Autonomous Intelligent Robotics Group
School of Computing
The State University of New York (SUNY) at Binghamton
About AIR Group
We are a group of researchers, at SUNY Binghamton. AIR group's research interests include Artificial Intelligence (AI), Robotics, and Human-Robot Interaction (HRI). Our goal is to develop intelligent mobile robots that are able to interact with people, provide services to people, and learn from this experience, in human-inhabited, collaborative environments.
Group News
Human-Robot Systems (HRS) reading group || AIR lab how-to page (to edit) || Important Deadlines
Research Areas
AIR research is supported in part by grants from the National Science Foundation (IIS-2428998, IIS-1925044), Ford Motor Company (URP Award), OPPO (Faculty Research Award), and SUNY Research Foundation.
Knowledge-based Sequential Decision Making
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Commonsense Reasoning for Planning under Uncertainty
- Saeid Amiri, Mohammad S. Shirazi, and Shiqi Zhang, Learning and Reasoning for Robot Sequential Decision Making under Uncertainty, The Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI), 2020
- Shiqi Zhang, Mohan Sridharan and Jeremy Wyatt, Mixed Logical Inference and Probabilistic Planning for Robots in Unreliable Worlds, IEEE Transactions on Robotics (TRO), 31 (3): 699-713, 2015
- Yohei Hayamizu, Saeid Amiri, Kishan Chandan, Keiki Takadama, and Shiqi Zhang, Guiding Robot Exploration in Reinforcement Learning via Automated Planning, International Conference on Automated Planning and Scheduling (ICAPS), 2021
- Yuqian Jiang, Fangkai Yang, Shiqi Zhang, and Peter Stone, Task-Motion Planning with Reinforcement Learning for Adaptable Mobile Service Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Action Knowledge for Reinforcement Learning
Task and Motion Planning
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Task and Motion Planning with Learning
- Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, and Shiqi Zhang, Visually Grounded Task and Motion Planning for Mobile Manipulation, IEEE International Conference on Robotics and Automation (ICRA), 2022
- Yan Ding, Xiaohan Zhang, Xingyue Zhan, and Shiqi Zhang, Learning to Ground Objects for Robot Task and Motion Planning, IEEE International Conference on Robotics and Automation (ICRA), 2022
- Yan Ding, Xiaohan Zhang, Xingyue Zhan, and Shiqi Zhang, Task-Motion Planning for Safe and Efficient Urban Driving, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
- Shih-Yun Lo, Shiqi Zhang, and Peter Stone, The PETLON Algorithm to Plan Efficiently for Task-Level-Optimal Navigation, Journal of Artificial Intelligence Research (JAIR), 2020
Task and Motion Planning for Navigation
Human-Robot Interaction
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Human-Robot Collaboration using Augmented Reality
- Kishan Chandan, Jack Albertson, and Shiqi Zhang, Augmented Reality Visualizations using Imitation Learning for Collaborative Warehouse Robots, International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2022
- Kishan Chandan, Vidisha Kudalkar, Xiang Li, and Shiqi Zhang, ARROCH: Augmented Reality for Robots Collaborating with a Human, IEEE International Conference on Robotics and Automation (ICRA), 2021
- Saeid Amiri, Sujay Bajracharya, Cihangir Goktolga, Jesse Thomason, and Shiqi Zhang, Augmenting Knowledge through Statistical, Goal-oriented Human-Robot Dialog, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
- Shiqi Zhang and Peter Stone, CORPP: Commonsense Reasoning and Probabilistic Planning, as Applied to Dialog with a Mobile Robot, In proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), 2015
Human-Robot Dialog Systems
Group Members
Interested in joining the group? Please read this before contacting the lab director.
