Publications

Movement Generation and Control Autonomous Motion Conference Paper Towards Associative Skill Memories Pastor, P., Kalakrishnan, M., Righetti, L., Schaal, S. In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), :309-315, IEEE, Osaka, Japan, November 2012 () DOI URL 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 Proceedings 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), Bled, Slovenia, October 26-28, 2011 IEEE, 2011 () URL BibTeX

Autonomous Motion Conference Paper Additional DOFs and sensors for bio-inspired locomotion: Towards active spine, ankle joints, and feet for a quadruped robot Kuehn, D., Grimminger, F., Beinersdorf, F., Bernhard, F., Burchardt, A., Schilling, M., Simnofske, M., Stark, T., Zenzes, M., Kirchner, F. In 2011 IEEE International Conference on Robotics and Biomimetics, :2780-2786, December 2011 () DOI BibTeX

Autonomous Motion Conference Paper An Iterative Path Integral Stochastic Optimal Control Approach for Learning Robotic Tasks Theodorou, E., Stulp, F., Buchli, J., Schaal, S. In Proceedings of the 18th World Congress of the International Federation of Automatic Control, 2011, clmc () PDF 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

Movement Generation and Control Autonomous Motion Conference Paper Control of legged robots with optimal distribution of contact forces Righetti, L., Buchli, J., Mistry, M., Schaal, S. In 2011 11th IEEE-RAS International Conference on Humanoid Robots, :318-324, IEEE, Bled, Slovenia, 2011 () DOI URL BibTeX

Autonomous Motion Conference Paper Development of a Low-Pressure Fluidic Servo-Valve for Wearable Haptic Interfaces and Lightweight Robotic Systems" Folgheraiter, M., Jordan, M., Benitez, L. M. V., Grimminger, F., Schmidt, S., Albiez, J., Kirchner, F. In Informatics in Control, Automation and Robotics, :239-252, Springer Berlin Heidelberg, Berlin, Heidelberg, 2011 () DOI 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

Movement Generation and Control Autonomous Motion Conference Paper Inverse Dynamics Control of Floating-Base Robots with External Constraints: a Unified View Righetti, L., Buchli, J., Mistry, M., Schaal, S. In 2011 IEEE International Conference on Robotics and Automation, :1085-1090, IEEE, Shanghai, China, 2011 () DOI URL BibTeX

Autonomous Motion Ph.D. Thesis Iterative path integral stochastic optimal control: Theory and applications to motor control Theodorou, E. A. University of Southern California, University of Southern California, Los Angeles, CA, 2011 () PDF BibTeX

Autonomous Motion Master Thesis Learning of grasp selection based on shape-templates Herzog, A. Karlsruhe Institute of Technology, 2011 () BibTeX

Autonomous Motion Conference Paper Learning to grasp under uncertainty Stulp, F., Theodorou, E., Buchli, J., Schaal, S. In Robotics and Automation (ICRA), 2011 IEEE International Conference on, Shanghai, China, May 9-13, 2011, clmc () URL 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

Movement Generation and Control Autonomous Motion Conference Paper Learning Force Control Policies for Compliant Manipulation Kalakrishnan, M., Righetti, L., Pastor, P., Schaal, S. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, :4639-4644, IEEE, San Francisco, USA, sep 2011 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Motion Primitive Goals for Robust Manipulation Stulp, F., Theodorou, E., Kalakrishnan, M., Pastor, P., Righetti, L., Schaal, S. In IEEE/RSJ International Conference on Intelligent Robots and Systems, :325-331, IEEE, San Francisco, USA, sep 2011 () DOI URL BibTeX

Autonomous Motion Conference Paper Movement segmentation using a primitive library Meier, F., Theodorou, E., Stulp, F., Schaal, S. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), Sept. 25-30, San Francisco, CA, 2011, clmc () URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Online movement adaptation based on previous sensor experiences Pastor, P., Righetti, L., Kalakrishnan, M., Schaal, S. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, :365-371, IEEE, San Francisco, USA, sep 2011 () DOI URL BibTeX

Autonomous Motion Conference Paper Path Integral Control and Bounded Rationality Braun, D. A., Ortega, P. A., Theodorou, E., Schaal, S. In IEEE Symposium on Adaptive Dynamic Programming And Reinforcement Learning (ADPRL), 2011, clmc () PDF BibTeX

Autonomous Motion Conference Paper STOMP: Stochastic trajectory optimization for motion planning Kalakrishnan, M., Chitta, S., Theodorou, E., Pastor, P., Schaal, S. In IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011, clmc () URL BibTeX

Autonomous Motion Conference Paper Skill learning and task outcome prediction for manipulation Pastor, P., Kalakrishnan, M., Chitta, S., Theodorou, E., Schaal, S. In IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 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 Conference Paper Reinforcement learning of full-body humanoid motor skills Stulp, F., Buchli, J., Theodorou, E., Schaal, S. In Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on, :405-410, December 2010, clmc () URL BibTeX

Empirical Inference Autonomous Motion Conference Paper Relative Entropy Policy Search Peters, J., Mülling, K., Altun, Y. In Proceedings of the Twenty-Fourth National Conference on Artificial Intelligence, :1607-1612, (Editors: Fox, M. , D. Poole), AAAI Press, Menlo Park, CA, USA, Twenty-Fourth National Conference on Artificial Intelligence (AAAI-10), July 2010 () PDF Web BibTeX

