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Stefan Schaal
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- affiliation: University of Southern California, Los Angeles, USA
- affiliation: Max-Planck Institute Intelligent Systems, Tübingen, Germany
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2020 – today
- 2024
- [j65]Michael Drolet
, Simon Stepputtis, Siva Kailas
A Comparison of Imitation Learning Algorithms for Bimanual Manipulation. IEEE Robotics Autom. Lett. 9(10): 8579-8586 (2024) - [j64]Jianlan Luo
Multistage Cable Routing Through Hierarchical Imitation Learning. IEEE Trans. Robotics 40: 1476-1491 (2024) - [c172]Abby O'Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alexander Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew Wang, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Beomjoon Kim, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu, Charlotte Le, Chelsea Finn, Chen Wang, Chenfeng Xu, Cheng Chi, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Driess, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Ethan Paul Foster, Fangchen Liu, Federico Ceola, Fei Xia, Feiyu Zhao, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Ge Yan, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guanzhi Wang, Hao Su, Haoshu Fang, Haochen Shi, Henghui Bao, Heni Ben Amor, Henrik I. Christensen, Hiroki Furuta, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim, Jaimyn Drake, Jan Peters, Jan Schneider, Jasmine Hsu, Jeannette Bohg, Jeffrey Bingham, Jeffrey Wu, Jensen Gao, Jiaheng Hu, Jiajun Wu, Jialin Wu, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jingyun Yang, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kaiyuan Wang, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Ken Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Lin, Kevin Zhang, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Lawrence Yunliang Chen, Lerrel Pinto, Li Fei-Fei, Liam Tan, Linxi Jim Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen, Nicolas Heess, Nikhil J. Joshi, Niko Sünderhauf, Ning Liu, Norman Di Palo, Nur Muhammad (Mahi) Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R. Sanketi, Patrick Tree Miller, Patrick Yin, Paul Wohlhart, Peng Xu, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Quan Vuong, Rafael Rafailov, Ran Tian, Ria Doshi, Roberto Martín-Martín, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Ruohan Zhang, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante, Sean Kirmani, Sergey Levine, Shan Lin, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham D. Sonawani, Shuran Song, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vincent Vanhoucke, Wei Zhan, Wenxuan Zhou, Wolfram Burgard, Xi Chen, Xiaolong Wang, Xinghao Zhu, Xinyang Geng, Xiyuan Liu, Liangwei Xu, Xuanlin Li, Yao Lu, Yecheng Jason Ma, Yejin Kim, Yevgen Chebotar, Yifan Zhou, Yifeng Zhu, Yilin Wu, Ying Xu, Yixuan Wang, Yonatan Bisk, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yue Cao, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zhuo Xu, Zichen Jeff Cui, Zichen Zhang, Zipeng Lin:
Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. ICRA 2024: 6892-6903 - [c171]Jianlan Luo, Zheyuan Hu
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning. ICRA 2024: 16961-16969 - [c170]Kaylee Burns, Ajinkya Jain, Keegan Go, Fei Xia, Michael Stark, Stefan Schaal, Karol Hausman:
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks. IROS 2024: 9596-9603 - [i70]Jianlan Luo, Zheyuan Hu, Charles Xu, You Liang Tan, Jacob Berg, Archit Sharma, Stefan Schaal, Chelsea Finn, Abhishek Gupta, Sergey Levine:
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning. CoRR abs/2401.16013 (2024) - [i69]Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh, Jeannette Bohg, Stefan Schaal:
RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches. CoRR abs/2403.02709 (2024) - [i68]Kaylee Burns, Ajinkya Jain, Keegan Go, Fei Xia, Michael Stark, Stefan Schaal, Karol Hausman:
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks. CoRR abs/2404.06645 (2024) - [i67]Michael Drolet, Simon Stepputtis, Siva Kailas, Ajinkya Jain, Jan Peters, Stefan Schaal, Heni Ben Amor:
A Comparison of Imitation Learning Algorithms for Bimanual Manipulation. CoRR abs/2408.06536 (2024) - 2023
- [c169]Zheng Wu, Yichen Xie, Wenzhao Lian, Changhao Wang, Yanjiang Guo, Jianyu Chen, Stefan Schaal, Masayoshi Tomizuka:
Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning. ICRA 2023: 7169-7175 - [i66]Jianlan Luo, Charles Xu, Xinyang Geng, Gilbert Feng, Kuan Fang, Liam Tan, Stefan Schaal, Sergey Levine:
Multi-Stage Cable Routing through Hierarchical Imitation Learning. CoRR abs/2307.08927 (2023) - [i65]Kevin Tracy, Zachary Manchester, Ajinkya Jain, Keegan Go, Stefan Schaal, Tom Erez, Yuval Tassa:
Efficient Online Learning of Contact Force Models for Connector Insertion. CoRR abs/2312.09190 (2023) - 2022
- [j63]Alina Kloss
Combining learned and analytical models for predicting action effects from sensory data. Int. J. Robotics Res. 41(8): 778-797 (2022) - [j62]Giovanni Sutanto
Supervised learning and reinforcement learning of feedback models for reactive behaviors: Tactile feedback testbed. Int. J. Robotics Res. 41(13-14): 1121-1145 (2022) - [j61]Azarakhsh Keipour
Deformable One-Dimensional Object Detection for Routing and Manipulation. IEEE Robotics Autom. Lett. 7(2): 4329-4336 (2022) - [j60]Todor Davchev
Residual Learning From Demonstration: Adapting DMPs for Contact-Rich Manipulation. IEEE Robotics Autom. Lett. 7(2): 4488-4495 (2022) - [j59]Shiyu Jin
Robotic Cable Routing with Spatial Representation. IEEE Robotics Autom. Lett. 7(2): 5687-5694 (2022) - [c168]Todor Davchev, Oleg Olegovich Sushkov, Jean-Baptiste Regli, Stefan Schaal, Yusuf Aytar, Markus Wulfmeier, Jon Scholz:
Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation. ICLR 2022 - [c167]Toki Migimatsu, Wenzhao Lian, Jeannette Bohg
Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks. ICRA 2022: 1702-1709 - [c166]Michael H. Lim, Andy Zeng, Brian Ichter, Maryam Bandari, Erwin Coumans, Claire J. Tomlin, Stefan Schaal, Aleksandra Faust
Multi-Task Learning with Sequence-Conditioned Transporter Networks. ICRA 2022: 2489-2496 - [c165]Tony Z. Zhao, Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Nicolas Heess, Jon Scholz, Stefan Schaal, Sergey Levine:
Offline Meta-Reinforcement Learning for Industrial Insertion. ICRA 2022: 6386-6393 - [c164]Bowen Wen, Wenzhao Lian, Kostas E. Bekris, Stefan Schaal:
