### Robotics

Motion Planning • Probabilistic Motion Planning • Sampling Strategies for PRM Planning • Kinodynamic Motion Planning • Motion Planning Applications • Target Tracking • POMDP Planning • Planning & Learning under Uncertainty • Reinforcement Learning • POMDP Applications

### Computational Biology

Computational Structural Biology • Computational Systems Biology

### Others

# Motion Planning

- H.H. Gonzαlez-Baños, D. Hsu, and J.C. Latombe.
**Motion planning: Recent developments**. In S.S. Ge and F.L. Lewis, editors,*Autonomous Mobile Robots: Sensing, Control, Decision-Making and Applications*, CRC Press, 2006.

BibTeX PDF - M. Erdmann, D. Hsu, M. Overmars, and F. van der Stappen, editors.
**Algorithmic Foundations of Robotics VI**, Springer, 2005.

BibTeX - J. Basch, L.J. Guibas, D. Hsu, and A.T. Nguyen.
**Disconnection proofs for motion planning**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, pp. 17651772, 2001.

BibTeX PDF

# Probabilistic Motion Planning

- L.J. Guibas, D. Hsu, H. Kurniawati, and E. Rehman.
**Bounded uncertainty roadmaps for path planning**. In*Proc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR)*, 2008.

BibTeX PDF - D. Hsu, J.C. Latombe, and H. Kurniawati.
**On the probabilistic foundations of probabilistic roadmap planning**.*Int. J. Robotics Research*, 25(7):627643, 2006.

BibTeX PDF - D. Hsu, J.C. Latombe, and H. Kurniawati.
**On the probabilistic foundations of probabilistic roadmap planning**. In*Proc. Int. Symp. on Robotics Research*, 2005.

BibTeX PDF - D. Hsu.
**Randomized Single-query Motion Planning in Expansive Spaces**. Ph.D. Thesis, Dept. of Computer Science, Stanford University, Stanford, CA, 2000.

BibTeX PDF - D. Hsu, J.C. Latombe, R. Motwani, and L.E. Kavraki.
**Capturing the connectivity of high-dimensional geometric spaces by parallelizable random sampling techniques**. In P.M. Pardalos and S. Rajasekaran, editors,*Advances in randomized parallel computing*, pp. 159182, Kluwer Academic Publishers, Boston, MA, 1999.

BibTeX PDF - D. Hsu, J.C. Latombe, and R. Motwani.
**Path planning in expansive configuration spaces**.*Int. J. Computational Geometry & Applications*, 9(4-5):495512, 1999.

BibTeX PDF - D. Hsu, J.C. Latombe, and R. Motwani.
**Path planning in expansive configuration spaces**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, pp. 27192726, 1997.

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# Sampling Strategies for PRM Planning

- H.-L. Cheng, D. Hsu, J.-C. Latombe, and G. Sαnchez-Ante.
**Multi-level free-space dilation for sampling narrow passages in PRM planning**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, pp. 12551260, 2006.

BibTeX PDF - H. Kurniawati and D. Hsu.
**Workspace-based connectivity oracle: An adaptive sampling strategy for PRM planning**. In S. Akella and others, editors,*Proc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR)*, Springer, 2006.

BibTeX PDF - D. Hsu, G. Sαnchez-Ante, and Z. Sun.
**Hybrid PRM sampling with a cost-sensitive adaptive strategy**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, pp. 38853891, 2005.

BibTeX PDF - Z. Sun, D. Hsu, T. Jiang, H. Kurniawati, and J. Reif.
**Narrow passage sampling for probabilistic roadmap planners**.*IEEE Trans. on Robotics*, 21(6):11051115, 2005.

BibTeX PDF - D. Hsu and Z. Sun.
**Adaptively combining multiple sampling strategies for probabilistic roadmap planning**. In*Proc. IEEE Conf. on Robotics, Automation, and Mechatronics*, pp. 774779, 2004.

BibTeX PDF - D. Hsu and Z. Sun.
**Adaptive hybrid sampling for probabilistic roadmap planning**.*Technical Report TRA5/04*, National University of Singapore, School of Computing, 2004.

BibTeX PDF - H. Kurniawati and D. Hsu.
**Workspace importance sampling for probabilistic roadmap planning**. In*Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems*, pp. 16181623, 2004.

BibTeX PDF - D. Hsu, T. Jiang, J. Reif, and Z. Sun.
**The bridge test for sampling narrow passages with probabilistic roadmap planners**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, pp. 44204426, 2003.