Graduate Students
Sharad Hemant Babar
MS Student (Thesis), Since Fall 2024
Huan Liu
MS Student (Thesis), Since Fall 2024
Issei Saito
Visiting Student (UEC Japan)
Alumni (with Thesis Topics)
Xiaohan Zhang (PhD, May 2024)
"Symbol Grounding for Task and Motion Planning in Robotics"PhD Excellence Research Award, Computer Science in 2024, SUNY Binghamton
Website: https://keke-220.github.io/
After Binghamton: Scientist, Boston Dynamics AI Institute
Representative publications:
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Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning (IROS, 2023)
Multimodal Embodied Attribute Learning by Robots for Object-Centric Action Policies (AuRo, 2023)
Yan Ding (PhD, May 2024)
"Task and Motion Planning for Robots in Open Worlds"PhD Excellence Research Award, Computer Science in 2024, SUNY Binghamton
Website: https://yding25.com/
After Binghamton: Researcher, Shanghai AI Lab
Representative publications:
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Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds (AuRo, 2023)
Task and Motion Planning with Large Language Models for Object Rearrangement (IROS, 2023)
Kishan Chandan (PhD, May 2023)
"Bridging the Observability Gap: Augmented Reality Policies for Human Robot Collaboration"Website: http://www.perceptobot.com/
After Binghamton: Postdoctoral Scientist, Amazon Robotics
Representative publications:
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Learning Visualization Policies of Augmented Reality for Human-Robot Collaboration (CoRL, 2022)
ARROCH: Augmented Reality for Robots Collaborating with a Human (ICRA, 2021)
Saeid Amiri (PhD, May 2022)
"Knowledge-based Robot Sequential Decision-Making under Partial Observability"PhD Excellence Research Award, Computer Science in 2022, SUNY Binghamton
Website: https://astrosaeed.github.io/
After Binghamton: Research Scientist, JP Morgan AI Research
Representative publications:
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Reasoning with Scene Graphs for Robot Planning under Partial Observability (RA-L, 2022)
Learning and Reasoning for Robot Sequential Decision Making under Uncertainty (AAAI, 2020)
Cheng Cui (Master's, December 2021)
"Learning to Reason about Contextual Knowledge for Planning under Uncertainty"After Binghamton: Software Engineer, Cognex
Cheng currently works as an associate software engineer at Cognex. He is involved in projects related to machine vision topics such as controlling the robot to do automation testing, camera calibration, and autofocus algorithms for the cameras. Outside work, Cheng enjoys taking photos, traveling, playing ping pong, and watching movies.
Representative publications:Undergraduate Students
Jack Albertson
Undergraduate Student
Xingyue Zhan
Undergraduate Student
Chelsea Zou
Undergraduate Student
Publications
Earlier papers: http://www.cs.binghamton.edu/~szhang/papers.html
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David DeFazio*, Hrudayangam Mehta*, Jeremy Blackburn, Shiqi Zhang (*Equal Contribution)
Vision Language Models Can Parse Floor Plan Maps
arXiv, 2024 [Project webpage] -
Zhigen Zhao, Shuo Chen, Yan Ding, Ziyi Zhou, Shiqi Zhang, Danfei Xu, Ye Zhao
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches
IEEE/ASME Transactions on Mechatronics (TMECH), 2024 [IEEE Official] -
David DeFazio, Yohei Hayamizu, and Shiqi Zhang
Learning Quadruped Locomotion Policies using Logical Rules
The International Conference on Automated Planning and Scheduling (ICAPS), 2024 [Project webpage] -
Arjun Majumdar*, Anurag Ajay*, Xiaohan Zhang*, and others (*Equal Contribution)
OpenEQA: Embodied Question Answering in the Era of Foundation Models
The IEEE/CVF Computer Vision and Pattern Recognition Conference (CVPR), 2024 [Meta Blog; Project webpage] -
