Publications

Haptic Intelligence Software Workshop Autonomous Motion Conference Paper Augmenting Human Policies using Riemannian Metrics for Human-Robot Shared Control Oh, Y., Passy, J., Mainprice, J. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), :1612-1618, Busan, Korea, August 2023 (Published) DOI BibTeX

Embodied Vision Autonomous Motion Movement Generation and Control Conference Paper Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion Dhédin, V., Li, H., Khorshidi, S., Mack, L., Ravi, A. K. C., Meduri, A., Shah, P., Grimminger, F., Righetti, L., Khadiv, M., et al. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (Published) preprint video DOI URL BibTeX

Autonomous Motion Conference Paper A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures Oh, Y., Schäfer, T., Rüther, B., Toussaint, M., Mainprice, J. In 2021 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), :503-508, IEEE, Piscataway, NJ, 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), 2021 (Published) DOI BibTeX

Autonomous Motion Conference Paper GraspME - Grasp Manifold Estimator Hager, J., Bauer, R., Toussaint, M., Mainprice, J. In 2021 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), :626-632, IEEE, Piscataway, NJ, 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021) , 2021 (Published) DOI BibTeX

Autonomous Motion Conference Paper Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks Le, A. T., Kratzer, P., Hagenmayer, S., Toussaint, M., Mainprice, J. In 2021 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021) , :7-14, IEEE, Piscataway, NJ, 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), 2021 (Published) DOI BibTeX

Autonomous Motion Conference Paper Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies Oh, Y., Toussaint, M., Mainprice, J. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), :5305-5311, IEEE, Piscataway, NJ, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), 2021 (Published) DOI BibTeX

Autonomous Motion Conference Paper Accurate Vision-based Manipulation through Contact Reasoning Kloss, A., Bauza, M., Wu, J., Tenenbaum, J. B., Rodriguez, A., Bohg, J. In International Conference on Robotics and Automation, May 2020, Accepted (Accepted) Video URL BibTeX

Autonomous Motion Conference Paper An Interior Point Method Solving Motion Planning Problems with Narrow Passages Mainprice, J., Ratliff, N., Toussaint, M., Schaal, S. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), :547-552, IEEE, Piscataway, NJ, 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2020 (Published) DOI BibTeX

Autonomous Motion Conference Paper Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks Kratzer, P., Toussaint, M., Mainprice, J. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), :1792-1798, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), 2020 (Published) DOI BibTeX

Autonomous Motion Conference Paper Learning Latent Space Dynamics for Tactile Servoing Sutanto, G., Ratliff, N., Sundaralingam, B., Chebotar, Y., Su, Z., Handa, A., Fox, D. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019, IEEE, International Conference on Robotics and Automation, May 2019, Accepted (Accepted) pdf video BibTeX

Autonomous Motion Movement Generation and Control Conference Paper Leveraging Contact Forces for Learning to Grasp Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L., Bohg, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019, IEEE, International Conference on Robotics and Automation, May 2019 () video arXiv BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Probabilistic Recurrent State-Space Models Doerr, A., Daniel, C., Schiegg, M., Nguyen-Tuong, D., Schaal, S., Toussaint, M., Trimpe, S. In Proceedings of the International Conference on Machine Learning (ICML), International Conference on Machine Learning (ICML), July 2018 (Published) arXiv pdf BibTeX

Autonomous Motion Conference Paper Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks Sutanto, G., Su, Z., Schaal, S., Meier, F. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, IEEE, International Conference on Robotics and Automation, May 2018 (Published) pdf video BibTeX

Autonomous Motion Conference Paper Online Learning of a Memory for Learning Rates Meier, F., Kappler, D., Schaal, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, IEEE, International Conference on Robotics and Automation, May 2018, accepted () pdf video code BibTeX

Movement Generation and Control Autonomous Motion Conference Paper An MPC Walking Framework With External Contact Forces Mason, S., Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :1785-1790, IEEE, Brisbane, Australia, May 2018 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Task-Specific Dynamics to Improve Whole-Body Control Gams, A., Mason, S., Ude, A., Schaal, S., Righetti, L. In Hua, IEEE, Beijing, China, November 2018 () URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper On Time Optimization of Centroidal Momentum Dynamics Ponton, B., Herzog, A., Del Prete, A., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :5776-5782, IEEE, Brisbane, Australia, 2018 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Unsupervised Contact Learning for Humanoid Estimation and Control Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :411-417, IEEE, Brisbane, Australia, 2018 () DOI URL BibTeX

