**UNDER CONSTRUCTION: When I say it is under construnction, I really mean it.**

BYOB Intelligence Group (BIG)
Bring your own bot, and we will add intelligence to them
Members | Bots | Projects | Publications

In our group, we develop algorithms and intelligence architectures to provide cognitive capabilities for robotic platforms. What we do here is platform independent as our name implies: Bring your own bots, and we will add intelligence to them. Alternatively, it can be also called: Build your own bots, and we will build intelligence for them.

Keywords: conversational mobile robots, social navigation, planning from natural language, vision-language fusion, semantic classification, image to text, text to image, plan to explanation; probabilistic models, reinforcement learning, inverse reinfocement learning (IRL), deep IRL, deep learning

  MEMBERS
Jean Oh, PI Xavier Perez-Sala Andy (Chieh-En) Tsai Junjiao Tian Yeeho Song
Satyen Rajpal Krishna Toshniwal Jagjeet Singh

 BOTS
Meet our robots that can follow natural language commands.
LAGR
(NREC)
Husky1
(ClearPath)
Andy
(Barrett)
Shmoo
(Ballbot by Ralph Hollis)

 RESEARCH

Conversational Mobile Robots

S.-R. Shiang, A. Gershman and J. Oh   A Generalized Model for Multimodal Perception. AAAI Fall Symposium, November 2017 [pdf].

J. Hu, D. Fan, S. Yao and J. Oh   Answer-Aware Attention on Grounded Question Answering in Images. AAAI Fall Symposium, November 2017 [pdf].

S. Shiang, S. Rosenthal, A. Gershman, J. Carbonell, J. Oh. Vision-Language Fusion for Object Recognition.  In Proc. of AAAI Conference on Artificial Intelligence (AAAI), 2017. [pdf]

J. Hu, J. Oh, A. Gershman. Learning Lexical Entries for Robotic Commands using Crowdsourcing. In Proc. of AAAI Conference on Human Computation (HCOMP), 2016 (short paper).[pdf]

J. Oh, M. Zhu, S. Park, T.M. Howard, M.R. Walter, D. Barber, O. Romero, A. Suppe, L. Navarro-Serment, F. Duvallet, A. Boularias, J. Vinokurov, T. Keegan, R. Dean, C. Lennon, B. Bodt, M. Childers, J. Shi, K. Daniilidis, N. Roy, C. Lebiere, M. Hebert, and A. Stentz. Integrated intelligence for human-robot teams. In Proc. of International Symposium on Experimental Robotics (ISER) 2016 [pdf].

A. Boularias, F. Duvallet, J. Oh, and A. Stentz. Learning Qualitative Spatial Relations for Robotic Navigation. in  Proc. of International Joint Conference on Artificial Intelligence (IJCAI), 2016 [pdf].

J. Oh, L. Navarro-Serment, A. Suppe, A. Stentz, M. Hebert, Inferring door locations from a teammate's trajectory in stealth human-robot team operations. In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015 [pdf].

J. Oh, A. Suppe, F. Duvallet, A. Boularias, J. Vinokurov, L. Navarro-Serment, O. Romero, R. Dean, C. Lebiere, M. Hebert, and A. Stentz. Toward mobile robots reasoning like humans. In Proc. of AAAI Conference on Artificial Intelligence (AAAI), 2015. [pdf]

A. Boularias, F. Duvallet, J. Oh, and A. Stentz. Learning to ground spatial relations for outdoor robot navigation. In Proc. of IEEE Conference on Robotics and Automation (ICRA), 2015. [pdf] *Best Cognitive Robotics Paper Award*


Social Navigation

A. Vemula, K. Muelling, J. Oh. Social Attention: Modeling Attention in Human Crowds. In Proc. of IEEE Conference on Robotics and Automation (ICRA), 2018 (to appear) [ArXiv].

A. Vemula, K. Muelling, J. Oh. Modeling cooperative navigation in dense human crowds. In Proc. of IEEE Conference on Robotics and Automation (ICRA), 2017 [pdf].

A. Vemula, K. Muelling, J. Oh. Path Planning in Dynamic Environments with Adaptive Dimensionality. In Proc. of International Symposium on Combinatorial Search (SoCS) 2016. [pdf]


Fast & Frugal Semantic Classification

(new)

Deep Inverse Reinforcement Learning for Safe Navigation

(new)


 ALUMNI
Sz-Rung ShiangLTI MSBloomberg Research, NYC
Junjie HuLTI MSLTI PhD student
Anirudh VemulaRI MS RI PhD student
Matthew WilsonRISS Summer ScholarUniv. of Utah undergraduate student
Jie-Eun HwangVisiting scholarProfessor, Univ. of Seoul, Korea
Kevin Zhang Summer intern CMU undergraduate student
Michael Jason Gnanasekar Summer intern Facebook
Sonia Appasamy Summer intern Cornell undergraduate student

Acknowledgement: Our research is funded by U.S. Army Research Lab., Air Force Office of Scientific Research, Defense Advanced Research Projects Agency, and DiDi Chuxing.