Publications

Welcome to the CLeAR lab publications page. CLeAR Group Members are marked with a ★.
Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social Navigation
Linh Kästner, Volodymyr Shcherbyna, Harold Soh, Giang Nguyen Huu Truong, Do Duc Anh, Ton Manh Kien, Tim Seeger, Ahmed Martban, Vu Thanh Lam, Nguyen Quoc Hung, Pham Thai Hoang Tung, Tran Dang An, Eva Wiese, Maximilian Ho-Kyoung Schreff
Robotics: Science and Systems (RSS) , 2025
[BibTeX]

GeNIE: A Generalizable Navigation System for In-the-Wild Environments
Jiaming Wang★, Diwen Liu★, Jizhuo Chen★, Jiaxuan Da, Nuowen Qian, Tram Minh Man, Harold Soh★
arXiv preprint , 2025
1st Place - Earth Rover Challenge (ERC) at ICRA 2025
[BibTeX]

Arena 4.0: A Comprehensive ROS2 Development and Benchmarking Platform for Human-centric Navigation Using Generative-Model-based Environment Generation
Linh Kästner★, Volodymyir Shcherbyna★, Diego Diaz, Huu Giang Nguyen, Maximilian Ho-Kyoung Schreff, Tim Lenz, Jonas Kreutz, Ahmed Martban, Huajian Zeng, Harold Soh
ICRA 2025 , 2025
[BibTeX]

DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting
Ce Hao★, Kelvin Lin★, Zhiwei Xue★, Siyuan Luo, Harold Soh★
IEEE Robotics and Automation Letters(RA-L) , 2025
[BibTeX]

CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks
Ce Hao★, Anxing Xiao, Zhiwei Xue★, Harold Soh★
Conference on Robot Learning (CoRL) , 2025
[BibTeX]

Diffusion Meets Options: Hierarchical Generative Skill Composition for Temporally-Extended Tasks
Zeyu Feng★, Hao Luan★, Kevin Ma, Harold Soh★
IEEE International Conference on Robotics and Automation (ICRA) , 2025
[BibTeX]

Know When to Abstain: Optimal Selective Classification with Likelihood Ratios
Alvin Heng★, Harold Soh★
arXiv preprint , 2025
[BibTeX]

Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers
Jianxin Bi★, Kelvin Lin★, Kaiqi Chen★, Yifei Huang★ and Harold Soh★
IEEE International Conference on Robotics and Automation (ICRA) , 2025
[BibTeX]

VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
Jianxin Bi★, Kevin Yuchen Ma, Ce Hao★, Mike Shou Zheng, and Harold Soh★
arXiv preprint , 2024
[BibTeX]

SocRATES: Towards Automated Scenario-based Testing of Social Navigation Algorithms
Shashank Rao Marpally★, Pranav Goyal★, and Harold Soh★
arXiv preprint , 2024
[BibTeX]

Out-of-Distribution Detection with a Single Unconditional Diffusion Model
Alvin Heng★, Alexandre H. Thiery, Harold Soh★
Neural Information Processing Systems (NeurIPS) , 2024
[BibTeX]

Stochastic Bandits for Egalitarian Assignment
Eugene Lim★, Vincent Tan, Harold Soh★
Transactions on Machine Learning Research (TMLR) , 2024
[BibTeX]

LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planning
Zeyu Feng★, Hao Luan★, Pranav Goyal★, Harold Soh★
IEEE Robotics and Automation Letters , 2024
[BibTeX]

Generative Modeling with Flow-Guided Density Ratio Learning
Alvin Heng★, Abdul Fatir Ansari★, and Harold Soh★
Joint European Conference on Machine Learning and Knowledge Discovery in Databases , 2024
[BibTeX]

Octopi: Object Property Reasoning with Large Tactile-Language Models
Samson Yu★, Kelvin Lin★, Anxing Xiao, Jiafei Duan, and Harold Soh★
Robotics: Science and Systems 2024 (R:SS) , 2024
[BibTeX]

Don’t Start from Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion
Kaiqi Chen★, Eugene Lim★ , Kelvin Lin★, Yiyang Chen★, and Harold Soh★
Robotics: Science and Systems (R:SS) , 2024
[BibTeX]

