Robotics and Machine Learning

When and How To Assist: An Iterative Probabilistic Model for Learning Assistance by Demonstration
Harold Soh Yiannis Demiris,
Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013.
Code Coming Soon!

Enhanced Kinematic Model for Dexterous Manipulation with Underactuated Hand
Yanyu Su, Yan Wu, Harold Soh, Zhijiang Du and Yiannis Demiris
Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013.

iCharibot: Design and Field Trials of a Fundraising Robot
Miguel Sarabia, Tuan Le Mau, Harold Soh, Shuto Naruse, Crispian Poon, Zhitian Liao, Kuen Cherng Tan, Zi Jian Lai and Yiannis Yiannis
Accepted to International Conference on Social Robotics 2013

Online Spatio-Temporal Gaussian Process Experts with Application to Tactile Classification
Harold Soh, Yanyu Su and Yiannis Demiris,
IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012. [Finalist for the 2012 CoTeSys Cognitive Robotics Best Paper Award]
iCub Grasp Dataset | Code

Iterative Temporal Learning and Prediction with the Sparse Online Echo State Gaussian Process
Harold Soh and Yiannis Demiris
IEEE International Joint Conference on Neural Networks (IJCNN), Brisbane, Australia, 2012.
Dynamical Systems Datasets | MSR Action 3d DatasetCode

Towards Early Mobility Independence: An Intelligent Paediatric Wheelchair with Case Studies
Harold Soh
 and Yiannis Demiris,
IROS Workshop on Progress, Challenges and Future Perspectives in Navigation and Manipulation Assistance for Robotic Wheelchairs, Vilamoura, Portugal, 2012.

Involving Young Children in the Design of a Safe, Smart Paediatric Wheelchair
Harold Soh and Yiannis Demiris
ACM/IEEE HRI-2011 Pioneers Workshop, Lausanne 2011

Evolutionary Computation

Evolving policies for multi-reward partially observable markov decision processes (MR-POMDPs)
Harold Soh and Yiannis Demiris
GECCO’11: Proceedings of the 2011 conference on Genetic and Evolutionary Computation, 713-720, 2011
MR-POMDP Datasets

Multi-reward policies for medical applications: anthrax attacks and smart wheelchairs
Harold Soh and Yiannis Demiris
MedGEC 2011, 7th GECCO Workshop on Medical Applications of Genetic and Evolutionary Computation, 471-478, 2011

Discovering unique, low-energy pure water isomers: Memetic exploration, optimization,
and landscape analysis
Harold Soh, YS Ong, QC Nguyen, QH Nguyen, MS Habibullah, T Hung, JL Kuo
Evolutionary Computation, IEEE Transactions on 14 (3), 419-437, 2010

Multiscale Approach to Explore the Potential Energy Surface of Water Clusters (H2O) nn≤ 8
Quoc Chinh Nguyen, Yew Soon Ong, Harold Soh, Jer-Lai Kuo,
The Journal of Physical Chemistry A 112 (28), 6257-6261, 2008

Playing in the objective space: Coupled approximators for multi-objective optimization
Harold Soh, OY Soon, M Salahuddin, T Hung, LB Sung
Computational Intelligence in Multicriteria Decision Making, IEEE Symposium on, 325-332, 2007

moPGA: Towards a New Generation of Multi-objective Genetic Algorithms
Harold Soh, Michael Kirley
Evolutionary Computation, 2006. CEC 2006. IEEE Congress on, 1702-1709, 2006

Complex Networks

Weighted complex network analysis of travel routes on the Singapore public transportation system
Harold Soh, Sonja Lim, Tianyou Zhang, Xiuju Fu, Gary Kee Khoon Lee, Terence Gih Guang Hung, Pan Di, Silvester Prakasam, Limsoon Wong
Physica A: Statistical Mechanics and its Applications 389 (24), 5852-5863, 2010

Robustness of scale-free networks under rewiring operations
S Xiao, G Xiao, TH Cheng, S Ma, X Fu, H Soh
EPL (Europhysics Letters) 89, 38002, 2010

Epidemiology

Genomic epidemiology of a dengue virus epidemic in urban Singapore
Mark J Schreiber, Edward C Holmes, Swee Hoe Ong, Harold SH Soh, Wei Liu, Lukas Tanner, Pauline PK Aw, Hwee Cheng Tan, Lee Ching Ng, Yee Sin Leo, Jenny GH Low, Adrian Ong, Eng Eong Ooi, Subhash G Vasudevan, Martin L Hibberd
Journal of virology 83 (9), 4163-4173, 2009

Temporal factors in school closure policy for mitigating the spread of influenza
Tianyou Zhang, Xiuju Fu, Chee Keong Kwoh, Gaoxi Xiao, Limsoon Wong, Stefan Ma, Harold Soh, Gary Kee Khoon Lee, Terence Hung, Michael Lees
J Public Health Policy, 32(2):180-97, 2011

PhD Thesis

Online Spatio-Temporal Learning and Prediction for Adaptive Robotic Systems: Applications in Tactile Classification and Learning Assistance by Demonstration
Harold Soh, PhD Thesis, Imperial College London, 2013

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