Code
Videos
Blog
- May 22, 2025
-
April 11, 2025
RSS 2025 - Paper Accepted!
Our paper focusing on bio-inspired animal learning for legged locomotion skill acquisition has been accepted for presentation at Robotics: Science and Systems (RSS 2025), which will be held in-person from 21 to 25 June 2025 in Los Angeles, CA, USA. In this work, we present a novel, bio-inspired framework for learning torque-based locomotion policies, by getting inspired by animal growth and simplified muscle models, leading to exceptionally robust and compliant policies with essentially no sim-to-real gap. I am so proud of this achievement, and cannot wait to present our impressive results at this prestigious venue!
Read more » -
February 10, 2025
IEEE Transactions on Intelligent Transportation Systems (T-ITS) - Paper Accepted
Our paper focusing on learned, decentralized coordination for homogeneous multi-agent traffic signal control has been accepted for publication in IEEE Transactions on Intelligent Transportation Systems (T-ITS). The final version of the paper is available from the publications page. Code and videos are linked to from within the paper. We hope you will enjoy the read/work:
Read more » -
January 28, 2025
ICRA 2025 - 4 Papers Accepted (One finalist for Best Paper Award on Multi-Robot Systems)!
All four of our papers have been accepted for presentation at the International Conference on Robotics and Automation (ICRA 2025), which will be held in-person from 19 to 23 May 2025 in Atlanta, GA, USA.
Read more » -
January 23, 2025
New Internship and Research Immersion (IRIS) Summer School
I was involved in the organization of the new Internship and Research Immersion (IRIS) Summer School, which will take place here at NUS for the first time this coming summer. If you are interested, or known anyone interested, please share this information with them. Looking forward to holding this exciting summer research program!
Read more » - January 16, 2025
-
January 10, 2025
Swarm and Evolutionary Computation - Paper Accepted
Our paper focusing on mission planning for Multi-UAV missions has been accepted for publication in Swarm and Evolutionary Computation. Have a great read:
Read more » -
January 10, 2025
IEEE Robotics and Automation Letters (RA-L) - Another Paper Accepted
Our paper focusing on decentralized task allocation for heterogeneous multi-robot systems has been accepted for publication in IEEE Robotics and Automation Letters (RA-L). The updated version of the paper is available from the publications page. Code and videos are linked to from within the paper. We hope you will enjoy the read/work:
Read more » -
December 10, 2024
AAAI 2025 - Paper Accepted
Our paper focusing on bringing together conventional and learning-based planning for large-scale multi-agent pathfinding in complex/dense environments has been accepted for presentation at the 39th Conference on Artificial Intelligence (AAAI 2025), which will take place 25 February through 4 March 2025 in Philadelphia, PA, USA.
Read more » -
November 05, 2024
IEEE Robotics and Automation Letters (RA-L) - Paper Accepted
Our paper focusing on hierarchical learning for single-robot autonomous navigation and exploration in unknown areas has been accepted for publication in IEEE Robotics and Automation Letters (RA-L). The updated version of the paper is available from arXiv. Code and videos are linked to from within the paper. We hope you will enjoy the read/work:
Read more » -
September 06, 2024
CoRL 2024 - Paper Accepted
Our paper focusing on distributed MARL for visibility-based pursuit-evasion (also known as evasive search) has been accepted for presentation at the Conference on Robot Learning (CoRL 2024), which will take place 6-9 November 2024 in Munich, Germany.
Read more » -
August 01, 2024
DARS 2024 - Paper Accepted
Our paper focusing on communication-constrained, map-sharing-free multi-robot exploration of unknown areas, which develops an interesting communication learning method for this problem, has been accepted for oral presentation at the International Symposium on Distributed Autonomous Robotics Systems (DARS 2024), which will take place 28-30 October 2024 in New York City, NY, USA.
Read more » -
July 30, 2024
IROS 2024 - 5/5 Papers Accepted (Preprints Available Soon)
All our five papers submitted to IROS 2024 were accepted for oral presentation! The preprints of some of these papers is already available now, and all will be made available below as well as on the Publications tab shortly. See you all in Abu Dhabi!