Autonomous Motion Conference Paper Fast, robust quadruped locomotion over challenging terrain Kalakrishnan, M., Buchli, J., Pastor, P., Mistry, M., Schaal, S. In Robotics and Automation (ICRA), 2010 IEEE International Conference on, :2665-2670, May 2010, clmc () URL BibTeX

Autonomous Motion Conference Paper Inverse dynamics control of floating base systems using orthogonal decomposition Mistry, M., Buchli, J., Schaal, S. In Robotics and Automation (ICRA), 2010 IEEE International Conference on, :3406-3412, May 2010, clmc () URL BibTeX

Autonomous Motion Conference Paper Reinforcement learning of motor skills in high dimensions: A path integral approach Theodorou, E., Buchli, J., Schaal, S. In Robotics and Automation (ICRA), 2010 IEEE International Conference on, :2397-2403, May 2010, clmc () URL 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 Conference Paper A highly integrated low pressure fluid servo-valve for applications in wearable robotic systems Folgheraiter, M., Jordan, M., Vaca Benitez, L. M., Grimminger, F., Schmidt, S., Albiez, J., Kirchner, F. In ICINCO 2010 - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, 2:72-78, 2010 () BibTeX

Autonomous Motion Conference Paper Are reaching movements planned in kinematic or dynamic coordinates? Ellmer, A., Schaal, S. In Abstracts of Neural Control of Movement Conference (NCM 2010), Naples, Florida, 2010, 2010, clmc () BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Constrained Accelerations for Controlled Geometric Reduction: Sagittal-Plane Decoupling for Bipedal Locomotion Gregg, R., Righetti, L., Buchli, J., Schaal, S. In 2010 10th IEEE-RAS International Conference on Humanoid Robots, :1-7, IEEE, Nashville, USA, 2010 () DOI URL BibTeX

Autonomous Motion Conference Paper Effects of Wheel Synchronization for the Hybrid Leg-Wheel Robot Asguard Babu, A., Joyeux, S., Schwendner, J., Grimminger, F. In Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space. International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS-10), August 29-September 1, Sapporo, Japan, August 2010 () 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

Movement Generation and Control Autonomous Motion Conference Paper Inverse dynamics with optimal distribution of ground reaction forces for legged robot Righetti, L., Buchli, J., Mistry, M., Schaal, S. In Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR), :580-587, Nagoya, Japan, sep 2010 () DOI BibTeX

Autonomous Motion Conference Paper Learning Policy Improvements with Path Integrals Theodorou, E. A., Buchli, J., Schaal, S. In International Conference on Artificial Intelligence and Statistics (AISTATS 2010), 2010, clmc () PDF BibTeX

Autonomous Motion Article Learning control in robotics – trajectory-based opitimal control techniques Schaal, S., Atkeson, C. G. Robotics and Automation Magazine, 17(2):20-29, 2010, clmc () URL BibTeX

Autonomous Motion Conference Paper Learning optimal control solutions: a path integral approach Theodorou, E., Schaal, S. In Abstracts of Neural Control of Movement Conference (NCM 2010), Naples, Florida, 2010, 2010, clmc () 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, 2010, clmc () URL BibTeX

Autonomous Motion Book Chapter Locally weighted regression for control Ting, J., Vijayakumar, S., Schaal, S. In Encyclopedia of Machine Learning, :613-624, (Editors: Sammut, C.;Webb, G. I.), Springer, 2010, clmc () URL BibTeX

Autonomous Motion Conference Paper Optimality in Neuromuscular Systems Theodorou, E. A., Valero-Cuevas, F. In 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2010, clmc () PDF BibTeX

Autonomous Motion Article Policy learning algorithmis for motor learning (Algorithmen zum automatischen Erlernen von Motorfähigkigkeiten) Peters, J., Kober, J., Schaal, S. Automatisierungstechnik, 58(12):688-694, 2010, clmc () URL BibTeX

Autonomous Motion Article Stochastic Differential Dynamic Programming Theodorou, E., Tassa, Y., Todorov, E. In the proceedings of American Control Conference (ACC 2010) , 2010, clmc () PDF BibTeX

Autonomous Motion Conference Paper Variable impedance control - a reinforcement learning approach Buchli, J., Theodorou, E., Stulp, F., Schaal, S. In Robotics Science and Systems (2010), Zaragoza, Spain, June 27-30, 2010, clmc () URL BibTeX

Autonomous Motion Article Adaptive compliance control of a multi-legged stair-climbing robot based on proprioceptive data Waldron, K. J., Eich, M., Grimminger, F., Kirchner, F. Industrial Robot: An International Journal, 36:331-339, Emerald Group Publishing Limited, June 2009 () DOI BibTeX

Autonomous Motion Ph.D. Thesis Bayesian Methods for Autonomous Learning Systems (Phd Thesis) Ting, J. Department of Computer Science, University of Southern California, Los Angeles, CA, 2009, clmc () PDF BibTeX

Autonomous Motion Conference Paper CESAR: A lunar crater exploration and sample return robot Schwendner, J., Grimminger, F., Bartsch, S., Kaupisch, T., Yüksel, M., Bresser, A., Akpo, J. B., Seydel, M. K. -., Dieterle, A., Schmidt, S., et al. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, :3355-3360, October 2009 () DOI BibTeX

Autonomous Motion Conference Paper Compact models of motor primitive variations for predictible reaching and obstacle avoidance Stulp, F., Oztop, E., Pastor, P., Beetz, M., Schaal, S. In IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009), Paris, Dec.7-10, 2009, clmc () URL BibTeX

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