Sliced curvature scale space for representing and recognizing 3D objects. - Billy Okal; Andreas Nüchter (ICAR, 2013)

Inverse Reinforcement Learning algorithms and features for robot navigation in crowds: An experimental comparison. - Dizan Vasquez; Billy Okal; Kai Oliver Arras (IROS, 2014)

SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports. - Rudolph Triebel; Kai Oliver Arras; Rachid Alami 001; Lucas Beyer; Stefan Breuers; Raja Chatila 001; Mohamed Chetouani; Daniel Cremers; Vanessa Evers; Michelangelo Fiore; Hayley Hung; Omar A. Islas Ramírez; et al. (FSR, 2015)

Learning socially normative robot navigation behaviors with Bayesian inverse reinforcement learning. - Billy Okal; Kai Oliver Arras (ICRA, 2016)

Practical Bayesian Inverse Reinforcement Learning for Robot Navigation. - Billy Okal; Kai Oliver Arras (ECML/PKDD (3), 2016)

Formalizing Normative Robot Behavior. - Billy Okal; Kai Oliver Arras (ICSR, 2016)

X-MOBILITY: End-To-End Generalizable Navigation via World Modeling. - Wei Liu; Huihua Zhao; Chenran Li; Joydeep Biswas; Billy Okal; Pulkit Goyal; Yan Chang; Soha Pouya (CoRR, 2024)

DSAIL-TreeVision: A software tool for extracting tree biophysical parameters from stereoscopic images. - Cedric Kiplimo; Collins Emasi Epege; Ciira Wa Maina; Billy Okal (SoftwareX, 2024)