Read more » -
June 12, 2024
One fully-funded PhD position Open for January 2025 Intake (Filled)
I currently have one fully-funded, 4-year PhD position open, specifically for January 2025 intake. Applications are due July 1st, 2024, for overseas applicants, while applicants currently residing in Singapore can apply until September 1st, 2024. If you are interested, please apply and indicate “NUS Research Scholarship” as your preferred source of funding. All details, including the link to the application portal, can be found here.
Read more » -
April 27, 2024
IROS 2024 - Papers Submitted (Preprints Available)
The preprints of some of the papers we submitted to IROS 2024 are available below as well as in the Publications tab.
Read more » -
March 01, 2024
Robotics and Automation Letters - Paper Accepted
Our paper focusing on large-scale autonomous robotic exploration of unknown spaces has been accepted for publication in IEEE Robotics and Automation Letters (RA-L). Congratulations Dr. Cao!
Read more » -
February 23, 2024
IEEE Transactions on Neural Networks and Learning Systems - Paper Accepted
Our paper focusing on neural-based Multi-objective Vehicle Routing Problems (MOVRP) has been accepted for publication in the prestigious IEEE Transactions on Neural Networks and Learning Systems (TNNLS). Congratulations Mingfeng!
Read more » -
February 16, 2024
Invited Seminar - UPenn GRASP Robotic Seminar (Recording Available)
I was honored to be invited as speaker for one of the regular-series GRASP Robotic seminars, organized and hosted by the great team at the University of Pennsylvania! You can watch or re-watch my invited UPenn GRASP seminar, entitled “Towards Learned Cooperation at Scale in Robotic Multi-Agent Systems,” using the link below:
Read more » -
January 29, 2024
ICRA 2024 - Three Papers Accepted
Three of our papers have been accepted for presentation at the International Conference on Robotics and Automation (ICRA 2024), which will be held in-person from 13 to 17 May 2024 in Yokohama, JP. One of the papers focuses on learning-based, decentralized multi-robot, multi-task assignment (MRTA), one discusses our new approach to decentralized, learning-based MAPF where agents are able to observe and reason about the entire state of the system through the development and processing of a new informative graph over the domain, and the last one on learning-based ergodic path planning for coverage by a team of heterogeneous robots.
Read more » -
January 15, 2024
First PhD Student Graduated: CAO Yuhong!
My first PhD student, Mr. Yuhong CAO, has successfully defended his thesis and has been awarded the title of Doctor (PhD) in Mechanical Engineering from NUS! I could not have asked for a better first PhD graduate, congratulations Yuhong!!
Read more » -
December 21, 2023
Full-Day Tutorial on Ergodic Control accepted at ICRA 2024
My colleagues Profs. Sylvain Calinon, Todd Murphey, Stefan Ivić, Ian Abraham, and Kathleen Fitzsimons, and I have proposed to organize a full-day tutorial on Ergodic control during ICRA 2024, and our proposal has been approved! More details about the schedule, content, and organization of this tutorial will follow via the website we are finalizing, so please stay tuned if you are interested in this very interesting, spectral approach to control, planning, and overall decision-making with a myriad of applications in robotics!
Read more » -
December 21, 2023
AAMAS 2024 - Two Papers Accepted
Two of our papers have been accepted for presentation at the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2024), which will be held in-person from 6 to 10 May 2024 in Auckland, NZ. One of the papers focuses on priority learning for multi-agent path finding (MAPF), while the other one presents a collaborative deep RL approach to the multi-objective vehicle routing problem (MOVRP). Both works have been accepted as full papers and will be presented orally at AAMAS 2024.
Read more » -
September 22, 2023
MRS 2023 - Paper Accepted
Our paper focusing on intent-based multi-agent informative path planning has been accepted for presentation at the IEEE International Symposium on Multi-Robot & Multi-Agent Systems, which will be held 4-5 December 2023 in Boston, Massachusetts, USA.
Read more » -
September 22, 2023
ICRA 2024 - Papers Submitted (Preprints Available)
The preprints of some of the papers we submitted to ICRA 2024 are available below as well as in the Publications tab.
