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Bioinspired Autonomous Miniature Robots

Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

Intelligent Control Systems

Learning and Dynamical Systems

Locomotion in Biorobotic and Somatic Systems

Micro, Nano, and Molecular Systems

Movement Generation and Control

Neural Capture and Synthesis

Physics for Inference and Optimization

Organizational Leadership and Diversity

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Robot Learning

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2022

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Movement Generation and Control Empirical Inference Autonomous Motion Article BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning Meduri, A., Shah, P., Viereck, J., Khadiv, M., Havoutis, I., Righetti, L. IEEE Transactions on Robotics, 39(2):905-922, IEEE, 2023 (Published) DOI URL BibTeX
Autonomous Motion Article Combining learned and analytical models for predicting action effects from sensory data Kloss, A., Schaal, S., Bohg, J. International Journal of Robotics Research, 41(8):741-847, July 2022 (Published) arXiv pdf DOI URL BibTeX
Empirical Inference Autonomous Motion Article Learning to Play Table Tennis From Scratch using Muscular Robots Büchler, D., Guist, S., Calandra, R., Berenz, V., Schölkopf, B., Peters, J. IEEE Transactions on Robotics (T-RO), 38(6):3850-3860, 2022 (Published) arXiv Project Page Video DOI BibTeX
Autonomous Motion Autonomous Learning Article How to Train Your Differentiable Filter Kloss, A., Martius, G., Bohg, J. Autonomous Robots, 45(4):561-578, Springer, June 2021 (Published) arXiv paper DOI URL BibTeX
Dynamic Locomotion Movement Generation and Control Autonomous Motion Empirical Inference Robotics Article An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., Wüthrich, M., Naveau, M., Berenz, V., Heim, S., Widmaier, F., Flayols, T., et al. IEEE Robotics and Automation Letters, 5(2):3650-3657, IEEE, April 2020 (Published) Youtube Open Dynamic Robot Initiative DOI URL BibTeX
Intelligent Control Systems Autonomous Motion Article Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control Nubert, J., Koehler, J., Berenz, V., Allgower, F., Trimpe, S. IEEE Robotics and Automation Letters, 5(2):3050-3057, 2020 (Published) arXiv PDF DOI BibTeX
Autonomous Motion Article Statistical Coverage Control of Mobile Sensor Networks Arslan, Ö. IEEE Transactions on Robotics, 35(4):889-908, 2019 (Published) DOI BibTeX
Autonomous Motion Article A Value-Driven Eldercare Robot: Virtual and Physical Instantiations of a Case-Supported Principle-Based Behavior Paradigm Anderson, M., Anderson, S., Berenz, V. Proceedings of the IEEE, :1,15, October 2018 () DOI URL BibTeX
Autonomous Motion Article ClusterNet: Instance Segmentation in RGB-D Images Shao, L., Tian, Y., Bohg, J. arXiv, September 2018, Submitted to ICRA'19, Submitted (Submitted) URL BibTeX
Autonomous Motion Article Playful: Reactive Programming for Orchestrating Robotic Behavior Berenz, V., Schaal, S. IEEE Robotics Automation Magazine, 25(3):49-60, September 2018, In press (In press) playful website playful_IEEE_RAM DOI URL BibTeX
Autonomous Motion Article Real-time Perception meets Reactive Motion Generation Kappler, D., Meier, F., Issac, J., Mainprice, J., Garcia Cifuentes, C., Wüthrich, M., Berenz, V., Schaal, S., Ratliff, N., Bohg, J. IEEE Robotics and Automation Letters, 3(3):1864-1871, July 2018 (Published) arxiv video video DOI URL BibTeX
Autonomous Motion Intelligent Control Systems Learning and Dynamical Systems Article Distributed Event-Based State Estimation for Networked Systems: An LMI Approach Muehlebach, M., Trimpe, S. IEEE Transactions on Automatic Control, 63(1):269-276, January 2018 (Published) arXiv (extended version) DOI BibTeX
Autonomous Motion Article Interactive Perception: Leveraging Action in Perception and Perception in Action Bohg, J., Hausman, K., Sankaran, B., Brock, O., Kragic, D., Schaal, S., Sukhatme, G. IEEE Transactions on Robotics, 33:1273-1291, December 2017 (Published) arXiv DOI BibTeX
Autonomous Motion Article Acquiring Target Stacking Skills by Goal-Parameterized Deep Reinforcement Learning Li, W., Bohg, J., Fritz, M. arXiv, November 2017, Submitted (Submitted) arXiv BibTeX
