Songhwai Oh

A Nonparametric Motion Flow Model for Human Robot Cooperation

2018

In this paper, we present a novel nonparametric motion flow model that effectively describes a motion trajectory of a human and its application to human robot cooperation. To this end, motion flow similarity measure which …

Sparse Markov Decision Processes With Causal Sparse Tsallis Entropy Regularization for Reinforcement Learning

2018 · IEEE Robotics and Automation Letters

In this letter, a sparse Markov decision process (MDP) with novel causal sparse Tsallis entropy regularization is proposed. The proposed policy regularization induces a sparse and multimodal optimal policy distribution of a sparse MDP. The …

Semi-Supervised Imitation Learning with Mixed Qualities of Demonstrations for Autonomous Driving

2021 · arXiv (Cornell University)

In this paper, we consider the problem of autonomous driving using imitation learning in a semi-supervised manner. In particular, both labeled and unlabeled demonstrations are leveraged during training by estimating the quality of each unlabeled …

Attention-Based Randomized Ensemble Multi-Agent Q-Learning

2023

Cooperative multi-agent scenarios are prevalent in real-world applications. Optimal coordination of agents requires appropriate task allocation, considering each task's complexity and each agent's capability. This becomes challenging under decentralization and partial observability, as agents must …

Safe CoR: A Dual-Expert Approach to Integrating Imitation Learning and Safe Reinforcement Learning Using Constraint Rewards

2024 · arXiv (Cornell University)

In the realm of autonomous agents, ensuring safety and reliability in complex and dynamic environments remains a paramount challenge. Safe reinforcement learning addresses these concerns by introducing safety constraints, but still faces challenges in navigating …