Publications

Welcome to the CLeAR lab publications page. CLeAR Group Members are marked with a ★.
Know When to Abstain: Optimal Selective Classification with Likelihood Ratios
Alvin Heng★, Harold Soh★
Preprint
[BibTeX]

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

LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planning
Zeyu Feng★, Hao Luan★, Pranav Goyal★, Harold Soh★
IEEE Robotics and Automation Letters
[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 2024 (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 2024 (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
[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
[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 ’20
[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)
[BibTeX]

Multi-Task Trust Transfer for Human Robot Interaction
Harold Soh★, Yaqi Xie★, Min Chen, and David Hsu
International Journal of Robotics Research (IJRR)
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.
HRI '18: Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction
Best Paper Finalist
[BibTeX]

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