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Bioinspired Autonomous Miniature Robots

Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

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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

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Robot Learning

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2022

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Autonomous Motion Conference Paper Differentiable Factor Graph Optimization for Learning Smoothers Yi, B. L. M. A. K. A. M. R. B. J. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :1339-1345, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), September 2021 (Published) DOI BibTeX
Autonomous Motion Conference Paper Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12 Leziart, P. F. T. G. F. M. N. S. P. Proceedings IEEE International Conference on Robotics and Automation (ICRA), :5007-5013, IEEE, IEEE International Conference on Robotics and Automation (ICRA), June 2021 (Published) DOI BibTeX
Empirical Inference Autonomous Motion Movement Generation and Control Conference Paper TriFinger: An Open-Source Robot for Learning Dexterity Wüthrich, M., Widmaier, F., Grimminger, F., Akpo, J., Joshi, S., Agrawal, V., Hammoud, B., Khadiv, M., Bogdanovic, M., Berenz, V., et al. Proceedings of the 4th Conference on Robot Learning (CoRL), 155:1871-1882, Proceedings of Machine Learning Research, (Editors: Jens Kober and Fabio Ramos and Claire J. Tomlin), PMLR, November 2020 (Published) PDF URL BibTeX
Autonomous Motion Conference Paper Learning Sensory-Motor Associations from Demonstration Berenz, V., Bjelic, A., Herath, L., Mainprice, J. 29th IEEE International Conference on Robot and Human Interactive Communication (Ro-Man 2020), August 2020 (Published) BibTeX
Empirical Inference Autonomous Learning Autonomous Motion Movement Generation and Control Conference Paper A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models Agudelo-España, D., Zadaianchuk, A., Wenk, P., Garg, A., Akpo, J., Grimminger, F., Viereck, J., Naveau, M., Righetti, L., Martius, G., et al. IEEE International Conference on Robotics and Automation (ICRA), :8151-8157, IEEE, 2020 (Published) Project Page PDF DOI BibTeX
Empirical Inference Optics and Sensing Laboratory Autonomous Motion Conference Paper On the Transfer of Inductive Bias from Simulation to the Real World: a New Disentanglement Dataset Gondal, M. W., Wüthrich, M., Miladinovic, D., Locatello, F., Breidt, M., Volchkov, V., Akpo, J., Bachem, O., Schölkopf, B., Bauer, S. Advances in Neural Information Processing Systems 32 (NeurIPS 2019), :15714-15725, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (Published) URL BibTeX
Autonomous Motion Probabilistic Numerics Intelligent Control Systems Conference Paper On the Design of LQR Kernels for Efficient Controller Learning Marco, A., Hennig, P., Schaal, S., Trimpe, S. Proceedings of the 56th IEEE Annual Conference on Decision and Control (CDC), :5193-5200, IEEE, IEEE Conference on Decision and Control, December 2017 (Published) arXiv PDF On the Design of LQR Kernels for Efficient Controller Learning - CDC presentation DOI BibTeX
Autonomous Motion Intelligent Control Systems Conference Paper Optimizing Long-term Predictions for Model-based Policy Search Doerr, A., Daniel, C., Nguyen-Tuong, D., Marco, A., Schaal, S., Toussaint, M., Trimpe, S. Proceedings of 1st Annual Conference on Robot Learning (CoRL), 78:227-238, (Editors: Sergey Levine and Vincent Vanhoucke and Ken Goldberg), 1st Annual Conference on Robot Learning, November 2017 (Published) PDF BibTeX
Empirical Inference Autonomous Motion Conference Paper Bayesian Regression for Artifact Correction in Electroencephalography Fiebig, K., Jayaram, V., Hesse, T., Blank, A., Peters, J., Grosse-Wentrup, M. Proceedings of the 7th Graz Brain-Computer Interface Conference 2017 - From Vision to Reality, :131-136, (Editors: Müller-Putz G.R., Steyrl D., Wriessnegger S. C., Scherer R.), Graz University of Technology, Austria, Graz Brain-Computer Interface Conference, September 2017 (Published) DOI BibTeX