Arena 3.0: Advancing Social Navigation in Collaborative and Highly Dynamic Environments
Linh Kästner★, Volodymyir Shcherbyna★, Huajian Zeng, Tuan Anh Le, Maximilian Ho-Kyoung Schreff, Halid Osmaev, Nam Truong Tran, Diego Diaz, Jan Golebiowski, Harold Soh★, Jens Lambrecht
Robotics: Science and Systems (R:SS) , 2024
[BibTeX]

GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional Grasps
Tasbolat Taunyazov★, Kelvin Lin★, Harold Soh★
Robotics: Science and Systems (R:SS) , 2024
[BibTeX]

Probable Object Location (POLo) Score Estimation for Efficient Object Goal Navigation
Jiaming Wang★, Harold Soh★
IEEE International Conference on Robotics and Automation (ICRA) , 2024
[BibTeX]

Selective Amnesia: A Continual Learning Approach to Forgetting in Deep Generative Models
Alvin Heng★, Harold Soh★
Neural Information Processing Systems (NeurIPS) , 2023
Spotlight
[BibTeX]

The Best of Both Worlds in Network Population Games: Reaching Consensus and Convergence to Equilibrium
Shuyue Hu, Harold Soh★, Georgios Piliouras
Neural Information Processing Systems (NeurIPS) , 2023
[BibTeX]

Latent Emission-Augmented Perspective-Taking (LEAPT) for Human-Robot Interaction
Kaiqi Chen★, Jing Yu Lim★, Kingsley Kuan★, and Harold Soh★
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023
[BibTeX]

Large Language Models as Zero-Shot Human Models for Human-Robot Interaction
Bowen Zhang★, Harold Soh★
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023
[BibTeX]

Refining 6-DoF Grasps with Context-Specific Classifiers
Tasbolat Taunyazov★, Heng Zhang★, John Patrick Eala★, Na Zhao, Harold Soh★
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023
[BibTeX]

Neural Continuous-Discrete State Space Models for Irregularly-Sampled Time Series
Abdul Fatir Ansari★, Alvin Heng★, Andre Lim★, and Harold Soh★
International Conference on Machine Learning (ICML) , 2023
Oral Presentation
[BibTeX]

Translating Natural Language to Planning Goals with Large-Language Models
Yaqi Xie★, Chen Yu★, Tongyao Zhu, Jinbin Bai, Ze Gong★, Harold Soh★
arXiv preprint , 2023
[BibTeX]

Safety-Constrained Policy Transfer with Successor Features
Zeyu Feng★, Bowen Zhang★, Jianxin Bi★, Harold Soh★
IEEE International Conference on Robotics and Automation (ICRA) , 2023
[BibTeX]

Observed Adversaries in Deep Reinforcement Learning
Eugene Lim★ and Harold Soh★
AAAI Fall Symposium Series, Artificial Intelligence for Human-Robot Interaction , 2022
[BibTeX]

SCALES: From Fairness Principles to Constrained Decision-Making
Sreejith Balakrishnan★, Jianxin Bi★, and Harold Soh★
AAAI/ACM conference on Artificial Intelligence, Ethics and Society (AIES) , 2022
[BibTeX]

The Dynamics of Q-learning in Population Games: a Physics-Inspired Continuity Equation Model
Shuyue Hu★, Chin-Wing Leung, Ho-fung Leung, and Harold Soh★
International Conference on Autonomous Agents and Multiagent Systems (AAMAS) , 2022
[BibTeX]

MIRROR: Differentiable Deep Social Projection for Assistive Human-Robot Communication
Kaiqi Chen★, Jeffrey Fong★, and Harold Soh★
Proceedings of Robotics: Science and Systems , 2022
[BibTeX]

Deep Explicit Duration Switching Models for Time Series
Abdul Fatir Ansari★, Konstantinos Benidis, Richard Kurle, Ali Caner Turkmen, Harold Soh★, Alex Smola, Bernie Wang, Tim Januschowski
Neural Information Processing Systems (NeurIPS) , 2021
[BibTeX]

Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects
Tasbolat Taunyazov★, Luar Shui Song★, Eugene Lim★, Hian Hian See, David Lee, Benjamin C.K. Tee, Harold Soh★
IEEE International Conference on Intelligent Robots and Systems (IROS) , 2021
Best Paper Award
[BibTeX]

Embedding Symbolic Temporal Knowledge into Deep Sequential Models
Yaqi Xie ★, Fan Zhou ★, and Harold Soh ★
IEEE International Conference on Robotics and Automation (ICRA) , 2021
[BibTeX]