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation. ICRA 2022: 6401-6408 - [c163]Azarakhsh Keipour
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation. IROS 2022: 211-216 - [c162]Simon Stepputtis, Maryam Bandari, Stefan Schaal, Heni Ben Amor:
A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies. IROS 2022: 11810-11817 - [c161]Bowen Wen, Wenzhao Lian, Kostas E. Bekris, Stefan Schaal:
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration. Robotics: Science and Systems 2022 - [i64]Azarakhsh Keipour, Maryam Bandari, Stefan Schaal:
Deformable One-Dimensional Object Detection for Routing and Manipulation. CoRR abs/2201.06775 (2022) - [i63]Bowen Wen, Wenzhao Lian, Kostas E. Bekris, Stefan Schaal:
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration. CoRR abs/2201.12716 (2022) - [i62]Azarakhsh Keipour, Maryam Bandari, Stefan Schaal:
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation. CoRR abs/2202.06172 (2022) - [i61]Toki Migimatsu, Wenzhao Lian, Jeannette Bohg, Stefan Schaal:
Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks. CoRR abs/2203.02468 (2022) - [i60]Azarakhsh Keipour, Mohammadreza Mousaei, Maryam Bandari, Stefan Schaal, Sebastian A. Scherer
Detection and Physical Interaction with Deformable Linear Objects. CoRR abs/2205.08041 (2022) - [i59]Simon Stepputtis, Maryam Bandari, Stefan Schaal, Heni Ben Amor:
A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies. CoRR abs/2208.00596 (2022) - [i58]Zheng Wu, Yichen Xie, Wenzhao Lian, Changhao Wang, Yanjiang Guo, Jianyu Chen, Stefan Schaal, Masayoshi Tomizuka:
Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning. CoRR abs/2210.00350 (2022) - [i57]Zheng Wu, Wenzhao Lian, Changhao Wang, Mengxi Li, Stefan Schaal, Masayoshi Tomizuka:
Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks. CoRR abs/2212.00955 (2022) - 2021
- [j58]Vince Enachescu
Action planning and control under uncertainty emerge through a desirability-driven competition between parallel encoding motor plans. PLoS Comput. Biol. 17(10) (2021) - [c160]Zheng Wu, Wenzhao Lian, Vaibhav V. Unhelkar
Learning Dense Rewards for Contact-Rich Manipulation Tasks. ICRA 2021: 6214-6221 - [c159]Wenzhao Lian, Tim Kelch, Dirk Holz, Adam Norton
Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks. IROS 2021: 1046-1053 - [c158]Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerík, Ning Ye, Stefan Schaal, Jonathan Scholz:
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study. Robotics: Science and Systems 2021 - [i56]Wenzhao Lian, Tim Kelch, Dirk Holz, Adam Norton, Stefan Schaal:
Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks. CoRR abs/2103.05140 (2021) - [i55]Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerík, Ning Ye, Stefan Schaal, Jonathan Scholz:
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study. CoRR abs/2103.11512 (2021) - [i54]John R. Rebula, Stefan Schaal, James M. Finley, Ludovic Righetti:
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. CoRR abs/2104.12042 (2021) - [i53]Michael H. Lim, Andy Zeng, Brian Ichter, Maryam Bandari, Erwin Coumans, Claire J. Tomlin, Stefan Schaal, Aleksandra Faust:
Multi-Task Learning with Sequence-Conditioned Transporter Networks. CoRR abs/2109.07578 (2021) - [i52]Bowen Wen, Wenzhao Lian, Kostas E. Bekris, Stefan Schaal:
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation. CoRR abs/2109.09163 (2021) - [i51]Tony Z. Zhao, Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Nicolas Heess, Jonathan Scholz, Stefan Schaal, Sergey Levine:
Offline Meta-Reinforcement Learning for Industrial Insertion. CoRR abs/2110.04276 (2021) - [i50]Nicholas Roy, Ingmar Posner, Tim D. Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Daniel E. Koditschek, Tomás Lozano-Pérez, Vikash Mansinghka, Christopher J. Pal, Blake A. Richards, Dorsa Sadigh, Stefan Schaal, Gaurav S. Sukhatme, Denis Thérien, Marc Toussaint, Michiel van de Panne:
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence. CoRR abs/2110.15245 (2021) - [i49]Todor Davchev, Oleg Sushkov, Jean-Baptiste Regli, Stefan Schaal, Yusuf Aytar, Markus Wulfmeier, Jon Scholz:
Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation. CoRR abs/2112.00597 (2021) - 2020
- [j57]Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman:
Scaling simulation-to-real transfer by learning a latent space of robot skills. Int. J. Robotics Res. 39(10-11) (2020) - [c157]Jim Mainprice, Nathan D. Ratliff, Marc Toussaint
An Interior Point Method Solving Motion Planning Problems with Narrow Passages. RO-MAN 2020: 547-552 - [i48]Polina Golland, Jack L. Gallant, Greg Hager, Hanspeter Pfister, Christos H. Papadimitriou, Stefan Schaal, Joshua T. Vogelstein:
A New Age of Computing and the Brain. CoRR abs/2004.12926 (2020) - [i47]Giovanni Sutanto, Katharina Rombach, Yevgen Chebotar, Zhe Su, Stefan Schaal, Gaurav S. Sukhatme, Franziska Meier:
Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed. CoRR abs/2007.00450 (2020) - [i46]Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal:
An Interior Point Method Solving Motion Planning Problems with Narrow Passages. CoRR abs/2007.04842 (2020) - [i45]Todor Davchev, Kevin Sebastian Luck, Michael Burke, Franziska Meier, Stefan Schaal, Subramanian Ramamoorthy:
Residual Learning from Demonstration. CoRR abs/2008.07682 (2020) - [i44]Zheng Wu, Wenzhao Lian, Vaibhav V. Unhelkar, Masayoshi Tomizuka, Stefan Schaal:
Learning Dense Rewards for Contact-Rich Manipulation Tasks. CoRR abs/2011.08458 (2020)
2010 – 2019
- 2019
- [j56]John R. Rebula
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. IEEE Robotics Autom. Lett. 4(4): 4531-4538 (2019) - [c156]Kevin Hitzler, Franziska Meier, Stefan Schaal, Tamim Asfour
Learning and Adaptation of Inverse Dynamics Models: A Comparison. Humanoids 2019: 491-498 - 2018
- [j55]Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wuthrich, Vincent Berenz, Stefan Schaal, Nathan D. Ratliff, Jeannette Bohg
Real-Time Perception Meets Reactive Motion Generation. IEEE Robotics Autom. Lett. 3(3): 1864-1871 (2018) - [j54]Vincent Berenz
The Playful Software Platform: Reactive Programming for Orchestrating Robotic Behavior. IEEE Robotics Autom. Mag. 25(3): 49-60 (2018) - [c155]Andrej Gams
Learning Task-Specific Dynamics to Improve Whole-Body Control. Humanoids 2018: 280-283 - [c154]Andreas Doerr, Christian Daniel, Martin Schiegg, Duy Nguyen-Tuong, Stefan Schaal, Marc Toussaint, Sebastian Trimpe:
Probabilistic Recurrent State-Space Models. ICML 2018: 1279-1288 - [c153]Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti
On Time Optimization of Centroidal Momentum Dynamics. ICRA 2018: 1-7 - [c152]Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Unsupervised Contact Learning for Humanoid Estimation and Control. ICRA 2018: 411-417 - [c151]Pierre Sermanet, Corey Lynch, Yevgen Chebotar, Jasmine Hsu, Eric Jang, Stefan Schaal, Sergey Levine:
Time-Contrastive Networks: Self-Supervised Learning from Video. ICRA 2018: 1134-1141 - [c150]Giovanni Sutanto, Zhe Su, Stefan Schaal, Franziska Meier:
Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks. ICRA 2018: 1142-1149 - [c149]Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
An MPC Walking Framework with External Contact Forces. ICRA 2018: 1785-1790 - [c148]Franziska Meier, Daniel Kappler, Stefan Schaal:
Online Learning of a Memory for Learning Rates. ICRA 2018: 2425-2432 - [c147]Zhe Su, Oliver Kroemer, Gerald E. Loeb, Gaurav S. Sukhatme, Stefan Schaal:
Learning Manipulation Graphs from Demonstrations Using Multimodal Sensory Signals. ICRA 2018: 2758-2765 - [c146]Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman:
Scaling Simulation-to-Real Transfer by Learning Composable Robot Skills. ISER 2018: 267-279 - [i43]Andrej Gams, Sean A. Mason, Ales Ude, Stefan Schaal, Ludovic Righetti:
Learning Task-Specific Dynamics to Improve Whole-Body Control. CoRR abs/1803.01978 (2018) - [i42]Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman:
Scaling simulation-to-real transfer by learning composable robot skills. CoRR abs/1809.10253 (2018) - [i41]Zhanpeng He, Ryan Julian, Eric Heiden, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman:
Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations. CoRR abs/1810.02422 (2018) - 2017
- [j53]Cristina Garcia Cifuentes, Jan Issac, Manuel Wüthrich, Stefan Schaal, Jeannette Bohg
Probabilistic Articulated Real-Time Tracking for Robot Manipulation. IEEE Robotics Autom. Lett. 2(2): 577-584 (2017) - [j52]Jeannette Bohg
Interactive Perception: Leveraging Action in Perception and Perception in Action. IEEE Trans. Robotics 33(6): 1273-1291 (2017) - [c145]Yevgen Chebotar, Karol Hausman, Oliver Kroemer, Gaurav S. Sukhatme, Stefan Schaal:
Regrasping Using Tactile Perception and Supervised Policy Learning. AAAI Spring Symposia 2017 - [c144]Alonso Marco
On the design of LQR kernels for efficient controller learning. CDC 2017: 5193-5200 - [c143]Andreas Doerr, Christian Daniel, Duy Nguyen-Tuong, Alonso Marco, Stefan Schaal, Marc Toussaint, Sebastian Trimpe:
Optimizing Long-term Predictions for Model-based Policy Search. CoRL 2017: 227-238 - [c142]Yevgen Chebotar, Karol Hausman, Marvin Zhang, Gaurav S. Sukhatme, Stefan Schaal, Sergey Levine:
Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning. ICML 2017: 703-711 - [c141]Alonso Marco
Virtual vs. real: Trading off simulations and physical experiments in reinforcement learning with Bayesian optimization. ICRA 2017: 1557-1563 - [c140]Akshara Rai, Giovanni Sutanto, Stefan Schaal, Franziska Meier:
Learning feedback terms for reactive planning and control. ICRA 2017: 2184-2191 - [c139]Yevgen Chebotar, Mrinal Kalakrishnan, Ali Yahya, Adrian Li, Stefan Schaal, Sergey Levine:
Path integral guided policy search. ICRA 2017: 3381-3388 - [c138]Andreas Doerr, Duy Nguyen-Tuong, Alonso Marco
Model-based policy search for automatic tuning of multivariate PID controllers. ICRA 2017: 5295-5301 - [c137]Carlos Rubert, Daniel Kappler, Antonio Morales
On the relevance of grasp metrics for predicting grasp success. IROS 2017: 265-272 - [c136]Daniel Kappler, Franziska Meier, Nathan D. Ratliff, Stefan Schaal:
A new data source for inverse dynamics learning. IROS 2017: 4723-4730 - [c135]Karol Hausman, Yevgen Chebotar, Stefan Schaal, Gaurav S. Sukhatme, Joseph J. Lim:
Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets. NIPS 2017: 1235-1245 - [r2]Jo-Anne Ting, Franziska Meier, Sethu Vijayakumar, Stefan Schaal:
Locally Weighted Regression for Control. Encyclopedia of Machine Learning and Data Mining 2017: 759-772 - [i40]Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints. CoRR abs/1701.08179 (2017) - [i39]Alonso Marco, Felix Berkenkamp, Philipp Hennig, Angela P. Schoellig, Andreas Krause, Stefan Schaal, Sebastian Trimpe:
Virtual vs. Real: Trading Off Simulations and Physical Experiments in Reinforcement Learning with Bayesian Optimization. CoRR abs/1703.01250 (2017) - [i38]Andreas Doerr, Duy Nguyen-Tuong, Alonso Marco, Stefan Schaal, Sebastian Trimpe:
Model-Based Policy Search for Automatic Tuning of Multivariate PID Controllers. CoRR abs/1703.02899 (2017) - [i37]Yevgen Chebotar, Karol Hausman, Marvin Zhang, Gaurav S. Sukhatme, Stefan Schaal, Sergey Levine:
Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning. CoRR abs/1703.03078 (2017) - [i36]Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan D. Ratliff, Jeannette Bohg:
Real-time Perception meets Reactive Motion Generation. CoRR abs/1703.03512 (2017) - [i35]Karol Hausman, Yevgen Chebotar, Stefan Schaal, Gaurav S. Sukhatme, Joseph J. Lim:
Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets. CoRR abs/1705.10479 (2017) - [i34]Franziska Meier, Daniel Kappler, Stefan Schaal:
Online Learning of a Memory for Learning Rates. CoRR abs/1709.06709 (2017) - [i33]Alonso Marco, Philipp Hennig, Stefan Schaal, Sebastian Trimpe:
On the Design of LQR Kernels for Efficient Controller Learning. CoRR abs/1709.07089 (2017) - [i32]Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Unsupervised Contact Learning for Humanoid Estimation and Control. CoRR abs/1709.07472 (2017) - [i31]Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti:
On Time Optimisation of Centroidal Momentum Dynamics. CoRR abs/1709.09265 (2017) - [i30]Daniel Kappler, Franziska Meier, Nathan D. Ratliff, Stefan Schaal:
A New Data Source for Inverse Dynamics Learning. CoRR abs/1710.02513 (2017) - [i29]Alina Kloss, Stefan Schaal, Jeannette Bohg:
Combining learned and analytical models for predicting action effects. CoRR abs/1710.04102 (2017) - [i28]Giovanni Sutanto, Zhe Su, Stefan Schaal, Franziska Meier:
Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks. CoRR abs/1710.08555 (2017) - [i27]Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
A MPC Walking Framework With External Contact Forces. CoRR abs/1712.09308 (2017) - 2016
- [j51]Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti
Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid. Auton. Robots 40(3): 473-491 (2016) - [j50]Nathan D. Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal:
DOOMED: Direct Online Optimization of Modeling Errors in Dynamics. Big Data 4(4): 253-268 (2016) - [j49]Manuel Wüthrich, Sebastian Trimpe
A new perspective and extension of the Gaussian Filter. Int. J. Robotics Res. 35(14): 1731-1749 (2016) - [j48]Nicola Vitiello, Auke Jan Ijspeert
Bioinspired Motor Control for Articulated Robots [From the Guest Editors]. IEEE Robotics Autom. Mag. 23(1): 20-21 (2016) - [c134]Manuel Wuthrich, Cristina Garcia Cifuentes, Sebastian Trimpe
Robust Gaussian filtering using a pseudo measurement. ACC 2016: 3606-3613 - [c133]Zhe Su, Stefan Schaal, Gerald E. Loeb:
Surface tilt perception with a biomimetic tactile sensor. BioRob 2016: 936-943 - [c132]Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Balancing and walking using full dynamics LQR control with contact constraints. Humanoids 2016: 63-68 - [c131]Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti
A convex model of humanoid momentum dynamics for multi-contact motion generation. Humanoids 2016: 842-849 - [c130]Franziska Meier, Stefan Schaal:
Drifting Gaussian processes with varying neighborhood sizes for online model learning. ICRA 2016: 264-269 - [c129]Alonso Marco
Automatic LQR tuning based on Gaussian process global optimization. ICRA 2016: 270-277 - [c128]Jan Issac, Manuel Wüthrich, Cristina Garcia Cifuentes, Jeannette Bohg
Depth-based object tracking using a Robust Gaussian Filter. ICRA 2016: 608-615 - [c127]Felix Widmaier, Daniel Kappler, Stefan Schaal, Jeannette Bohg
Robot arm pose estimation by pixel-wise regression of joint angles. ICRA 2016: 616-623 - [c126]Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti
Inertial sensor-based humanoid joint state estimation. ICRA 2016: 1825-1831 - [c125]Daniel Kappler, Stefan Schaal, Jeannette Bohg
Optimizing for what matters: The top grasp hypothesis. ICRA 2016: 2167-2174 - [c124]Jeannette Bohg
Exemplar-based prediction of global object shape from local shape similarity. ICRA 2016: 3398-3405 - [c123]Yevgen Chebotar, Karol Hausman, Zhe Su, Gaurav S. Sukhatme, Stefan Schaal:
Self-supervised regrasping using spatio-temporal tactile features and reinforcement learning. IROS 2016: 1960-1966 - [c122]Alexander Herzog, Stefan Schaal, Ludovic Righetti
Structured contact force optimization for kino-dynamic motion generation. IROS 2016: 2703-2710 - [c121]Jim Mainprice, Nathan D. Ratliff, Stefan Schaal:
Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks. IROS 2016: 3156-3163 - [c120]Franziska Meier, Daniel Kappler, Nathan D. Ratliff, Stefan Schaal:
Towards robust online inverse dynamics learning. IROS 2016: 4034-4039 - [c119]Alina Kloss, Daniel Kappler, Hendrik P. A. Lensch, Martin V. Butz
Learning where to search using visual attention. IROS 2016: 5238-5245 - [c118]Yevgen Chebotar, Karol Hausman, Oliver Kroemer, Gaurav S. Sukhatme, Stefan Schaal:
Generalizing Regrasping with Supervised Policy Learning. ISER 2016: 622-632 - [c117]Zhe Su, Oliver Kroemer, Gerald E. Loeb
Learning to Switch Between Sensorimotor Primitives Using Multimodal Haptic Signals. SAB 2016: 170-182 - [c116]Brahayam Pontón, Stefan Schaal, Ludovic Righetti:
On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions. WAFR 2016: 784-799 - [p2]Jan Peters, Daniel D. Lee, Jens Kober
Robot Learning. Springer Handbook of Robotics, 2nd Ed. 2016: 357-398 - [i26]Nicholas Rotella, Sean Mason, Stefan Schaal, Ludovic Righetti:
Inertial Sensor-Based Humanoid Joint State Estimation. CoRR abs/1602.05134 (2016) - [i25]Jan Issac, Manuel Wüthrich, Cristina Garcia Cifuentes, Jeannette Bohg, Sebastian Trimpe, Stefan Schaal:
Depth-Based Object Tracking Using a Robust Gaussian Filter. CoRR abs/1602.06157 (2016) - [i24]Jeannette Bohg, Karol Hausman, Bharath Sankaran, Oliver Brock, Danica Kragic, Stefan Schaal, Gaurav S. Sukhatme:
Interactive Perception: Leveraging Action in Perception and Perception in Action. CoRR abs/1604.03670 (2016) - [i23]Alonso Marco, Philipp Hennig, Jeannette Bohg, Stefan Schaal, Sebastian Trimpe:
Automatic LQR Tuning Based on Gaussian Process Global Optimization. CoRR abs/1605.01950 (2016) - [i22]Brahayam Ponton, Stefan Schaal, Ludovic Righetti:
Risk sensitive nonlinear optimal control with measurement uncertainty. CoRR abs/1605.04344 (2016) - [i21]Alexander Herzog, Stefan Schaal, Ludovic Righetti:
Structured contact force optimization for kino-dynamic motion generation. CoRR abs/1605.08571 (2016) - [i20]Nathan D. Ratliff, Marc Toussaint, Jeannette Bohg, Stefan Schaal:
On the Fundamental Importance of Gauss-Newton in Motion Optimization. CoRR abs/1605.09296 (2016) - [i19]Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti:
A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation. CoRR abs/1607.08644 (2016) - [i18]Nathan D. Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal:
DOOMED: Direct Online Optimization of Modeling Errors in Dynamics. CoRR abs/1608.00309 (2016) - [i17]Majid Khadiv, Sébastien Kleff, Alexander Herzog, S. Ali A. Moosavian, Stefan Schaal, Ludovic Righetti:
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment. CoRR abs/1609.09822 (2016) - [i16]Yevgen Chebotar, Mrinal Kalakrishnan, Ali Yahya, Adrian Li, Stefan Schaal, Sergey Levine:
Path Integral Guided Policy Search. CoRR abs/1610.00529 (2016) - [i15]Akshara Rai, Giovanni Sutanto, Franziska Meier, Stefan Schaal:
Learning Feedback Terms for Reactive Planning and Control. CoRR abs/1610.03557 (2016) - [i14]Cristina Garcia Cifuentes, Jan Issac, Manuel Wüthrich, Stefan Schaal, Jeannette Bohg:
Probabilistic Articulated Real-Time Tracking for Robot Manipulation. CoRR abs/1610.04871 (2016) - [i13]Franziska Meier, Stefan Schaal:
A Probabilistic Representation for Dynamic Movement Primitives. CoRR abs/1612.05932 (2016) - 2015
- [c115]Zhe Su, Karol Hausman, Yevgen Chebotar, Artem Molchanov, Gerald E. Loeb
Force estimation and slip detection/classification for grip control using a biomimetic tactile sensor. Humanoids 2015: 297-303 - [c114]Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti
Humanoid momentum estimation using sensed contact wrenches. Humanoids 2015: 556-563 - [c113]Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
Trajectory generation for multi-contact momentum control. Humanoids 2015: 874-880 - [c112]Manuel Wüthrich, Jeannette Bohg