Xiaohan Zhang, Zainab Altaweel*, Yohei Hayamizu*, Yan Ding, Saeid Amiri, Hao Yang, Andy Kaminski, Chad Esselink, and Shiqi Zhang
DKPrompt: Domain Knowledge Prompting Vision-Language Models for Open-World Planning
The CVPR Workshop on Embodied AI (EAI), 2024 -
Issei Saito, Tomoaki Nakamura, Akira Taniguchi, Tadahiro Taniguchi, Yohei Hayamizu, and Shiqi Zhang
Emergence of Continuous Signals as Shared Symbols Through Emergent Communication
IEEE International Conference on Development and Learning (ICDL), 2024 [IEEE Official] -
Stephanie Tulk Jesso, Christopher Greene, Shiqi Zhang, Amy Booth, Michael DiFabio, Grace Babalola, Adeola Adegbemijo, and Sumantra Sarkar
On the potential for human-centered, cognitively inspired AI to bridge the gap between optimism and reality for autonomous robotics in healthcare: a respectful critique
Proceedings of the International Symposium on Human Factors and Ergonomics in Health Care (HFES), 2024 -
Chelsea Zou, Yan Ding, Kishan Chandan, and Shiqi Zhang
A Decision Framework for AR, Dialogue and Eye Gaze to Enhance Human-Robot Collaboration
The ACM/IEEE International Conference on Human Robot Interaction (HRI), Late Breaking Reports, 2024 [ACM Official] -
Shiqi Zhang, Piyush Khandelwal, and Peter Stone
iCORPP: Interleaved Commonsense Reasoning and Probabilistic Planning on Robots
Robotics and Autonomous Systems (RAS), 2024 [Elsevier Official]
2024
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David DeFazio, Eisuke Hirota, and Shiqi Zhang
Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control
The Conference on Robot Learning (CoRL), 2023 [Project webpage]
Press coverage: WIRED [link]; Vision Ireland [link]; Yahoo News [link]; Global Spec [link]; TS2 Space [link1, link2, link3]; Government Technology [link]; Futurism [link]; Daily Beast [link]; Commonwealth Union [link]; News Atlas [link]; Inceptive Mind [link]; Interesting Engineering [link]; IoT World Today [link]; Tech Times [link]; Bollyinside News [link]; FOX 40 News (WICZ) [link]; BingNews [link]
Interviews: WBNG [link]; Spectrum News [link] -
Yan Ding*, Xiaohan Zhang*, Chris Paxton, and Shiqi Zhang (*Equal Contribution)
Task and Motion Planning with Large Language Models for Object Rearrangement
IEEE/RSJ International Conference on Intelligent Robots (IROS), 2023 [Project webpage] -
Yohei Hayamizu, Zhou Yu, and Shiqi Zhang
Learning Joint Policies for Human-Robot Dialog and Co-Navigation
IEEE/RSJ International Conference on Intelligent Robots (IROS), 2023 -
Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuqian Jiang, Yuke Zhu, Peter Stone, and Shiqi Zhang
Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning
IEEE/RSJ International Conference on Intelligent Robots (IROS), 2023 [Project webpage] -
Cheng Cui, Saeid Amiri, Yan Ding, Xingyue Zhan, and Shiqi Zhang
Learning to Reason about Contextual Knowledge for Planning under Uncertainty
The Conference on Uncertainty in Artificial Intelligence (UAI), 2023 -
Bo Liu*, Yuqian Jiang*, Xiaohan Zhang, Qiang Liu, Shiqi Zhang, Joydeep Biswas, and Peter Stone (*Equal Contribution)
LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
arXiv, 2023 [Demo video] -
Yan Ding, Xiaohan Zhang, Saeid Amiri, Nieqing Cao, Hao Yang, Andy Kaminski, Chad Esselink, and Shiqi Zhang
Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds
Autonomous Robots Journal (AURO), 2023 [Springer Nature Official; Project webpage; Special Issue on LLMs in Robotics] -
Xiaohan Zhang, Saeid Amiri, Jivko Sinapov, Jesse Thomason, Peter Stone, and Shiqi Zhang
Multimodal Embodied Attribute Learning by Robots for Object-Centric Action Policies
Autonomous Robots Journal (AURO), 2023 [Springer Nature Official; Project webpage] -
Mohammad Shokrolah Shirazi, Brendan Tran Morris, and Shiqi Zhang