Multi-Modal Mutual Information (MuMMI) Training for Robust Self-Supervised Deep Reinforcement Learning
Kaiqi Chen★, Yong Lee★, and Harold Soh★
IEEE International Conference on Robotics and Automation (ICRA) , 2021
[BibTeX]

Refining Deep Generative Models via Discriminator Gradient Flow
Abdul Fatir Ansari ★, Ming Liang Ang ★, and Harold Soh ★
International Conference on Learning Representations (ICLR), 2021 , 2021
[BibTeX]

Event-Driven Visual-Tactile Sensing and Learning for Robots
Tasbolat Taunyazov★, Weicong Sng★, Hian Hian See, Brian Lim, Jethro Kuan★, Abdul Fatir Ansari★, Benjamin Tee, and Harold Soh★
Robotics: Science and Systems Conference (RSS) , 2020
[BibTeX]

Getting to Know One Another: Calibrating Intent, Capabilities and Trust for Human-Robot Collaboration
Joshua Lee, Jeffrey Fong, Bing Cai Kok, Harold Soh
IEEE International Conference on Intelligent Robots and Systems (IROS) , 2020
[BibTeX]

TactileSGNet: A Spiking Graph Neural Network for Event-based Tactile Object Recognition
Fuqiang Gu★, Weicong Sng, Tasbolat Taunyazov★, and Harold Soh★
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2020
[BibTeX]

Fast texture classification using tactile neural coding and spiking neural network
Tasbolat Taunyazov★, Yansong Chua, Ruihan Gao, Harold Soh★, Yan Wu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2020
[BibTeX]

A characteristic function approach to deep implicit generative modeling
Abdul Fatir Ansari★, Jonathan Scarlett, and Harold Soh★
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) , 2020
Oral Presentation
[BibTeX]

Modeling the Interplay of Trust and Attention in HRI: an Autonomous Vehicle Study
Indu P Bodala, Bing Cai Kok, Weicong Sng, Harold Soh
Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI) , 2020
[BibTeX]

Juiced and Ready to Predict Private Information in Deep Cooperative Reinforcement Learning
Eugene Lim★, Bing Cai Kok★, Songli Wang★, Joshua Lee★, Harold Soh★
ACM/IEEE International Conference on Human-Robot Interaction (HRI) , 2020
[BibTeX]

Multi-Task Trust Transfer for Human Robot Interaction
Harold Soh★, Yaqi Xie★, Min Chen, and David Hsu
International Journal of Robotics Research (IJRR) , 2020
Best Paper Finalist
[BibTeX]

Efficient Exploration of Reward Functions in Inverse Reinforcement Learning via Bayesian Optimization
Sreejith Balakrishnan★, Quoc Phong Nguyen, Bryan Low and Soh, and Harold★
Neural Information Processing Systems (NeurIPS) , 2020
[BibTeX]

Embedding Symbolic Knowledge into Deep Networks
Yaqi Xie★, Ziwei Xu, Mohan Kankanhalli, Kuldeep S. Meel, and Harold Soh ★
Neural Information Processing Systems (NeurIPS) , 2019
[BibTeX]

Applying Probabilistic Programming to Affective Computing
Desmond Ong, Harold Soh ★, Jamil Zaki and Noah Goodman
IEEE Transactions on Affective Computing , 2019
Best Paper Award
[BibTeX]

Robot Capability and Intention in Trust-based Decisions across Tasks
Xie Yaqi★, Indu Prasad★, Desmond Ong, David Hsu and Harold Soh ★
ACM/IEEE Conference on Human Robot Interaction (HRI) , 2019
[BibTeX]

Towards Effective Tactile Identification of Textures using a Hybrid Touch Approach
Tasbolat Taunyazov★, Hui Fang Koh, Yan Wu, Caixia Cai, Harold Soh★
International Conference on Robotics and Automation (ICRA) , 2019
[BibTeX]

Generation meets recommendation: proposing novel items for groups of users
Thanh Vinh Vo★, Harold Soh★
Proceedings of the 12th ACM Conference on Recommender Systems , 2018
Best Paper Finalist
[BibTeX]

Planning with Trust for Human Robot Collaboration
Min Chen, Stefanos Nikolaidis, Harold Soh★, David Hsu, and Siddhartha Srinivasa.
Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction , 2018
Best Paper Finalist
[BibTeX]

For other pre-CLeAR publications, please see Harold's Google Scholar.