Research

[2025] Task-Aware Semantic Map

https://robots-oh.github.io/TASMap/
Daewon Choi, Hosung Lee, Soeun Hwang, Yoonseon Oh, "Task-Aware Semantic Map: Autonomous Robot Task Assignment Beyond Commands," ICRA 2025

[2025] GNN-Transformer Task planning

Soojin Jeong, Seongwan Byeon, Sangwoo Kim, HyeokJun Kwon, Yoonseon Oh, "GNN-Transformer Task Planning Enhanced with Semantic-Driven Data Augmentation", AAAI, 2025 (accept rate: 23.4%, Oral presentation:600 papers are selected out of over 3,000 accepted papers)

[2024] Pick-GPT

[2024] From Language to Grasp: Object Retrieval and Grasping Through Explicit and Implicit Linguistic Commands

[2023] Queue-based Executing and Replanning Framework for MAPF Execution Problem on Large-Scale.

[2023] Our Robot can make chocolate brownie!

Our cooking robot can make a brownie using a learned recipe.

Planning with State Abstractions for Non-Markovian Task Specifications

Yoonseon Oh, Roma Patel, Thao Nguyen, Baichuan Huang, Ellie Pavlick, and Stefanie Tellex. Planning with State Abstractions for Non-Markovian Task Specifications. In Proceedings of Robotics: Science and Systems (RSS), Freiburg, Germany, June 2019.

Multi-Object Search using Object-Oriented POMDPs

Arthur Wandzel, Yoonseon Oh, Michael Fishman, Nishanth Kumar, Lawson L. S. Wong, and Stefanie Tellex. Multi-Object Search using Object-Oriented POMDPs. In IEEE International Conference on Robotics and Automation (ICRA), 2019.

Online Learning to Approach a Person with No-Regret

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]

Chance-Constrained Target Tracking Using Sensors with Bounded Fan-Shaped Sensing Regions

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.

Multiple-Hypothesis Chance-Constrained Target Tracking Under Identity Uncertainty

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

Chance-Constrained Target Tracking for Mobile Robots

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.

Smartphone-Controlled Telerobotic Systems

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.

Topological Mapping and Navigation for iRobot Create

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.

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