Intersection Analysis Using Computer Vision Techniques with SUMO
Intelligent Transportation Infrastructure (ITI), 2023 [Oxford Academic Official] -
Keting Lu, Yan Cao, Xiaoping Chen, and Shiqi Zhang
Efficient Dialog Policy Learning with Hindsight, User Modeling, and Adaptation
IEEE Transactions on Cognitive and Developmental Systems (TCDS), 2023 [IEEE Official]
2023
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Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, and Shiqi Zhang
Visually Grounded Task and Motion Planning for Mobile Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2022 [Project webpage; IEEE Xplore Official] -
Yan Ding, Xiaohan Zhang, Xingyue Zhan, and Shiqi Zhang
Learning to Ground Objects for Robot Task and Motion Planning
IEEE International Conference on Robotics and Automation (ICRA), 2022 [Project webpage; RA-L Official] -
Saeid Amiri, Kishan Chandan, and Shiqi Zhang
Reasoning with Scene Graphs for Robot Planning under Partial Observability
IEEE International Conference on Robotics and Automation (ICRA), 2022 [Project webpage; RA-L Official] -
Kishan Chandan, Jack Albertson, and Shiqi Zhang
Learning Visualization Policies of Augmented Reality for Human-Robot Collaboration
The Conference on Robot Learning (CoRL), 2022 [Project webpage; PMLR Official]
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Yan Cao, Keting Lu, David DeFazio, and Shiqi Zhang
Goal-oriented Vision-and-Dialog Navigation through Reinforcement Learning
The Conference on Empirical Methods in Natural Language Processing (EMNLP Findings), Short Paper, 2022 [ACL Official] -
Haodi Zhang, Zhichao Zeng, Keting Lu, Kaishun Wu, and Shiqi Zhang
Efficient Dialog Policy Learning by Reasoning with Contextual Knowledge
The AAAI Conference on Artificial Intelligence (AAAI), 2022 [AAAI Official] -
Shiqi Zhang, and Mohan Sridharan
A Survey of Knowledge-based Sequential Decision Making under Uncertainty
AI Magazine, 2022 [Video Summary; AAAI Official]
There was a 2019 AAAI Tutorial on the same topic: webpage
2022
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Kishan Chandan, Jack Albertson, Xiaohan Zhang, Xiaoyang Zhang, Yao Liu, and Shiqi Zhang
Learning to Guide Human Attention on Mobile Telepresence Robots with 360 Vision
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 [Project webpage] -
Xiaohan Zhang, Jivko Sinapov, and Shiqi Zhang
Planning Multimodal Exploratory Actions for Online Robot Attribute Learning
The Robotics Science and System Conference (RSS), 2021 [Official; Talk video; Poster; Project webpage] -
Kishan Chandan, Vidisha Kudalkar, Xiang Li, and Shiqi Zhang
ARROCH: Augmented Reality for Robots Collaborating with a Human
IEEE International Conference on Robotics and Automation (ICRA), 2021 [Official; Demo video; Talk video; Slides; Project webpage] -
Yohei Hayamizu, Saeid Amiri, Kishan Chandan, Keiki Takadama, and Shiqi Zhang
Guiding Robot Exploration in Reinforcement Learning via Automated Planning
International Conference on Automated Planning and Scheduling (ICAPS), 2021 [Official; Poster; Demo video] -
Hao Yang, Tavan Eftekhar, Chad Esselink, Yan Ding, and Shiqi Zhang
Task and Situation Structures for Case-based Planning
International Conference on Case-Based Reasoning Research and Development (ICCBR), 2021 [Official, Talk video]
2021
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Yan Ding, Xiaohan Zhang, Xingyue Zhan, and Shiqi Zhang
Task-Motion Planning for Safe and Efficient Urban Driving
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 [Demo video; Project webpage] -
Saeid Amiri, Mohammad S. Shirazi, and Shiqi Zhang
Learning and Reasoning for Robot Sequential Decision Making under Uncertainty
The Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI), 2020 [Demo video; Official] -
