and Songhwai Oh, "Image-Goal Navigation Algorithm using Viewpoint Estimation," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2021.

• Minyoung Hwang, Obin Kwon, and Songhwai Oh, "Geometric Understanding of Reward Function in Multi-Agent Visual Exploration," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2021.

• Jae Seok Heo, Yunho Choi, and Songhwai Oh, "Image-Goal Navigation via MetricMapping and Keypoint based Reinforcement Learning," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2021.

• Nuri Kim, Minjae Kang, and Songhwai Oh, "Semantic Descriptors into Representation for Robust Indoor Visual Place Recognition," in Proc. of the International Conference on Control, Automation and Systems (ICCAS), Oct. 2021.

• Timothy Ha, Gunmin Lee, Dohyeong Kim, and Songhwai Oh, "Road Graphical Neural Networks for Autonomous Roundabout Driving," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2021.

• Minjae Kang and Songhwai Oh, "Deep Skill Chaining from Incomplete Demonstrations," International Conference on Ubiquitous Robots, Jul. 2021. (Best Conference Paper Award Finalist)

• Yunho Choi and Songhwai Oh, "Image-Goal Navigation via Keypoint-Based Reinforcement Learning," in Proc. of the International Conference on Ubiquitous Robots, Jul. 2021.

• Hwiyeon Yoo and Songhwai Oh, "Localizability-based Topological Local Object Occupancy Map for Homing Navigation," in Proc. of the International Conference on Ubiquitous Robots, Jul. 2021.

• 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] 

• 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] 
  

• Gunmin Lee, Dohyeong 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] 
  

• 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 | Software] 
  

• 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 | Software]

• 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. [Software]

• 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. [Software]
  

• 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 | Software]
  

• Geonho Cha, Minsik Lee, and Songhwai Oh, "Unsupervised 3D Reconstruction Networks," in Proc. of the International Conference on Computer Vision (ICCV), Oct. 2019. [Software]

• 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

• Dohyeong Kim, Mineui Hong, Jeongho Park, and Songhwai Oh, "Scale-Invariant Gradient Aggregation for Constrained Multi-Objective Reinforcement Learning," arXiv preprint:2403.00282, 2024.

• Mineui Hong, Kyungjae Lee, Minjae Kang, Wonsuhk Jung, and Songhwai Oh, "Supplementary Material for Dynamics-Aware Metric Embedding: Metric Learning in a Latent Space for Visual Planning," ECE, Seoul National University, Technical Report, 2022.

• 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.