Software @ GitHub

Deep Learning

• Deep Elastic Network

  • 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.

• Deep Learning Tutorial

  • Introduction to TensorFlow
  • Multilayer perceptrons (MLP)
  • Convolutional neural networks (CNN)
  • Recurrent neural networks (RNN)

Reinforcement Learning

• Efficient Off-Policy Safe RL

  • 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.

• TRC: Safe Reinforcement Learning

  • 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.

• Soft Action Particle

  • 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.

• Tsallis Actor Critic

  • Kyungjae Lee, Sungyub Kim, Sungbin Lim, Sungjoon Choi, and Songhwai Oh, "Tsallis Reinforcement Learning: A Unified Framework for Maximum Entropy Reinforcement Learning," arXiv preprint: 1902.00137, 2019.

• Deep Reinforcement Learning Algorithms

  • Behavior Cloning (Supervised Learning)
  • Value Iteration and Policy Iteration
  • SARSA and Q Learning
  • Deep Q Learning
  • Policy Gradient
  • Actor Critic Methods
  • Model based RL and Learning from Demonstrations
  • Inverse Reinforcement Learning

Autonomous Driving

• Mixture of Gaussians DQN

  • Yunho Choi, Kyungjae Lee, and Songhwai Oh, "Distributional Deep Reinforcement Learning with a Mixture of Gaussians," in Proc. of the IEEE International Conference on Rototics and Automation (ICRA), May. 2019.

• Model Predictive Control STL

  • 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.

Robotics and Computer Vision

• Visual Graph Memory

  • 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]

• Unsupervised 3D Reconstruction

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

• Mixture of Coherent Pont Drift

  • 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, May. 2022.

More Software

Text2Action

A neural network for generative adversarial synthesis from language to action. The algorithm is based on the following paper:

• 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]

Pedestrian Detection

A detection algorithm for frequently and heavily overlapped pedestrians. This algorithm is based on the following paper:

• 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)

Random Projection Forests

A variant of random forest algorithm using compressive sensing which is applied to estimate head pose from a low resolution image. This algorithm is based on the following paper:

• Donghoon Lee, Ming-Hsuan Yang, and Songhwai Oh, "Fast and Accurate Head Pose Estimation via Random Projection Forests," in Proc. of the IEEE International Conference on Computer Vision (ICCV), Dec. 2015.

factEN

A low-rank matrix approximation algorithm using elastic-net regularization of singular values. This algorithm is based on the following papers:

• 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.
• 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.

Multi-Scan MCMCDA

A multi-target tracking algorithm for tracking an unknown number of targets in a cluttered environment. This algorithm is based on the following article:

• 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.