Autonomous Motion Intelligent Control Systems Article Event-based State Estimation: An Emulation-based Approach Trimpe, S. IET Control Theory & Applications, 11(11):1684-1693, July 2017 (Published) arXiv Supplementary material PDF DOI BibTeX
Autonomous Motion Article Probabilistic Articulated Real-Time Tracking for Robot Manipulation Garcia Cifuentes, C., Issac, J., Wüthrich, M., Schaal, S., Bohg, J. IEEE Robotics and Automation Letters (RA-L), 2(2):577-584, April 2017 (Published) arXiv video code and dataset video PDF DOI BibTeX
Empirical Inference Autonomous Motion Article Anticipatory Action Selection for Human-Robot Table Tennis Wang, Z., Boularias, A., Mülling, K., Schölkopf, B., Peters, J. Artificial Intelligence, 247:399-414, 2017, Special Issue on AI and Robotics (Published) DOI BibTeX
Autonomous Motion Intelligent Control Systems Article A New Perspective and Extension of the Gaussian Filter Wüthrich, M., Trimpe, S., Garcia Cifuentes, C., Kappler, D., Schaal, S. The International Journal of Robotics Research, 35(14):1731-1749, December 2016 (Published) PDF DOI BibTeX
Autonomous Motion Article DOOMED: Direct Online Optimization of Modeling Errors in Dynamics Ratliff, N., Meier, F., Kappler, D., Schaal, S. arXiv preprint arXiv:1608.00309, August 2016 () BibTeX
Autonomous Motion Intelligent Control Systems Article Event-based Sampling for Reducing Communication Load in Realtime Human Motion Analysis by Wireless Inertial Sensor Networks Laidig, D., Trimpe, S., Seel, T. Current Directions in Biomedical Engineering, 2(1):711-714, De Gruyter, 2016 (Published) PDF DOI BibTeX
Movement Generation and Control Autonomous Motion Article Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid Herzog, A., Rotella, N., Mason, S., Grimminger, F., Schaal, S., Righetti, L. Autonomous Robots, 40(3):473-491, 2016 () DOI URL BibTeX
Empirical Inference Autonomous Motion Article Probabilistic Inference for Determining Options in Reinforcement Learning Daniel, C., van Hoof, H., Peters, J., Neumann, G. Machine Learning, Special Issue, 104(2):337-357, (Editors: Gärtner, T., Nanni, M., Passerini, A. and Robardet, C.), European Conference on Machine Learning im Machine Learning, Journal Track, 2016, Best Student Paper Award of ECML-PKDD 2016 () DOI BibTeX
Autonomous Motion Article Bioinspired Motor Control for Articulated Robots [From the Guest Editors] Vitiello, N., Ijspeert, A. J., Schaal, S. IEEE Robotics {\&} Automation Magazine, 23(1):20-21, 2016 () BibTeX
Empirical Inference Autonomous Motion Article Active Reward Learning with a Novel Acquisition Function Daniel, C., Kroemer, O., Viering, M., Metz, J., Peters, J. Autonomous Robots, 39(3):389-405, 2015 (Published) DOI URL BibTeX
Empirical Inference Autonomous Motion Article Bayesian Optimization for Learning Gaits under Uncertainty Calandra, R., Seyfarth, A., Peters, J., Deisenroth, M. Annals of Mathematics and Artificial Intelligence, :1-19, 2015 () DOI BibTeX
Empirical Inference Autonomous Motion Article Learning Movement Primitive Attractor Goals and Sequential Skills from Kinesthetic Demonstrations Manschitz, S., Kober, J., Gienger, M., Peters, J. Robotics and Autonomous Systems, 74, Part A:97-107, 2015 (Published) DOI URL BibTeX
Autonomous Motion Intelligent Control Systems Article Wenn es was zu sagen gibt Trimpe, S. Bild der Wissenschaft, :20-23, November 2014, (popular science article in German) () PDF BibTeX
Autonomous Motion Article Robotics and Neuroscience Floreano, D., Ijspeert, A. J., Schaal, S. Current Biology, 24(18):R910-R920, sep 2014 () BibTeX
Autonomous Motion Article Nonmyopic View Planning for Active Object Classification and Pose Estimation Atanasov, N., Sankaran, B., Le Ny, J., Pappas, G., Daniilidis, K. IEEE Transactions on Robotics, May 2014, clmc (Published) Web pdf URL BibTeX
Autonomous Motion Article Data-Driven Grasp Synthesis - A Survey Bohg, J., Morales, A., Asfour, T., Kragic, D. IEEE Transactions on Robotics, 30:289 - 309, IEEE, April 2014 (Published) PDF DOI URL BibTeX
Autonomous Motion Intelligent Control Systems Article A Limiting Property of the Matrix Exponential Trimpe, S., D’Andrea, R. IEEE Transactions on Automatic Control, 59(4):1105-1110, 2014 (Published) PDF DOI BibTeX