BibTeX PDF - D. Hsu, L.E. Kavraki, J.C. Latombe, R. Motwani, and S. Sorkin.
**On finding narrow passages with probabilistic roadmap planners**. In P.K. Agarwal and others, editors, Robotics:*The Algorithmic Perspective---Proc. Workshop on the Algorithmic Foundations of Robotics (WAFR)*, pp. 141154, A. K. Peters, Wellesley, MA, 1998.

BibTeX PDF

# Kinodynamic Motion Planning

- D. Hsu, R. Kindel, J.C. Latombe, and S. Rock.
**Randomized kinodynamic motion planning with moving obstacles**.*Int. J. Robotics Research*, 21(3):233255, 2002.

BibTeX PDF - D. Hsu, R. Kindel, J.C. Latombe, and S. Rock.
**Control-based randomized motion planning for dynamic environments**. In B.R. Donald and others, editors,*Algorithmic and Computational Robotics: New Directions---Proc. Workshop on the Algorithmic Foundations of Robotics (WAFR)*, pp. 247264, A. K. Peters, Wellesley, MA, 2000.

BibTeX PDF - R. Kindel, D. Hsu, J.C. Latombe, and S. Rock.
**Kinodynamic motion planning amidst moving obstacles**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, pp. 537543, 2000.

BibTeX PDF

# Motion Planning Applications

- J. Yin, Y. Wang, and D. Hsu.
**Digital violin tutor: An integrated system for beginning violin learners**. In*Proc. ACM Multimedia*, pp. 976985, 2005.

BibTeX - J. Yin, A. Dhanik, D. Hsu, and Y. Wang.
**The creation of a music-driven digital violinist**. In*Proc. ACM Multimedia*, pp. 476479, 2004.

BibTeX PDF - D. Hsu, J.C. Latombe, and S. Sorkin.
**Placing a robot manipulator amid obstacles for optimized execution**. In*Proc. IEEE Int. Symp. on Assembly & Task Planning*, pp. 280–285, 1999.

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# Target Tracking

- T. Bandyopadhyay, N. Rong, Ang Jr., M.H., D. Hsu, and W.S. Lee.
**Motion planning for people tracking in uncertain and dynamic environments**. In*IEEE Int. Conf. on Robotics & Automation, Workshop on People Detection & Tracking*, 2009.

BibTeX PDF - T. Bandyopadhyay, D. Hsu, and Ang Jr., M.H..
**Motion strategies for people tracking in cluttered dynamic environments**. In Proc. Int. Symp. on Experimental Robotics, 2008.

BibTeX PDF - D. Hsu, W.S. Lee, and N. Rong.
**A point-based POMDP planner for target tracking**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, pp. 26442650, 2008.

BibTeX PDF - T. Bandyopadhyay, Ang Jr., M.H., and D. Hsu.
**Motion planning for 3-D target tracking among obstacles**. In*Proc. Int. Symp. on Robotics Research*, 2007.

BibTeX PDF - T. Bandyopadhyay, Y.P. Li, Ang Jr., M.H., and D. Hsu.
**A greedy strategy for tracking a locally predictable target among obstacles**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, pp. 23422347, 2006.

BibTeX PDF - T. Bandyopadhyay, Y.P. Li, Ang Jr., M.H., and D. Hsu.
**Stealth tracking of an unpredictable target among obstacles**. In M. Erdmann and others, editors,*Algorithmic Foundations of Robotics VI---Proc. Workshop on the Algorithmic Foundations of Robotics (WAFR)*, pp. 4358, Springer, 2004.

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# POMDP Planning

- Z. Zhang, D. Hsu, W.S. Lee, Z.W. Lim, and A. Bai.
**PLEASE: Palm leaf search for POMDPs with large observation spaces**. In*Proc. Int. Conf. on Automated Planning & Scheduling*, 2015.

PDF - H.Y. Bai, D. Hsu, and W.S. Lee.
**Integrated perception and planning in the continuous space: A POMDP approach**.*Int. J. Robotics Research*, 33(9):12881302, 2014.

PDF - Z. Zhang, D. Hsu, and L.S. Lee.
**Covering number for efficient heuristic-based POMDP planning**. In*Proc. Int. Conf. on Machine Learning*. 2014.

PDF - A. Somani, N. Ye, D. Hsu, and W.S. Lee.
**DESPOT: online POMDP planning with regularization**. In*Advances in Neural Information Processing Systems (NIPS)*. 2013.

PDF (with supplementary material) Software Video - H.Y. Bai, D. Hsu, and W.S. Lee.
**Integrated perception and planning in the continuous space: A POMDP approach**. In*Proc. Robotics: Science and Systems*, 2013.