Autonomous Motion Conference Paper Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets Hausman, K., Chebotar, Y., Schaal, S., Sukhatme, G., Lim, J. In Proceedings from the conference "Neural Information Processing Systems 2017., (Editors: Guyon I. and Luxburg U.v. and Bengio S. and Wallach H. and Fergus R. and Vishwanathan S. and Garnett R.), Curran Associates, Inc., Advances in Neural Information Processing Systems 30 (NIPS 2017), December 2017 () pdf video BibTeX

Autonomous Motion Conference Paper A New Data Source for Inverse Dynamics Learning Kappler, D., Meier, F., Ratliff, N., Schaal, S. In Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway, NJ, USA, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2017 () BibTeX

Autonomous Motion Conference Paper On the relevance of grasp metrics for predicting grasp success Rubert, C., Kappler, D., Morales, A., Schaal, S., Bohg, J. In Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems, September 2017, Accepted (Accepted) BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Model-Based Policy Search for Automatic Tuning of Multivariate PID Controllers Doerr, A., Nguyen-Tuong, D., Marco, A., Schaal, S., Trimpe, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :5295-5301, IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 (Published) PDF arXiv DOI BibTeX

Autonomous Motion Probabilistic Numerics Intelligent Control Systems Conference Paper Virtual vs. Real: Trading Off Simulations and Physical Experiments in Reinforcement Learning with Bayesian Optimization Marco, A., Berkenkamp, F., Hennig, P., Schoellig, A. P., Krause, A., Schaal, S., Trimpe, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :1557-1563, IEEE, Piscataway, NJ, USA, May 2017 (Published) PDF arXiv ICRA 2017 Spotlight presentation Virtual vs. Real - Video explanation DOI BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Predictive and Self Triggering for Event-based State Estimation Trimpe, S. In Proceedings of the 55th IEEE Conference on Decision and Control (CDC), :3098-3105, Las Vegas, NV, USA, December 2016 (Published) arXiv PDF DOI BibTeX

Perceiving Systems Autonomous Motion Conference Paper Barrista - Caffe Well-Served Lassner, C., Kappler, D., Kiefel, M., Gehler, P. In ACM Multimedia Open Source Software Competition, ACM OSSC16, October 2016 (Published) pdf DOI URL BibTeX

Autonomous Motion Conference Paper Parameter Learning for Improving Binary Descriptor Matching Sankaran, B., Ramalingam, S., Taguchi, Y. In International Conference on Intelligent Robots and Systems (IROS) 2016, IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2016 (Published) BibTeX

Perceiving Systems Autonomous Motion Conference Paper Superpixel Convolutional Networks using Bilateral Inceptions Gadde, R., Jampani, V., Kiefel, M., Kappler, D., Gehler, P. In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, Springer, 14th European Conference on Computer Vision, October 2016 () pdf supplementary poster BibTeX

Autonomous Motion Conference Paper Interlocking Perception-Action Loops at Multiple Time Scales - A System Proposal for Manipulation in Uncertain and Dynamic Environments Bohg, J., Kappler, D., Meier, F., Ratliff, N., Mainprice, J., Issac, J., Wüthrich, M., Garcia Cifuentes, C., Berenz, V., Schaal, S. In International Workshop on Robotics in the 21st century: Challenges and Promises, September 2016 () Workshop Webpage Extended Abstract BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Robust Gaussian Filtering using a Pseudo Measurement Wüthrich, M., Garcia Cifuentes, C., Trimpe, S., Meier, F., Bohg, J., Issac, J., Schaal, S. In Proceedings of the American Control Conference (ACC), Boston, MA, USA, July 2016 (Published) Web DOI URL BibTeX

Autonomous Motion Probabilistic Numerics Intelligent Control Systems Conference Paper Automatic LQR Tuning Based on Gaussian Process Global Optimization Marco, A., Hennig, P., Bohg, J., Schaal, S., Trimpe, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), :270-277, IEEE, IEEE International Conference on Robotics and Automation, May 2016 (Published) Video - Automatic LQR Tuning Based on Gaussian Process Global Optimization - ICRA 2016 Video - Automatic Controller Tuning on a Two-legged Robot PDF DOI BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Depth-based Object Tracking Using a Robust Gaussian Filter Issac, J., Wüthrich, M., Garcia Cifuentes, C., Bohg, J., Trimpe, S., Schaal, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016 (Published) Video Bayesian Object Tracking Library Bayesian Filtering Framework Object Tracking Dataset DOI URL BibTeX

Autonomous Motion Conference Paper Exemplar-based Prediction of Object Properties from Local Shape Similarity Bohg, J., Kappler, D., Schaal, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016 (Published) pdf DOI BibTeX

Autonomous Motion Conference Paper Optimizing for what matters: the Top Grasp Hypothesis Kappler, D., Schaal, S., Bohg, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016 (Published) pdf DOI BibTeX