Yan Cao, Keting Lu, Xiaoping Chen, and Shiqi Zhang
Adaptive Dialog Policy Learning with Hindsight and User Modeling
The Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGDIAL), 2020 [Official; Talk video] -
Keting Lu, Shiqi Zhang, Peter Stone, and Xiaoping Chen
Learning and Reasoning for Robot Dialog and Navigation Tasks
The Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGDIAL), 2020 [Official; Talk video] -
Shih-Yun Lo, Shiqi Zhang, and Peter Stone
The PETLON Algorithm to Plan Efficiently for Task-Level-Optimal Navigation
Journal of Artificial Intelligence Research (JAIR), Conference Award Track, 2020 [Official] -
Yohei Hayamizu, Saeid Amiri, Kishan Chandan, Shiqi Zhang, and Keiki Takadama
Exploration Strategy for Model-based Reinforcement Learning with Automated Planning
Forum on Information Technology, 2020 [Official in Japanese; Full paper published at ICAPS-21]
2020
- Saeid Amiri, Sujay Bajracharya, Cihangir Goktolga, Jesse Thomason, and Shiqi Zhang
Augmenting Knowledge through Statistical, Goal-oriented Human-Robot Dialog
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 [Demo video; Media] - Yuqian Jiang, Fangkai Yang, Shiqi Zhang, and Peter Stone
Task-Motion Planning with Reinforcement Learning for Adaptable Mobile Service Robots
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 [Demo video] -
Keting Lu, Shiqi Zhang, and Xiaoping Chen
Goal-oriented Dialogue Policy Learning from Failures
The Thirty-Third AAAI Conference on Artificial Intelligence (AAAI), 2019 [Official version; Code] - Yi Wang, Shiqi Zhang, and Joohyung Lee
Bridging Commonsense Reasoning and Probabilistic Planning via a Probabilistic Action Language
International Conference on Logic Programming (ICLP), Published in Theory and Practice of Logic Programming (TPLP), 2019 [Official version] -
Yuqian Jiang, Harel Yedidsion, Shiqi Zhang, Guni Sharon, and Peter Stone
Multi-Robot Planning with Conflicts and Synergies
Autonomous Robots Journal (AURO), 2019 [Demo video; AAMAS-2017 paper; Official version] - Mohan Sridharan, Michael Gelfond, Shiqi Zhang, and Jeremy Wyatt
REBA: a Refinement-Based Architecture for Knowledge Representation and Reasoning in Robotics
Journal of Artificial Intelligence Research (JAIR), 2019 [Official version] - Yuqian Jiang, Shiqi Zhang, Piyush Khandelwal, and Peter Stone
Task Planning in Robotics: an Empirical Comparison of PDDL- and ASP-based Systems
Frontiers of Information Technology and Electronic Engineering (FITEE), Special Issue on Intelligent Robots, 2019 [Official version]
2019
- Shih-Yun Lo, Shiqi Zhang, and Peter Stone
PETLON: Planning Efficiently for Task-Level-Optimal Navigation
The International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2018
Best Robotics Paper Award
- Saeid Amiri, Suhua Wei, Shiqi Zhang, Jivko Sinapov, Jesse Thomason, and Peter Stone
Multi-modal Predicate Identification using Dynamically Learned Robot Controllers
The International Joint Conference on Artificial Intelligence (IJCAI), 2018 - Christopher Amato, Haitham Bou Ammar, Elizabeth Churchill, Erez Karpas, Takashi Kido, Mike Kuniavsky, WF Lawless, Francesca Rossi, Frans A Oliehoek, Stephen Russell, Keiki Takadama, Siddharth Srivastava, Karl Tuyls, Philip Van Allen, K Brent Venable, Peter Vrancx, and Shiqi Zhang
Reports on the 2018 AAAI Spring Symposium Series
AI Magazine, 2018
2018
Outreach and Education Activities
Contact Information
Lab Address on Campus
N09, Engineering Building (3rd floor)
Delivery Address
Department of Computer Science
Thomas J. Watson School of Engineering and Applied Science
The State University of New York (SUNY) at Binghamton
4400 Vestal Parkway East
Binghamton, NY 13902-6000
Please check the lab director's personal homepage for email/phone information.