Read more » -
August 31, 2023
CoRL 2023 - Paper Accepted
Our paper focusing on context-aware reactive mapless navigation in unknown environments has been accepted for presentation at the Conference on Robot Learning (CoRL 2023), which will be held in-person from 6-9 November in Atlanta, Georgia, USA.
Read more » -
June 22, 2023
IROS 2023 - Two Papers Accepted
Two of our papers, focusing on 1) communication learning for scalable, cooperative multi-agent pathfinding, and 2) persistent monitoring of multiple targets by a single autonomous robots using attention-based learning, have been accepted for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), which will be held in-person October 1 – 5, 2023 in Detroit, Michigan, USA.
Read more » -
April 25, 2023
ICML 2023 - Paper Accepted
Our paper focusing on model-based, offline learning of skills has been accepted for presentation at the International Conference on Machine Learning (ICML 2023), which will be held in-person from 23 to 29 July 2023 in Honolulu, Hawaii, USA.
Read more » -
March 27, 2023
Online Interactive PRIMAL demo available! Go try it :-)
One of my Bachelor’s project students this year has developped a cool online interactive demo for our (now somewhat older) trained PRIMAL model, where you can define grids of any size, add/remove obstacles, and add agents and goals freely, before seeing the results of PRIMAL planning reactive trajectories for all agents online in front of you. We will keep on improving this demo,. and likely add more models (e.g., PRIMAL2, SCRIMP, etc.), but please have a look and try it for yourself. Any feedback is of course very appreciated :-)
Read more » - February 21, 2023
-
February 12, 2023
Open Postdoc Position in Urban Traffic Control (V2I Communications, Communication Learning)
We have embarked on a large, three-year project centered around V2I communications (and in particular communication learning) for traffic control in the smart cities of tomorrow, with my colleague Prof. Marcelo ANG and a number of other faculties here at NUS’ ECE department. This project will be carried out with our colleagues at Cisco, as part of the new Cisco-NUS Corporate Laboratory. To help us in this research venture, we are looking to hire one Research Fellow (RF, i.e., PhD holder).
Read more » -
February 08, 2023
JAAMAS 2023 - Preprint Submitted and Available
We recently extended our paper focusing on bidirectional recurrent networks based communication learning for team-wide cooperation (which was presented at the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022), back in May 9-13 2022). This extended version is under review at Springer’s Autonomous Agents and Multi-Agent Systems, and the preprint is available from the publications page and below:
Read more » -
January 17, 2023
ICRA 2023 - Paper Accepted
Our paper focusing on the autonomous exploration of unknown environments using attention-based deep reinforcement learning has been accepted for presentation at the IEEE International Conference on Robotics and Automation (ICRA 2023), which will be held in-person from 29 May to 02 June 2023 in London, UK.
Read more » -
January 04, 2023
AAMAS 2023 - Two Papers Accepted
Two of our papers have been accepted for presentation at the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023), which will be held in-person from 29 May to 02 June 2023 in London, UK. One of the papers focuses on cooperative learning for decentralized traffic signal control (accepted as full paper), while the other one presents a new approach to communication learning for scalable, cooperative multi-agent pathfinding (accepted as extended abstract).
Read more » -
December 16, 2022
Paper accepted in IEEE Transactions on Vehicular Technology (IEEE-TVT)
Our paper focusing on mTSP-based path planning for UAV(s) in the presence of charging stations has been accepted publication in IEEE Transactions on Vehicular Technology. The preprint of this paper is available from the publications page and below.
Read more » -
November 29, 2022
DARS 2022 - Two Papers Accepted (Update: Best Student Paper Award)
Our paper describing a new attention-based neural network for quickly solving the MinMax multiple Traveling Salesman Problem (mTSP) has been accepted for oral presentation at the International Symposium on Distributed Autonomous Robotics Systems (DARS 2022), which will be held in-person from 28-30 November 2022 in Montbéliard, France. This paper was awarded the Best Student Paper Award at DARS 2022!
Read more » -
October 31, 2022
ICUS 2022 - Paper Accepted (Update: Best Paper Award)
Our paper presenting a framework for intelligent connected vehicles has been accepted for presentation at the IEEE International Conference on Unmanned Systems (ICUS 2022), which will be held in-person from 28-30 October 2022 in Guangzhou, China. This paper was awarded one of the Best Paper Awards at ICUS 2022!