PDF (with supplementary material) - Z.W. Lim, D. Hsu, and W.S. Lee.
**Monte Carlo value iteration with macro-actions**. In*Advances in Neural Information Processing Systems (NIPS)*, 2011.

BibTeX PDF (with supplementary material) Software - H.Y. Bai and D. Hsu and W.S. Lee and V.A. Ngo.
**Monte Carlo value iteration for continuous-state POMDPs**. In D. Hsu et al., editors,*Algorithmic Foundations of Robotics IX---Proc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR)*, 2010.

BibTeX PDF Software - H. Kurniawati and Y. Du and D. Hsu and W.S. Lee.
**Motion planning under uncertainty for robotic tasks with long time horizons**.*Int. J. Robotics Research*, 30(3):308-323, 2011.

BibTeX PDF - S.C.W. Ong, S.W. Png, D. Hsu, and W.S. Lee.
**Planning under Uncertainty for Robotic Tasks with Mixed Observability**.*Int. J. Robotics Research*, 29(8):10531068, 2010.

BibTeX PDF Software - H. Kurniawati, Y. Du, D. Hsu, and W.S. Lee.
**Motion planning under uncertainty for robotic tasks with long time horizons**. In*Proc. Int. Symp. on Robotics Research*, 2009.

BibTeX PDF - S.C.W. Ong, S.W. Png, D. Hsu, and W.S. Lee.
**POMDPs for robotic tasks with mixed observability**. In*Proc. Robotics: Science and Systems*, 2009.

BibTeX PDF Software - H. Kurniawati, D. Hsu, and W.S. Lee.
**SARSOP: Efficient point-based POMDP planning by approximating optimally reachable belief spaces**. In*Proc. Robotics: Science and Systems*, 2008.

BibTeX PDF Software - D. Hsu, W.S. Lee, and N. Rong.
**What makes some POMDP problems easy to approximate?**.*In Advances in Neural Information Processing Systems (NIPS)*, 2007.

BibTeX PDF - D. Hsu, W.S. Lee, and N. Rong.
**Accelerating point-based POMDP algorithms through successive approximations of the optimal reachable space**. Technical Report TRA4/07, National University of Singapore. School of Computing, 2007.

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# Planning & Learning under Uncertainty

- Z.W. Lim, D. Hsu, and W.S. Lee.
**Adaptive stochastic optimization: from sets to paths**. In*Advances in Neural Information Processing Systems*, 2015.

PDF - Z.W. Lim, D. Hsu, and W.S. Lee.
**Adaptive informative path planning in metric spaces**. In*Algorithmic Foundations of Robotics XIProc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR)*. 2014.

PDF - P. Chaudhari, S. Karaman, D. Hsu, and E. Frazzoli.
**Sampling-based algorithms for continuous-time POMDPs**. In*Proc. American Control Conf.*, 2013.

PDF - H.Y. Bai, D. Hsu, and W.S. Lee.
**Planning how to learn**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, 2013.

PDF - T. Bandyopadhyay, K.S. Won, E. Frazzoli, D. Hsu, W.S. Lee, and D. Rus.
**Intention-aware motion planning**. In*Proc. Int. Workshop on the Algorithmic Foundations of Robotics (WAFR)*, 2012.

PDF

- T.H.D. Nguyen and D. Hsu and W.S. Lee and T.Y. Leong and L.P. Kaelbling and T. Lozano-Perez and A.H. Grant.
**CAPIR: Collaborative action planning with intention recognition**.*Proc. AI and Interactive Digital Entertainment Conference*, 2011.

BibTeX PDF - L.L. Ko, D. Hsu, W.S. Lee, and S.C.W. Ong.
**Structured parameter elicitation**. In*Proc. AAAI Conf. on Artificial Intelligence*, 2010.

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# Reinforcement Learning

- A. Kupcsik, D. Hsu, and W.S. Lee.
**Learning dynamic robot-to-human object handover from human feedback**. In*Proc. Int. Symp. on Robotics Research*, 2015.

PDF - Y. Wang, K.S. Won, D. Hsu, and W.S. Lee.
**Monte Carlo Bayesian reinforcement learning**. In*Proc. Int. Conf. on Machine Learning*, 2012.

PDF(with supplementary material)

# POMDP Applications

- K. Wu, W.S. Lee, and D. Hsu.
**POMDP to the rescue: Boosting performance for Robocup rescue**. In*Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems*, 2015.

PDF - V. Sezer, T. Bandyopadhyay, D. Rus, E. Frazzoli, and D. Hsu.
**Towards autonomous navigation of unsignalized intersections under uncertainty of human driver intent**. In*Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems*, 2015.

