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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 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
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
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 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 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 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 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 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
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
Autonomous Motion Book Chapter Implications of Action-Oriented Paradigm Shifts in Cognitive Science Dominey, P. F., Prescott, T. J., Bohg, J., Engel, A. K., Gallagher, S., Heed, T., Hoffmann, M., Knoblich, G., Prinz, W., Schwartz, A. In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18:333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016, In press (In press) The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter URL BibTeX
Autonomous Motion Book Chapter Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment Bohg, J., Kragic, D. In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18:309-320, 18, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016, In press (In press) 18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter URL BibTeX
Autonomous Motion Poster Distinct adaptation to abrupt and gradual torque perturbations with a multi-joint exoskeleton robot Oh, Y., Sutanto, G., Mistry, M., Schweighofer, N., Schaal, S. Abstracts of Neural Control of Movement Conference (NCM 2016), Montego Bay, Jamaica, April 2016 () BibTeX
Autonomous Motion Intelligent Control Systems Technical Report Supplemental material for ’Communication Rate Analysis for Event-based State Estimation’ Ebner, S., Trimpe, S. Max Planck Institute for Intelligent Systems, January 2016 () PDF 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 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
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
Autonomous Motion Book Chapter Locally Weighted Regression for Control Ting, J., Meier, F., Vijayakumar, S., Schaal, S. In Encyclopedia of Machine Learning and Data Mining, :1-14, Springer US, Boston, MA, 2016 () DOI URL 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
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
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
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 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
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 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