Read more » -
September 11, 2022
CoRL 2022 - Paper Accepted
Our paper focusing on context-aware reactive navigation for adaptive informative path planning has been accepted for presentation at the Conference on Robot Learning (CoRL 2022), which will be held in-person from 14-18 December in Auckland, New Zeeland.
Read more » -
July 16, 2022
CDC 2022 - Paper Accepted
Our paper focusing on online, stable gait definition and changes for articulated mobile robots has been accepted for oral presentation at the IEEE Conference on Decision and Control (CDC 2022), which will be held in-person from 6-9 December 2022 in Cancun, Mexico.
Read more » -
June 30, 2022
RA-L/IROS 2022 - Paper Accepted
Our paper focusing on bio-inspired, visual-based foothold planning for hexapod robots locomoting and climbing over challenging environments has been accepted to both the IEEE Robotics and Automation (RA-L) journal, as well as for oral presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), which will be held in-person from 23-27 October 2022 in Kyoto, Japan.
Read more » -
April 20, 2022
NUS Mechanical Engineering Hiring (Still Open 20/10)
MULTIPLE positions at all levels (Lecturer, Assistant Professor, Associate Professor, Professor), more information here.
Read more » -
April 07, 2022
CRR 2022 - Review Paper Submitted and Preprint Available on arXiv
We submitted this review paper for potential publication in Springer’s Current Rohotics Reports, whose preprint is available on arXiv:
Read more » -
February 08, 2022
RA-L/ICRA 2022 - Two Papers Accepted
Our paper focusing on decentralized multi-agent/-robot foraging in unknown environments based on local sensing and implicit, stigmergic communication within the team using pheromones has been accepted into IEEE Robotics and Automation Letters (RA-L), as well as for oral presentation at the IEEE International Conference on Robotics and Automation (ICRA 2022), which will be held in-person from 23-27 May 2022 in Philadelphia, USA.
Read more » -
December 19, 2021
AAMAS 2022 - Paper Accepted
Our paper focusing on bidirectional recurrent networks based communication learning for team-wide cooperation has been accepted for oral presentation at the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022), which will be held online May 9-13 2022. The preprint version of this paper is available from the publications page and below:
Read more » -
September 27, 2021
Invited Seminar - ETHZ Autonomy Talks (Recording Available)
You can watch or re-watch my invited seminar, entitled “Distributed Collaboration in Robotic Multi-Agent Systems,” which I gave for the ETHZ Autonomy Talks organized by Prof. Frazzoli’s Group, using the link below:
Read more » -
June 04, 2021
DARS 2021 - Best Paper Award
Our paper focusing on heterogeneous multi-agent active search/coverage won the Best Paper Award at the 15th International Symposium on Distributed Autonomous Robotic Systems (DARS 2021), which was held online June 1-4 2021. We are incredibly grateful for this award, and very proud of this work! The preprint version of this paper is available from the publications page and the link below. Have a great read :-)
Read more » -
June 01, 2021
Guest Editor for the Distributed Mobile Robotic Systems topical collection in Springer Nature Applied Sciences
I am the main Guest Editor for the topical collection on Distributed Mobile Robotic Systems, organized by the Springer Nature Applied Sciences journal. More information can also be found in this flyer. Looking forward to your high quality submissions!
Read more » -
May 11, 2021
NeurIPS 2020 - Competition Track Paper Accepted
The NeurIPS invited proceedings paper our MAPF team here at the MARMot lab was involved in has been accepted for publication in the NeurIPS 2020 Proceedings! This paper discusses the Flatland competition that was organized by AICrowd and the swiss, german, and french railroad companies, as well as some of the winning entries to that competition (including our solution). The preprint of this paper is available on arXiv, have a great read:
Read more » -
March 31, 2021
NeurIPS 2020 - Preprint for Invited Proceedings Paper Available
The preprint of a NeurIPS invited proceedings paper our MAPF team here at the MARMot lab was involved in is now available on arXiv. This paper discusses the Flatland competition that was organized by AICrowd and the swiss, german, and french railroad companies, as well as some of the winning entries to that competition (including our solution). Have a great read:
Read more » -
March 01, 2021
ICRA 2021 - Papers Accepted
Our paper focusing on the autonomous proprioceptuion- and vision-based locomotion of a snake robot in obstacle-ridden environments has been accepted for oral presentation at the IEEE International Conference on Robotics and Automation (ICRA 2021), which will be held both in-person and online from May 30 to June 5 2021 in Xi’an, China. The preprint version of this paper is available from the publications page and below. Note that our paper “PRIMAL2”, which was accepted for publication in the RA-L journal, was also accepted for oral oral presentation at ICRA 2021.