Autonomous Motion Conference Paper Robot Arm Pose Estimation by Pixel-wise Regression of Joint Angles Widmaier, F., Kappler, D., Schaal, S., Bohg, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016 (Published) pdf DOI BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Communication Rate Analysis for Event-based State Estimation Ebner, S., Trimpe, S. In Proceedings of the 13th International Workshop on Discrete Event Systems, May 2016 (Published) PDF DOI BibTeX

Autonomous Motion Conference Paper Drifting Gaussian Processes with Varying Neighborhood Sizes for Online Model Learning Meier, F., Schaal, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016 () BibTeX

Movement Generation and Control Autonomous Motion Conference Paper A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation Ponton, B., Herzog, A., Schaal, S., Righetti, L. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots Humanoids, :842-849, IEEE, Cancun, Mexico, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints Mason, S., Rotella, N., Schaal, S., Righetti, L. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), :63-68, IEEE, Cancun, Mexico, 2016 () DOI URL BibTeX

Autonomous Motion Conference Paper Ensuring Ethical Behavior from Autonomous Systems Anderson, M., Anderson, S. L., Berenz, V. In Artificial Intelligence Applied to Assistive Technologies and Smart Environments, Papers from the 2016 AAAI Workshop, Phoenix, Arizona, USA, February 12, 2016, 2016 () URL BibTeX

Autonomous Motion Conference Paper Generalizing Regrasping with Supervised Policy Learning Chebotar, Y., Hausman, K., Kroemer, O., Sukhatme, G., Schaal, S. In International Symposium on Experimental Robotics (ISER) 2016, International Symposium on Experimental Robotics, 2016 () pdf video BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Inertial Sensor-Based Humanoid Joint State Estimation Rotella, N., Mason, S., Schaal, S., Righetti, L. In 2016 IEEE International Conference on Robotics and Automation (ICRA), :1825-1831, IEEE, Stockholm, Sweden, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions Ponton, B., Schaal, S., Righetti, L. In The 12th International Workshop on the Algorithmic Foundations of Robotics WAFR, Berkeley, USA, 2016 () URL BibTeX

Autonomous Motion Conference Paper Self-Supervised Regrasping using Spatio-Temporal Tactile Features and Reinforcement Learning Chebotar, Y., Hausman, K., Su, Z., Sukhatme, G., Schaal, S. In International Conference on Intelligent Robots and Systems (IROS) 2016, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 () pdf video BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment Khadiv, M., Kleff, S., Herzog, A., Moosavian, S. A. A., Schaal, S., Righetti, L. In 2016 4th International Conference on Robotics and Mechatronics (ICROM), :130-135, IEEE, Teheran, Iran, 2016 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Structured contact force optimization for kino-dynamic motion generation Herzog, A., Schaal, S., Righetti, L. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :2703-2710, IEEE, Daejeon, South Korea, 2016 () DOI URL BibTeX

Empirical Inference Autonomous Motion Conference Paper A Comparison of Contact Distribution Representations for Learning to Predict Object Interactions Leischnig, S., Luettgen, S., Kroemer, O., Peters, J. In 15th IEEE-RAS International Conference on Humanoid Robots, :616-622, Humanoids, November 2015 (Published) DOI BibTeX

Empirical Inference Autonomous Motion Conference Paper Evaluation of Interactive Object Recognition with Tactile Sensing Hoelscher, J., Peters, J., Hermans, T. In 15th IEEE-RAS International Conference on Humanoid Robots, :310-317, Humanoids, November 2015 (Published) DOI BibTeX

Empirical Inference Autonomous Motion Conference Paper First-Person Tele-Operation of a Humanoid Robot Fritsche, L., Unverzagt, F., Peters, J., Calandra, R. In 15th IEEE-RAS International Conference on Humanoid Robots, :997-1002, Humanoids, November 2015 (Published) DOI URL BibTeX

Empirical Inference Autonomous Motion Conference Paper Learning Torque Control in Presence of Contacts using Tactile Sensing from Robot Skin Calandra, R., Ivaldi, S., Deisenroth, M., Peters, J. In 15th IEEE-RAS International Conference on Humanoid Robots, :690-695, Humanoids, November 2015 (Published) DOI URL BibTeX

Empirical Inference Autonomous Motion Conference Paper Optimizing Robot Striking Movement Primitives with Iterative Learning Control Koc, O., Maeda, G., Neumann, G., Peters, J. In 15th IEEE-RAS International Conference on Humanoid Robots, :80-87, Humanoids, November 2015 (Published) DOI BibTeX

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