PDF Δ - H.Y. Bai, S.J. Cai, N. Ye, D. Hsu, and W.S. Lee.
**Intention-aware online POMDP planning for autonomous driving in a crowd**. In*Proc. IEEE Int. Conf. on Robotics & Automation*, 2015.

PDF - X.X. Wang, Y. Wang, D. Hsu, and Y. Wang.
**Exploration in interactive personalized music recommendation: A reinforcement learning approach**.*ACM Trans. on Multimedia Computing, Communications & Applications*, 11(1), 2014.

PDF - H.Y. Bai and D. Hsu and Mykel J. Kochenderfer and W.S. Lee.
**Unmanned aircraft collision avoidance using continuous-state POMDPs**. In*Proc. Robotics: Science and Systems*, 2011.

BibTeX PDF - Y.Z. Du, D. Hsu, H. Kurniawati, W.S. Lee, S.C.W. Ong, and S.W. Png.
**A POMDP Approach to Robot Motion Planning under Uncertainty**. In*Int. Conf. on Automated Planning & Scheduling, Workshop on Solving Real-World POMDP Problems*, 2010.

BibTeX PDF - S.C.W. Ong, D. Hsu, W.S. Lee, and H. Kurniawati.
**Partially observable Markov decision process POMDP technologies for sign language based human-computer interaction**. In*Proc. Int. Conf. on Human-Computer Interaction*, 2009.

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# Computational Structural Biology

- B. Gipson, D. Hsu, L.E. Kavraki, and J.C. Latombe.
**Computational models of protein kinematics and dynamics: Beyond simulation**.*Annu. Rev. Anal. Chem*, 5:273291, 2012. DOI: 10.1146/annurev-anchem-062011-143024.

PDF - T.-H. Chiang, D. Hsu, and J.C. Latombe.
**Markov dynamic models for long-timescale protein motion**.*Bioinformatics*, 26(12):i269i277, 2010. Special issue on Int. Conf. on Intelligent Systems for Molecular Biology (ISMB) 2010.

BibTeX PDF - A. Nigham and D. Hsu.
**Protein conformational flexibility analysis with noisy data. J. Computational Biology**, 15(7):813828, 2008.

BibTeX PDF - A. Nigham, L. Tucker-Kellogg, I. Mihalek, C. Verma, and D. Hsu.
**pFlexAna: Detecting conformational changes in remotely related proteins**.*Nucleic Acids Res.*, 36:W246W251, 2008. DOI: 10.1093/nar/gkn259.

BibTeX PDF - T.-H. Chiang, M.S. Apaydin, D.L. Brutlag, D. Hsu, and J.C. Latombe.
**Using stochastic roadmap simulation to predict experimental quantities in protein folding kinetics: Folding rates and phi-values**.*J. Computational Biology*, 14(5):578593, 2007.

BibTeX PDF - A. Nigham and D. Hsu.
**Protein conformational flexibility analysis with noisy data**. In*Proc. ACM Int. Conf. on Computational Biology (RECOMB)*, pp. 396411, 2007.

BibTeX PDF - T.-H. Chiang, M.S. Apaydin, D.L. Brutlag, D. Hsu, and J.C. Latombe.
**Predicting experimental quantities in protein folding kinetics using stochastic roadmap simulation**. In*Proc. ACM Int. Conf. on Computational Biology (RECOMB)*, pp. 410424, Springer, 2006.

BibTeX PDF - M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, J.C. Latombe, and C. Varma.
**Stochastic roadmap simulation: an efficient representation and algorithm for analyzing molecular motion**.*J. Computational Biology*, 10(3-4):247281, 2003.

BibTeX PDF - M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, and J.C. Latombe.
**Stochastic roadmap simulation: An efficient representation and algorithm for analyzing molecular motion**. In*Proc. ACM Int. Conf. on Computational Biology (RECOMB)*, pp. 1221, 2002.

BibTeX PDF - M.S. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, and J.C. Latombe.
**Stochastic conformational roadmaps for computing ensemble properties of molecular motion**. In J.-D. Boissonnat and others, editors,*Algorithmic Foundations of Robotics V---Proc. Workshop on the Algorithmic Foundations of Robotics (WAFR)*, pp. 131–148, Springer, 2002.

BibTeX - R.-P. Berretty, D. Hsu, L. Kettner, A. Mascarenhas, M.R. Redinbo, and J. Snoeyink.
**Ligand binding to the pregnane X receptor by geometric matching of hydrogen bonding**. In L. Florea and others, editors,*Currents in Computational Molecular Biology*, pp. 2223, 2002. The booklet contains extended poster abstracts from RECOMB 2002.