Movement Generation and Control Autonomous Motion Article An autonomous manipulation system based on force control and optimization Righetti, L., Kalakrishnan, M., Pastor, P., Binney, J., Kelly, J., Voorhies, R. C., Sukhatme, G. S., Schaal, S. Autonomous Robots, 36(1-2):11-30, January 2014 () DOI URL BibTeX
Autonomous Motion Intelligent Control Systems Article Event-Based State Estimation With Variance-Based Triggering Trimpe, S., D’Andrea, R. IEEE Transactions on Automatic Control, 59(12):3266-3281, 2014 (Published) PDF Supplementary material DOI BibTeX
Movement Generation and Control Autonomous Motion Article Learning of grasp selection based on shape-templates Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Bohg, J., Asfour, T., Schaal, S. Autonomous Robots, 36(1-2):51-65, January 2014 () DOI URL BibTeX
Autonomous Motion Article Perspective: Intelligent Systems: Bits and Bots Spatz, J. P., Schaal, S. Nature, (509), 2014, clmc () PDF URL BibTeX
Autonomous Motion Article 3-D Object Reconstruction of Symmetric Objects by Fusing Visual and Tactile Sensing Illonen, J., Bohg, J., Kyrki, V. The International Journal of Robotics Research, 33(2):321-341, Sage, October 2013 () Web DOI BibTeX
Autonomous Motion Article Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors Ijspeert, A., Nakanishi, J., Pastor, P., Hoffmann, H., Schaal, S. Neural Computation, (25):328-373, 2013, clmc () URL BibTeX
Autonomous Motion Article Optimal control of reaching includes kinematic constraints Mistry, M., Theodorou, E., Schaal, S., Kawato, M. Journal of Neurophysiology, 2013, clmc () PDF BibTeX
Movement Generation and Control Autonomous Motion Article Optimal distribution of contact forces with inverse-dynamics control Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S. The International Journal of Robotics Research, 32(3):280-298, March 2013 () DOI URL BibTeX
Autonomous Motion Article From Dynamic Movement Primitives to Associative Skill Memories Pastor, P., Kalakrishnan, M., Meier, F., Stulp, F., Buchli, J., Theodorou, E., Schaal, S. Robotics and Autonomous Systems, 2012 () BibTeX
Autonomous Motion Article Model-free reinforcement learning of impedance control in stochastic environments Stulp, F., Buchli, J., Ellmer, A., Mistry, M., Theodorou, E. A., Schaal, S. Autonomous Mental Development, IEEE Transactions on, 4(4):330-341, 2012 () BibTeX
Autonomous Motion Article Reinforcement Learning with Sequences of Motion Primitives for Robust Manipulation Stulp, F., Theodorou, E., Schaal, S. IEEE Transactions on Robotics, 2012 () BibTeX
Autonomous Motion Article Learning, planning, and control for quadruped locomotion over challenging terrain Kalakrishnan, M., Buchli, J., Pastor, P., Mistry, M., Schaal, S. International Journal of Robotics Research, 30(2):236-258, February 2011 () BibTeX
Autonomous Motion Article Bayesian robot system identification with input and output noise Ting, J., D’Souza, A., Schaal, S. Neural Networks, 24(1):99-108, 2011, clmc () URL BibTeX
Autonomous Motion Article Intelligent Mobility—Autonomous Outdoor Robotics at the DFKI Joyeux, S., Schwendner, J., Kirchner, F., Babu, A., Grimminger, F., Machowinski, J., Paranhos, P., Gaudig, C. KI, 25(2):133-139, May 2011 () DOI BibTeX
Autonomous Motion Article Learning variable impedance control Buchli, J., Stulp, F., Theodorou, E., Schaal, S. International Journal of Robotics Research, 2011, clmc () URL BibTeX
Autonomous Motion Article Understanding haptics by evolving mechatronic systems Loeb, G. E., Tsianos, G., Fishel, J., Wettels, N., Schaal, S. Progress in Brain Research, 192:129, 2011 () BibTeX
Autonomous Motion Article A Bayesian approach to nonlinear parameter identification for rigid-body dynamics Ting, J., DSouza, A., Schaal, S. Neural Networks, 2010, clmc () URL BibTeX
Autonomous Motion Article A first optimal control solution for a complex, nonlinear, tendon driven neuromuscular finger model Theodorou, E. A., Todorov, E., Valero-Cuevas, F. Proceedings of the ASME 2010 Summer Bioengineering Conference August 30-September 2, 2010, Naples, Florida, USA, 2010, clmc () PDF BibTeX
Autonomous Motion Article Efficient learning and feature detection in high dimensional regression Ting, J., D’Souza, A., Vijayakumar, S., Schaal, S. Neural Computation, 22:831-886, 2010, clmc () URL BibTeX