The Coordinate Particle Filter - a novel Particle Filter for high dimensional systems. ICRA 2015: 2454-2461 - [c111]Nathan D. Ratliff, Marc Toussaint, Stefan Schaal:
Understanding the geometry of workspace obstacles in Motion Optimization. ICRA 2015: 4202-4209 - [c110]Daniel Kappler, Jeannette Bohg
Leveraging big data for grasp planning. ICRA 2015: 4304-4311 - [c109]Andreas Doerr, Nathan D. Ratliff, Jeannette Bohg
Direct Loss Minimization Inverse Optimal Control. Robotics: Science and Systems 2015 - [c108]Daniel Kappler, Peter Pastor, Mrinal Kalakrishnan, Manuel Wüthrich, Stefan Schaal:
Data-Driven Online Decision Making for Autonomous Manipulation. Robotics: Science and Systems 2015 - [c107]Manuel Wüthrich, Sebastian Trimpe
A New Perspective and Extension of the Gaussian Filter. Robotics: Science and Systems 2015 - [i12]Bharath Sankaran, Jeannette Bohg, Nathan D. Ratliff, Stefan Schaal:
Policy Learning with Hypothesis based Local Action Selection. CoRR abs/1503.06375 (2015) - [i11]Manuel Wüthrich, Peter Pastor, Ludovic Righetti, Aude Billard, Stefan Schaal:
Probabilistic Depth Image Registration incorporating Nonvisual Information. CoRR abs/1504.07857 (2015) - [i10]Manuel Wüthrich, Sebastian Trimpe, Daniel Kappler, Stefan Schaal:
A New Perspective and Extension of the Gaussian Filter. CoRR abs/1504.07941 (2015) - [i9]Manuel Wüthrich, Peter Pastor, Mrinal Kalakrishnan, Jeannette Bohg, Stefan Schaal:
Probabilistic Object Tracking using a Range Camera. CoRR abs/1505.00241 (2015) - [i8]Manuel Wüthrich, Jeannette Bohg, Daniel Kappler, Claudia Pfreundt, Stefan Schaal:
The Coordinate Particle Filter - A novel Particle Filter for High Dimensional Systems. CoRR abs/1505.00251 (2015) - [i7]Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti:
Trajectory generation for multi-contact momentum-control. CoRR abs/1507.04380 (2015) - [i6]Nicholas Rotella, Alexander Herzog, Stefan Schaal, Ludovic Righetti:
Humanoid Momentum Estimation Using Sensed Contact Wrenches. CoRR abs/1507.04401 (2015) - [i5]Manuel Wüthrich, Cristina Garcia Cifuentes, Sebastian Trimpe, Stefan Schaal:
Robust Gaussian Filtering. CoRR abs/1509.04072 (2015) - 2014
- [j47]Ludovic Righetti
An autonomous manipulation system based on force control and optimization. Auton. Robots 36(1-2): 11-30 (2014) - [j46]Alexander Herzog, Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti
Learning of grasp selection based on shape-templates. Auton. Robots 36(1-2): 51-65 (2014) - [c106]Sean Mason, Ludovic Righetti
Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting. Humanoids 2014: 374-379 - [c105]Akshara Rai, Franziska Meier, Auke Jan Ijspeert
Learning coupling terms for obstacle avoidance. Humanoids 2014: 512-518 - [c104]Jeannette Bohg
Robot arm pose estimation through pixel-wise part classification. ICRA 2014: 3143-3150 - [c103]Marc Toussaint, Nathan D. Ratliff, Jeannette Bohg
Dual execution of optimized contact interaction trajectories. IROS 2014: 47-54 - [c102]Nicholas Rotella, Michael Blösch, Ludovic Righetti
State estimation for a humanoid robot. IROS 2014: 952-958 - [c101]Alexander Herzog, Ludovic Righetti
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. IROS 2014: 981-988 - [c100]Franziska Meier, Philipp Hennig, Stefan Schaal:
Efficient Bayesian local model learning for control. IROS 2014: 2244-2249 - [c99]Franziska Meier, Philipp Hennig, Stefan Schaal:
Incremental Local Gaussian Regression. NIPS 2014: 972-980 - [i4]Franziska Meier, Philipp Hennig, Stefan Schaal:
Local Gaussian Regression. CoRR abs/1402.0645 (2014) - [i3]Nicholas Rotella, Michael Blösch, Ludovic Righetti, Stefan Schaal:
State Estimation for a Humanoid Robot. CoRR abs/1402.5450 (2014) - [i2]Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti:
Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid. CoRR abs/1410.7284 (2014) - 2013
- [j45]Ludovic Righetti
Optimal distribution of contact forces with inverse-dynamics control. Int. J. Robotics Res. 32(3): 280-298 (2013) - [j44]Auke Jan Ijspeert
Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors. Neural Comput. 25(2): 328-373 (2013) - [j43]Peter Pastor, Mrinal Kalakrishnan, Franziska Meier, Freek Stulp, Jonas Buchli, Evangelos A. Theodorou, Stefan Schaal:
From dynamic movement primitives to associative skill memories. Robotics Auton. Syst. 61(4): 351-361 (2013) - [c98]Mrinal Kalakrishnan, Peter Pastor, Ludovic Righetti
Learning objective functions for manipulation. ICRA 2013: 1331-1336 - [c97]Peter Pastor, Mrinal Kalakrishnan, Jonathan Binney, Jonathan Kelly, Ludovic Righetti
Learning task error models for manipulation. ICRA 2013: 2612-2618 - [c96]Manuel Wuthrich, Peter Pastor, Mrinal Kalakrishnan, Jeannette Bohg
Probabilistic object tracking using a range camera. IROS 2013: 3195-3202 - [i1]Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal:
Momentum-based Balance Control for Torque-controlled Humanoids. CoRR abs/1305.2042 (2013) - 2012
- [j42]Freek Stulp, Jonas Buchli, Alice Ellmer, Michael N. Mistry, Evangelos A. Theodorou, Stefan Schaal:
Model-Free Reinforcement Learning of Impedance Control in Stochastic Environments. IEEE Trans. Auton. Ment. Dev. 4(4): 330-341 (2012) - [j41]Freek Stulp, Evangelos A. Theodorou, Stefan Schaal:
Reinforcement Learning With Sequences of Motion Primitives for Robust Manipulation. IEEE Trans. Robotics 28(6): 1360-1370 (2012) - [c95]Johannes Ernesti, Ludovic Righetti
Encoding of periodic and their transient motions by a single dynamic movement primitive. Humanoids 2012: 57-64 - [c94]Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti
Towards Associative Skill Memories. Humanoids 2012: 309-315 - [c93]Ludovic Righetti
Quadratic programming for inverse dynamics with optimal distribution of contact forces. Humanoids 2012: 538-543 - [c92]Mrinal Kalakrishnan, Ludovic Righetti, Peter Pastor, Stefan Schaal:
Learning Force Control Policies for Compliant Robotic Manipulation. ICML 2012 - [c91]Alexander Herzog, Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti
Template-based learning of grasp selection. ICRA 2012: 2379-2384 - [c90]Manuel Wuthrich, Peter Pastor, Ludovic Righetti
Probabilistic depth image registration incorporating nonvisual information. ICRA 2012: 3637-3644 - [c89]Franziska Meier, Evangelos A. Theodorou, Stefan Schaal:
Movement Segmentation and Recognition for Imitation Learning. AISTATS 2012: 761-769 - 2011
- [j40]Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, Michael N. Mistry, Stefan Schaal:
Learning, planning, and control for quadruped locomotion over challenging terrain. Int. J. Robotics Res. 30(2): 236-258 (2011) - [j39]Jonas Buchli, Freek Stulp, Evangelos A. Theodorou, Stefan Schaal:
Learning variable impedance control. Int. J. Robotics Res. 30(7): 820-833 (2011) - [j38]Jo-Anne Ting, Aaron D'Souza, Stefan Schaal:
Bayesian robot system identification with input and output noise. Neural Networks 24(1): 99-108 (2011) - [c88]Daniel A. Braun
Path integral control and bounded rationality. ADPRL 2011: 202-209 - [c87]Freek Stulp, Stefan Schaal:
Hierarchical reinforcement learning with movement primitives. Humanoids 2011: 231-238 - [c86]Ludovic Righetti
Control of legged robots with optimal distribution of contact forces. Humanoids 2011: 318-324 - [c85]Freek Stulp, Jonas Buchli, Alice Ellmer, Michael N. Mistry, Evangelos A. Theodorou, Stefan Schaal:
Reinforcement learning of impedance control in stochastic force fields. ICDL-EPIROB 2011: 1-6 - [c84]Ludovic Righetti
Inverse dynamics control of floating-base robots with external constraints: A unified view. ICRA 2011: 1085-1090 - [c83]Peter Pastor, Mrinal Kalakrishnan, Sachin Chitta, Evangelos A. Theodorou, Stefan Schaal:
Skill learning and task outcome prediction for manipulation. ICRA 2011: 3828-3834 - [c82]Mrinal Kalakrishnan, Sachin Chitta, Evangelos A. Theodorou, Peter Pastor, Stefan Schaal:
STOMP: Stochastic trajectory optimization for motion planning. ICRA 2011: 4569-4574 - [c81]Freek Stulp, Evangelos A. Theodorou, Jonas Buchli, Stefan Schaal:
Learning to grasp under uncertainty. ICRA 2011: 5703-5708 - [c80]Freek Stulp, Evangelos A. Theodorou, Mrinal Kalakrishnan, Peter Pastor, Ludovic Righetti
Learning motion primitive goals for robust manipulation. IROS 2011: 325-331 - [c79]Peter Pastor, Ludovic Righetti
Online movement adaptation based on previous sensor experiences. IROS 2011: 365-371 - [c78]Franziska Meier, Evangelos A. Theodorou, Freek Stulp, Stefan Schaal:
Movement segmentation using a primitive library. IROS 2011: 3407-3412 - [c77]Mrinal Kalakrishnan, Ludovic Righetti
Learning force control policies for compliant manipulation. IROS 2011: 4639-4644 - 2010
- [j37]Jan Peters
Algorithmen zum Automatischen Erlernen von Motorfähigkeiten (Policy Learning Algorithms for Motor Skills). Autom. 58(12): 688-694 (2010) - [j36]Evangelos A. Theodorou, Jonas Buchli, Stefan Schaal:
A Generalized Path Integral Control Approach to Reinforcement Learning. J. Mach. Learn. Res. 11: 3137-3181 (2010) - [j35]Jo-Anne Ting, Aaron D'Souza, Sethu Vijayakumar, Stefan Schaal:
Efficient Learning and Feature Selection in High-Dimensional Regression. Neural Comput. 22(4): 831-886 (2010) - [j34]Stefan Schaal, Christopher G. Atkeson:
Learning Control in Robotics. IEEE Robotics Autom. Mag. 17(2): 20-29 (2010) - [c76]Robert D. Gregg
Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. Humanoids 2010: 1-7 - [c75]Freek Stulp, Jonas Buchli, Evangelos A. Theodorou, Stefan Schaal:
Reinforcement learning of full-body humanoid motor skills. Humanoids 2010: 405-410 - [c74]Evangelos A. Theodorou, Jonas Buchli, Stefan Schaal:
Reinforcement learning of motor skills in high dimensions: A path integral approach. ICRA 2010: 2397-2403 - [c73]Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, Michael N. Mistry, Stefan Schaal:
Fast, robust quadruped locomotion over challenging terrain. ICRA 2010: 2665-2670 - [c72]Michael N. Mistry, Jonas Buchli, Stefan Schaal:
Inverse dynamics control of floating base systems using orthogonal decomposition. ICRA 2010: 3406-3412 - [c71]Jonas Buchli, Evangelos A. Theodorou, Freek Stulp, Stefan Schaal:
Variable Impedance Control - A Reinforcement Learning Approach. Robotics: Science and Systems 2010 - [c70]Evangelos A. Theodorou, Jonas Buchli, Stefan Schaal:
Learning Policy Improvements with Path Integrals. AISTATS 2010: 828-835 - [r1]Jo-Anne Ting, Sethu Vijayakumar, Stefan Schaal:
Locally Weighted Regression for Control. Encyclopedia of Machine Learning 2010: 613-624
2000 – 2009
- 2009
- [j33]Andrej Gams
On-line learning and modulation of periodic movements with nonlinear dynamical systems. Auton. Robots 27(1): 3-23 (2009) - [j32]Heiko Hoffmann
Local Dimensionality Reduction for Non-Parametric Regression. Neural Process. Lett. 29(2): 109-131 (2009) - [c69]Evangelos A. Theodorou, Jonas Buchli, Stefan Schaal:
Path integral-based stochastic optimal control for rigid body dynamics. ADPRL 2009: 219-225 - [c68]Michael N. Mistry, Stefan Schaal, Katsu Yamane:
Inertial parameter estimation of floating base humanoid systems using partial force sensing. Humanoids 2009: 492-497 - [c67]Freek Stulp, Erhan Öztop
Compact models of motor primitive variations for predictable reaching and obstacle avoidance. Humanoids 2009: 589-595 - [c66]Peter Pastor, Heiko Hoffmann
Learning and generalization of motor skills by learning from demonstration. ICRA 2009: 763-768 - [c65]Heiko Hoffmann
Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance. ICRA 2009: 2587-2592 - [c64]Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, Stefan Schaal:
Learning locomotion over rough terrain using terrain templates. IROS 2009: 167-172 - [c63]Jonas Buchli, Mrinal Kalakrishnan, Michael N. Mistry, Peter Pastor, Stefan Schaal:
Compliant quadruped locomotion over rough terrain. IROS 2009: 814-820 - 2008
- [j31]Jan Peters
A unifying framework for robot control with redundant DOFs. Auton. Robots 24(1): 1-12 (2008) - [j30]Jan Peters
Natural Actor-Critic. Neurocomputing 71(7-9): 1180-1190 (2008) - [j29]J. Andrew Bagnell, Stefan Schaal:
Editorial: Special Issue on Machine Learning in Robotics. Int. J. Robotics Res. 27(2): 155-156 (2008) - [j28]Jan Peters
Learning to Control in Operational Space. Int. J. Robotics Res. 27(2): 197-212 (2008) - [j27]Jun Nakanishi, Rick Cory, Michael N. Mistry, Jan Peters
Operational Space Control: A Theoretical and Empirical Comparison. Int. J. Robotics Res. 27(6): 737-757 (2008) - [j26]Stefan Klanke, Sethu Vijayakumar, Stefan Schaal:
A Library for Locally Weighted Projection Regression. J. Mach. Learn. Res. 9: 623-626 (2008) - [j25]Stefan Schaal, Yoshihiko Nakamura
Special issue on robotics and neuroscience. Neural Networks 21(4): 551-552 (2008) - [j24]Jan Peters
Reinforcement learning of motor skills with policy gradients. Neural Networks 21(4): 682-697 (2008) - [j23]Jo-Anne Ting, Aaron D'Souza, Kenji Yamamoto, Toshinori Yoshioka, Donna L. Hoffman, Shinji Kakei, Lauren Sergio, John Kalaska, Mitsuo Kawato, Peter Strick, Stefan Schaal:
Variational Bayesian least squares: An application to brain-machine interface data. Neural Networks 21(8): 1112-1131 (2008) - [c62]Michael N. Mistry, Jun Nakanishi, Gordon Cheng
Inverse kinematics with floating base and constraints for full body humanoid robot control. Humanoids 2008: 22-27 - [c61]Dae-Hyung Park, Heiko Hoffmann
Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields. Humanoids 2008: 91-98 - [c60]Gordon Cheng
CB: Exploring neuroscience with a humanoid research platform. ICRA 2008: 1772-1773 - [c59]Jo-Anne Ting, Aaron D'Souza, Sethu Vijayakumar, Stefan Schaal:
A Bayesian approach to empirical local linearization for robotics. ICRA 2008: 2860-2865 - [c58]Jo-Anne Ting, Mrinal Kalakrishnan, Sethu Vijayakumar, Stefan Schaal:
Bayesian Kernel Shaping for Learning Control. NIPS 2008: 1673-1680 - [p1]Aude Billard, Sylvain Calinon, Rüdiger Dillmann, Stefan Schaal:
Robot Programming by Demonstration. Springer Handbook of Robotics 2008: 1371-1394 - 2007
- [c57]Jan Peters, Stefan Schaal, Bernhard Schölkopf:
Towards Machine Learning of Motor Skills. AMS 2007: 138-144 - [c56]Jo-Anne Ting, Evangelos A. Theodorou, Stefan Schaal:
Learning an Outlier-Robust Kalman Filter. ECML 2007: 748-756 - [c55]Jan Peters, Stefan Schaal:
Applying the Episodic Natural Actor-Critic Architecture to Motor Primitive Learning. ESANN 2007: 295-300 - [c54]Jan Peters
Reinforcement learning by reward-weighted regression for operational space control. ICML 2007: 745-750 - [c53]Jan Peters
Policy Learning for Motor Skills. ICONIP (2) 2007: 233-242 - [c52]Dimitris Pongas, Michael N. Mistry, Stefan Schaal:
A Robust Quadruped Walking Gait for Traversing Rough Terrain. ICRA 2007: 1474-1479 - [c51]Jun Nakanishi, Michael N. Mistry, Stefan Schaal:
Inverse Dynamics Control with Floating Base and Constraints. ICRA 2007: 1942-1947 - [c50]Jan Peters
Reinforcement Learning for Operational Space Control. ICRA 2007: 2111-2116 - [c49]Jo-Anne Ting, Aaron D'Souza, Stefan Schaal:
Automatic Outlier Detection: A Bayesian Approach. ICRA 2007: 2489-2494 - [c48]Narayanan Unny Edakunni, Stefan Schaal, Sethu Vijayakumar:
Kernel Carpentry for Online Regression Using Randomly Varying Coefficient Model. IJCAI 2007: 762-767 - [c47]Michael N. Mistry, Jun Nakanishi, Stefan Schaal:
Task space control with prioritization for balance and locomotion. IROS 2007: 331-338 - [c46]Jo-Anne Ting, Evangelos A. Theodorou, Stefan Schaal:
A Kalman filter for robust outlier detection. IROS 2007: 1514-1519 - [c45]Jun Nakanishi, Michael N. Mistry, Jan Peters
Towards compliant humanoids-an experimental assessment of suitable task space position/orientation controllers. IROS 2007: 2520-2527 - [e2]Gaurav S. Sukhatme, Stefan Schaal, Wolfram Burgard, Dieter Fox:
Robotics: Science and Systems II, August 16-19, 2006. University of Pennsylvania, Philadelphia, Pennsylvania, USA. The MIT Press 2007, ISBN 0-262-69348-8 [contents] - 2006
- [j22]Aude Billard, Stefan Schaal:
Special Issue on The Brain Mechanisms of Imitation Learning. Neural Networks 19(3): 251-253 (2006) - [c44]Jo-Anne Ting, Aaron D'Souza, Stefan Schaal:
Bayesian regression with input noise for high dimensional data. ICML 2006: 937-944 - [c43]Jan Peters, Stefan Schaal:
Reinforcement Learning for Parameterized Motor Primitives. IJCNN 2006: 73-80 - [c42]Jan Peters
Policy Gradient Methods for Robotics. IROS 2006: 2219-2225 - [c41]Jan Peters, Stefan Schaal:
Learning Operational Space Control. Robotics: Science and Systems 2006 - [c40]Jo-Anne Ting, Michael N. Mistry, Jan Peters, Stefan Schaal, Jun Nakanishi:
A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics. Robotics: Science and Systems 2006 - 2005
- [j21]Gordon Cheng, Stefan Schaal, Christopher G. Atkeson:
Editorial. Int. J. Humanoid Robotics 2(4): 389-390 (2005) - [j20]Sethu Vijayakumar, Aaron D'Souza, Stefan Schaal:
Incremental Online Learning in High Dimensions. Neural Comput. 17(12): 2602-2634 (2005) - [j19]Jun Nakanishi, Jay A. Farrell
Composite adaptive control with locally weighted statistical learning. Neural Networks 18(1): 71-90 (2005) - [j18]Tomohiro Shibata
A model of smooth pursuit in primates based on learning the target dynamics. Neural Networks 18(3): 213-224 (2005) - [c39]Jan Peters
Natural Actor-Critic. ECML 2005: 280-291 - [c38]Jan Peters
A unifying methodology for the control of robotic systems. IROS 2005: 1824-1831 - [c37]Dimitris Pongas, Aude Billard, Stefan Schaal:
Rapid synchronization and accurate phase-locking of rhythmic motor primitives. IROS 2005: 2911-2916 - [c36]Jun Nakanishi, Rick Cory, Michael N. Mistry, Jan Peters
Comparative experiments on task space control with redundancy resolution. IROS 2005: 3901-3908 - [c35]Michael N. Mistry, Peyman Mohajerian, Stefan Schaal:
An exoskeleton robot for human arm movement study. IROS 2005: 4071-4076 - [c34]Jo-Anne Ting, Aaron D'Souza, Kenji Yamamoto, Toshinori Yoshioka, Donna L. Hoffman, Lauren Sergio, Shinji Kakei, John Kalaska, Mitsuo Kawato, Peter Strick, Stefan Schaal:
Predicting EMG Data from M1 Neurons with Variational Bayesian Least Squares. NIPS 2005: 1361-1368 - [e1]Sebastian Thrun, Gaurav S. Sukhatme, Stefan Schaal:
Robotics: Science and Systems I, June 8-11, 2005, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA. The MIT Press 2005, ISBN 0-262-70114-6 [contents] - 2004
- [j17]Jun Nakanishi, Stefan Schaal:
Feedback error learning and nonlinear adaptive control. Neural Networks 17(10): 1453-1465 (2004) - [j16]Aude Billard, Yann Epars, Sylvain Calinon, Stefan Schaal, Gordon Cheng
Discovering optimal imitation strategies. Robotics Auton. Syst. 47(2-3): 69-77 (2004) - [j15]Jun Nakanishi, Jun Morimoto, Gen Endo
Learning from demonstration and adaptation of biped locomotion. Robotics Auton. Syst. 47(2-3): 79-91 (2004) - [c33]Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato:
A framework for learning biped locomotion with dynamical movement primitives. Humanoids 2004: 925-940 - [c32]Aaron D'Souza, Sethu Vijayakumar, Stefan Schaal:
The Bayesian backfitting relevance vector machine. ICML 2004 - [c31]Jun Nakanishi, Jay A. Farrell, Stefan Schaal:
Learning Composite Adaptive Control for a Class of Nonlinear Systems. ICRA 2004: 2647-2652 - [c30]Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato:
An empirical exploration of phase resetting for robust biped locomotion with dynamical movement primitives. IROS 2004: 919-924 - 2003
- [c29]Aude Billard, Yann Epars, Gordon Cheng, Stefan Schaal:
Discovering imitation strategies through categorization of multi-dimensional data. IROS 2003: 2398-2403 - [c28]Stefan Schaal, Jan Peters, Jun Nakanishi, Auke Jan Ijspeert:
Learning Movement Primitives. ISRR 2003: 561-572 - 2002
- [j14]Stefan Schaal, Christopher G. Atkeson, Sethu Vijayakumar:
Scalable Techniques from Nonparametric Statistics for Real Time Robot Learning. Appl. Intell. 17(1): 49-60 (2002) - [j13]Sethu Vijayakumar, Aaron D'Souza, Tomohiro Shibata, Jörg Conradt, Stefan Schaal:
Statistical Learning for Humanoid Robots. Auton. Robots 12(1): 55-69 (2002) - [c27]Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal:
Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots. ICRA 2002: 1398-1403 - [c26]Jun Nakanishi, Jay A. Farrell, Stefan Schaal:
A locally weighted learning composite adaptive controller with structure adaptation. IROS 2002: 882-889 - [c25]Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal:
Learning rhythmic movements by demonstration using nonlinear oscillators. IROS 2002: 958-963 - [c24]Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal:
Learning Attractor Landscapes for Learning Motor Primitives. NIPS 2002: 1523-1530 - 2001
- [j12]Tomohiro Shibata, Sethu Vijayakumar, Jörg Conradt, Stefan Schaal:
Biomimetic Oculomotor Control. Adapt. Behav. 9(3-4): 189-207 (2001) - [j11]Tomohiro Shibata, Stefan Schaal:
Biomimetic gaze stabilization based on feedback-error-learning with nonparametric regression networks. Neural Networks 14(2): 201-216 (2001) - [j10]Ladan Shams, Mark J. Brady, Stefan Schaal:
Graph matching vs mutual information maximization for object detection. Neural Networks 14(3): 345-354 (2001) - [c23]Tomohiro Shibata, Stefan Schaal:
Biomimetic smooth pursuit based on fast learning of the target dynamics. IROS 2001: 278-285 - [c22]Aaron D'Souza, Sethu Vijayakumar, Stefan Schaal:
Learning inverse kinematics. IROS 2001: 298-303 - [c21]Aude Billard, Stefan Schaal:
Robust learning of arm trajectories through human demonstration. IROS 2001: 734-739 - [c20]Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal:
Trajectory formation for imitation with nonlinear dynamical systems. IROS 2001: 752-757 - [c19]Sethu Vijayakumar, Jörg Conradt, Tomohiro Shibata, Stefan Schaal:
Overt visual attention for a humanoid robot. IROS 2001: 2332-2337 - 2000
- [j9]Shinya Kotosaka, Stefan Schaal, Tomohiro Shibata
Humanoid robot for brain research. Adv. Robotics 14(5): 419-421 (2000) - [j8]Christopher G. Atkeson, Joshua G. Hale, Frank E. Pollick
Using Humanoid Robots to Study Human Behavior. IEEE Intell. Syst. 15(4): 46-56 (2000) - [c18]Jörg Conradt, Gaurav Tevatia, Sethu Vijayakumar, Stefan Schaal:
On-line Learning for Humanoid Robot Systems. ICML 2000: 191-198 - [c17]Sethu Vijayakumar, Stefan Schaal:
Locally Weighted Projection Regression: Incremental Real Time Learning in High Dimensional Space. ICML 2000: 1079-1086 - [c16]Stefan Schaal, Christopher G. Atkeson, Sethu Vijayakumar:
Real-Time Robot Learning with Locally Weighted Statistical Learning. ICRA 2000: 288-293 - [c15]Gaurav Tevatia, Stefan Schaal:
Inverse Kinematics for Humanoid Robots. ICRA 2000: 294-299 - [c14]Sethu Vijayakumar, Stefan Schaal:
Fast and Efficient Incremental Learning for High-Dimensional Movement Systems. ICRA 2000: 1894-1899 - [c13]Tomohiro Shibata, Stefan Schaal:
Fast Learning of Biomimetic Oculomotor Control with Nonparametric Regression Networks. ICRA 2000: 3847-3854
1990 – 1999
- 1998
- [j7]Tomohiro Shibata
Robot gaze stabilization based on mimesis of oculomotor dynamics and vestibulocerebellar learning. Adv. Robotics 13(3): 351-352 (1998) - [j6]Stefan Schaal, Christopher G. Atkeson:
Constructive Incremental Learning from Only Local Information. Neural Comput. 10(8): 2047-2084 (1998) - [j5]Sethu Vijayakumar, Stefan Schaal:
Local Adaptive Subspace Regression. Neural Process. Lett. 7(3): 139-149 (1998) - [c12]Tomohiro Shibata, Stefan Schaal:
Toward biomimetic oculomotor control. IROS 1998: 872-879 - 1997
- [j4]Christopher G. Atkeson, Andrew W. Moore, Stefan Schaal:
Locally Weighted Learning. Artif. Intell. Rev. 11(1-5): 11-73 (1997) - [j3]Christopher G. Atkeson, Andrew W. Moore, Stefan Schaal:
Locally Weighted Learning for Control. Artif. Intell. Rev. 11(1-5): 75-113 (1997) - [c11]Sethu Vijayakumar, Stefan Schaal:
Local dimensionality reduction for locally weighted learning. CIRA 1997: 220-225 - [c10]Christopher G. Atkeson, Stefan Schaal:
Robot Learning From Demonstration. ICML 1997: 12-20 - [c9]Christopher G. Atkeson, Stefan Schaal:
Learning tasks from a single demonstration. ICRA 1997: 1706-1712 - [c8]Stefan Schaal, Sethu Vijayakumar, Christopher G. Atkeson:
Local Dimensionality Reduction. NIPS 1997: 633-639 - 1996
- [j2]Hiroyuki Miyamoto, Stefan Schaal, Francesca Gandolfo, Hiroaki Gomi
A Kendama Learning Robot Based on Bi-directional Theory. Neural Networks 9(8): 1281-1302 (1996) - [c7]Stefan Schaal:
Learning from Demonstration. NIPS 1996: 1040-1046 - 1995
- [j1]Christopher G. Atkeson, Stefan Schaal:
Memory-based neural networks for robot learning. Neurocomputing 9(3): 243-269 (1995) - [c6]Stefan Schaal, Christopher G. Atkeson:
From Isolation to Cooperation: An Alternative View of a System of Experts. NIPS 1995: 605-611 - 1994
- [c5]Stefan Schaal, Christopher G. Atkeson:
Memory-Based Robot Learning. ICRA 1994: 2928-2933 - [c4]Stefan Schaal, Christopher G. Atkeson:
Robot Learning By Nonparametric Regression. IROS (Selected Papers) 1994: 137-154 - [c3]Stefan Schaal, Christopher G. Atkeson:
Robot learning by nonparametric regression. IROS 1994: 478-485 - 1993
- [c2]Stefan Schaal, Christopher G. Atkeson:
Open Loop Stable Control Strategies for Robot Juggling. ICRA (3) 1993: 913-918 - [c1]Stefan Schaal, Christopher G. Atkeson:
Assessing the Quality of Learned Local Models. NIPS 1993: 160-167 - 1992
- [b1]Stefan Schaal:
Integrierte Wissensverarbeitung mit CAD am Beispiel der konstruktionsbegleitenden Kalkulation. Technical University Munich, Germany, Hanser 1992, ISBN 978-3-446-17237-1, pp. 1-176
Coauthor Index
Sean Mason
aka: Sean A. Mason
aka: Sean A. Mason
[i54] [j56] [c155] [c153] [c152] [c149] [i43] [i40] [i32] [i31] [i27] [j51] [c132] [c131] [c126] [c122] [c116] [i26] [i22] [i21] [i19] [i17] [c114] [c113] [i11] [i7] [i6] [j47] [j46] [c106] [c103] [c102] [c101] [i3] [i2] [j45] [c98] [c97] [i1] [c95] [c94] [c93] [c92] [c91] [c90] [c86] [c84] [c80] [c79] [c77] [c76]
Manuel Wüthrich
aka: Manuel Wuthrich
aka: Manuel Wuthrich
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