Read more » -
February 19, 2021
RA-L 2021 - PRIMAL2 Paper Accepted
Our paper focusing on multi-agent pathfinding for lifelong tasks in highly structure/constrained environments has been accepted for publication in IEEE Robotics and Automation Letters (RA-L). The updated version of the paper is available from arXiv. Code and videos are linked to from within the paper. We hope you will enjoy the read/work:
Read more » -
February 15, 2021
DARS 2021 - Paper Accepted
Our paper focusing on heterogeneous multi-agent active search/coverage has been accepted for oral presentation at the 15th International Symposium on Distributed Autonomous Robotic Systems (DARS 2021), which will be held online June 1-4 2021. The preprint version of this paper is available from the publications page and below:
Read more » -
August 18, 2020
Round 1 Winners of NeurIPS 2020 Challenge: Flatland (Multi-Agent Reinforcement Learning on Trains)
Our team, “MARMot-lab-NUS”, is currently holding first place in the reinforcement learning (RL) category of the NeurIPS 2020 competition “Flatland”, aimed at developping novel methods to solve the multi-vehicle routing problem (a close problem to multi-agent path finding). This competition is open to both conventional techniques (Operation Research [OR]) and RL, with a strong emphasis on learning-based techniques (because NeurIPS). It is sponsored by the swiss national railways (SBB/CFF) as well as the German ones (Deutsche Bahn), and is organized by Aicrowd. The competition is still very much open and active, and teams do not have to have participated to round 1 to join round 2, which is starting soon.
Read more » -
August 03, 2020
Open Postdoc Position in Urban Traffic Signal Control Project (OPEN UNTIL FILLED)
We are starting a big, two-year project centered around traffic signal control for urban traffic management and optimization with my colleagues Profs. Marcelo ANG and Gerard LENG here at NUS, in collaboration with a big private company. To help us in this research venture, we are still looking to hire one Research Fellow (RF, i.e., PhD holder). More details about the actual project in the links below.
Read more » -
June 30, 2020
IROS 2020 - Paper Accepted
A paper I co-authored has been accepted for oral presentation at IROS 2020 (October 25-29th, Las Vegas, NV, USA). The preprint of the paper is available below and from the publications page:
Read more » -
June 15, 2020
TRO 2020 - Paper Submitted to Special Issue
We submitted this paper for potential publication in TRO’s special issue on Resilience in Networked Robotic Systems. This is my first paper as last author! We hope you will enjoy the read/work:
Read more » -
January 19, 2020
RA-L 2020 - Journal Paper Accepted
A paper I co-authored has been accepted for publication in IEEE Robotics and Automation Letters (RA-L). The preprint of the paper is available below and from the publications page:
Read more » -
December 18, 2019
Guest Editor for new Topical Collection in Springer Nature Applied Sciences
I am the main Guest Editor for the new topical collection on Distributed Mobile Robotic Systems for Springer Nature Applied Sciences. More information on the collection, as well as details on what/how to submit can be found in this flyer. Looking forward to your high quality submissions!
Read more » -
November 11, 2019
AAAI 2020 - Paper Accepted
A paper I co-authored has been accepted for oral presentation at AAAI 2020 (February 7-12th, New York City, NY, USA). The preprint of the paper is available below and from the publications page:
Read more » -
July 15, 2019
This website is up! Welcome, and have a good read!
-
April 25, 2019
Faculty position offer accepted at NUS!
I will join the Department of Mechanical Engineering at the National University of Singapore (NUS) as a Tenure Track Assistant Professor this July.
Read more »