Empirical Inference Autonomous Motion Conference Paper Investigating Music Imagery as a Cognitive Paradigm for Low-Cost Brain-Computer Interfaces Grossberger, L., Hohmann, M. R., Peters, J., Grosse-Wentrup, M. Proceedings of the 7th Graz Brain-Computer Interface Conference 2017 - From Vision to Reality, :160-164, (Editors: Müller-Putz G.R., Steyrl D., Wriessnegger S. C., Scherer R.), Graz University of Technology, Austria, Graz Brain-Computer Interface Conference, September 2017 (Published) DOI BibTeX
Autonomous Motion Conference Paper Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning Chebotar, Y., Hausman, K., Zhang, M., Sukhatme, G., Schaal, S., Levine, S. Proceedings of the 34th International Conference on Machine Learning, 70, Proceedings of Machine Learning Research, (Editors: Doina Precup, Yee Whye Teh), PMLR, International Conference on Machine Learning (ICML), August 2017 () pdf video BibTeX
Empirical Inference Autonomous Motion Conference Paper Local Bayesian Optimization of Motor Skills Akrour, R., Sorokin, D., Peters, J., Neumann, G. Proceedings of the 34th International Conference on Machine Learning (ICML), 70:41-50, Proceedings of Machine Learning Research, (Editors: Doina Precup, Yee Whye Teh), PMLR, August 2017 (Published) URL BibTeX
Autonomous Motion Conference Paper Learning Feedback Terms for Reactive Planning and Control Rai, A., Sutanto, G., Schaal, S., Meier, F. Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 (Published) pdf video BibTeX
Empirical Inference Autonomous Motion Conference Paper Jointly Learning Trajectory Generation and Hitting Point Prediction in Robot Table Tennis Huang, Y., Büchler, D., Koc, O., Schölkopf, B., Peters, J. 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids), :650-655, November 2016 (Published) final DOI URL BibTeX
Autonomous Motion Conference Paper The Role of Measurement Uncertainty in Optimal Control for Contact Interactions Workshop on the Algorithmic Foundations of Robotics, :22, November 2016 () arXiv BibTeX
Empirical Inference Autonomous Motion Conference Paper Using Probabilistic Movement Primitives for Striking Movements Gomez-Gonzalez, S., Neumann, G., Schölkopf, B., Peters, J. 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids), :502-508, November 2016 (Published) DOI URL BibTeX
Empirical Inference Autonomous Motion Conference Paper A New Trajectory Generation Framework in Robotic Table Tennis Koc, O., Maeda, G., Peters, J. Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), :3750-3756, October 2016 (Published) DOI URL BibTeX
Autonomous Motion Conference Paper Learning Where to Search Using Visual Attention Kloss, A., Kappler, D., Lensch, H. P. A., Butz, M. V., Schaal, S., Bohg, J. Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems, IEEE, IROS, October 2016 (Published) PDF BibTeX
Autonomous Motion Empirical Inference Conference Paper A Lightweight Robotic Arm with Pneumatic Muscles for Robot Learning Büchler, D., Ott, H., Peters, J. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :4086-4092, IEEE, IEEE International Conference on Robotics and Automation, May 2016 (Published) ICRA16final DOI BibTeX
Empirical Inference Autonomous Motion Conference Paper Modeling Variability of Musculoskeletal Systems with Heteroscedastic Gaussian Processes Büchler, D., Calandra, R., Peters, J. Workshop on Neurorobotics, Neural Information Processing Systems (NIPS 2016), 2016 (Published) NIPS16Neurorobotics BibTeX
Autonomous Motion Conference Paper Towards Robust Online Inverse Dynamics Learning Meier, F., Kappler, D., Ratliff, N., Schaal, S. Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems, IEEE, IROS, 2016, Accepted (Accepted) fmeier_iros_2016 BibTeX
Autonomous Motion Empirical Inference Probabilistic Numerics Intelligent Control Systems Conference Paper Automatic LQR Tuning Based on Gaussian Process Optimization: Early Experimental Results Marco, A., Hennig, P., Bohg, J., Schaal, S., Trimpe, S. Machine Learning in Planning and Control of Robot Motion Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (iROS), Machine Learning in Planning and Control of Robot Motion Workshop, October 2015 (Published) PDF DOI BibTeX