BibTeX PDF - D. Brutlag, M.S. Apaydin, C. Guestrin, D. Hsu, C. Varma, A. Singh, and J.-C. Latombe.
**Using robotics to fold proteins and dock ligands**.*Bioinformatics*, 18:S74S83, 2002.

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# Computational Systems Biology

- G.M. Gyori, G. Venkatachalam, P.S. Thiagarajan, D. Hsu, and M.V. Clement.
**OpenComet: An automated tool for comet assay image analysis**.*Redox Biology*, 2(2):457465, 2014.

PDF - S.K. Palaniappan, B.M. Gyori, B. Liu, D. Hsu, and P.S. Thiagarajan.
**Statistical model checking based calibration and analysis of bio-pathway models**. In*Proc. Conf. on Computational Methods in Systems Biology*, 2013.

PDF - G. Koh, D. Hsu, and P. S. Thiagarajan.
**Component-based construction of bio-pathway models: The parameter estimation problem**.*Theoretical Computer Science*, 412(26):28402853, 2011.

BibTeX PDF - B. Liu, D. Hsu, and P. S. Thiagarajan.
**Probabilistic approximations of ODEs-based bio-pathway dynamics**.*Theoretical Computer Science*, 412(21):2188-2206, 2011.

BibTeX PDF - B. Liu, J. Zhang, P.Y. Tan, D. Hsu, A.M. Blom, B. Leong, S. Sethi, B. Ho, J.L. Ding, and P.S. Thiagarajan.
**A computational and experimental study of the regulatory mechanisms of the complement system**.*PloS Computational Biology*, 7(1), 2011.

BibTeX PDF - G. Koh, D. Hsu, and P.S. Thiagarajan.
**Incremental signaling pathway modeling by data integration**. In*Proc. ACM Int. Conf. on Computational Biology (RECOMB)*, 2010.

BibTeX PDF - B. Liu, P.S. Thiagarajan, and D. Hsu.
**Probabilistic approximations of bio-pathway dynamics**. In*ACM Int. Conf. on Computational Biology (RECOMB) Poster Book*, 2009.

BibTeX PDFBibTeX - B. Liu, P.S. Thiagarajan, and D. Hsu .
**Probabilistic approximations of signaling pathway dynamics**. In*Proc. Conf. on Computational Methods in Systems Biology*, 2009.

BibTeX PDF - G. Koh, D. Hsu, and P.S. Thiagarajan.
**Composition of signaling pathway models and its application to parameter estimation**. In*ACM Int. Conf. on Computational Biology (RECOMB) Poster Book*, 2008.

BibTeX PDF - G. Koh, L. Tucker-Kellogg, D. Hsu, and P.S. Thiagarajan.
**Globally consistent pathway parameter estimates through belief propagation**.*In Proc. Workshop on Algorithms in Bioinformatics (WABI)*, 2007.

BibTeX PDF - G. Koh, H.F.C. Teong, M.-V. Clιment, D. Hsu, and P.S. Thiagarajan.
**A decompositional approach to parameter estimation in pathway modeling: A case study of the Akt and MAPK pathways and their crosstalk**.*Bioinformatics*, 22(14):271280, 2006. Special issue on Int. Conf. on Intelligent Systems for Molecular Biology (ISMB) 2006.

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# Geometric Computation

- X. Wu, D. Hsu, and A.K.H. Tung.
**Efficient constrained Delaunay triangulation for large spatial databases**. Technical Report TRA1/06, National University of Singapore, School of Computing, 2006.

BibTeX PDF - C. Xia, D. Hsu, and A.K.H. Tung.
**A fast filter for obstructed nearest neighbour queries**. In*Proc. British National Conferences on Databases*, 2004.

BibTeX - L.J. Guibas, D. Hsu, and L. Zhang.
**A hierarchical method for real-time distance computation among moving convex bodies**.*Computational Geometry: Theory and Applications*, 15(1-3):5168, 2000.

BibTeX PDF - L.J. Guibas, D. Hsu, and L. Zhang.
**H-Walk: hierarchical distance computation for moving convex bodies**. In*Proc. ACM Symp. on Computational Geometry*, pp. 265273, 1999.

BibTeX PDF - H. Alt, D. Hsu, and J. Snoeyink.
**Computing the largest inscribed isothetic rectangle**. In*Proc. Canadian Conf. on Computational Geometry*, pp. 6772, 1995.

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