Publications

Autonomous Motion Conference Paper Compliant quadruped locomotion over rough terrain Buchli, J., Kalakrishnan, M., Mistry, M., Pastor, P., Schaal, S. In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, :814-820, 2009, clmc () URL BibTeX

Autonomous Motion Article Computational models for neuromuscular function Valero-Cuevas, F., Hoffmann, H., Kurse, M. U., Kutch, J. J., Theodorou, E. A. IEEE Reviews in Biomedical Engineering – (All authors have equally contributed), (2):110?135, 2009, clmc () URL BibTeX

Autonomous Motion Conference Paper Concept evaluation of a new biologically inspired robot “LittleApe” Kühn, D., Römmermann, M., Sauthoff, N., Grimminger, F., Kirchner, F. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, :589-594, October 2009 () DOI BibTeX

Autonomous Motion Conference Paper Human optimization strategies under reward feedback Hoffmann, H., Theodorou, E., Schaal, S. In Abstracts of Neural Control of Movement Conference (NCM 2009), Waikoloa, Hawaii, 2009, 2009, clmc () BibTeX

Autonomous Motion Article Incorporating Muscle Activation-Contraction dynamics to an optimal control framework for finger movements Theodorou, E. A., Valero-Cuevas, F. J. Abstracts of Neural Control of Movement Conference (NCM 2009), 2009, clmc () PDF BibTeX

Autonomous Motion Conference Paper Inertial parameter estimation of floating-base humanoid systems using partial force sensing Mistry, M., Schaal, S., Yamane, K. In IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009), Paris, Dec.7-10, 2009, clmc () URL BibTeX

Autonomous Motion Conference Paper Learning and generalization of motor skills by learning from demonstration Pastor, P., Hoffmann, H., Asfour, T., Schaal, S. In International Conference on Robotics and Automation (ICRA2009), Kobe, Japan, May 12-19, 2009, 2009, clmc () URL BibTeX

Autonomous Motion Conference Paper Learning locomotion over rough terrain using terrain templates Kalakrishnan, M., Buchli, J., Pastor, P., Schaal, S. In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, :167-172, 2009, clmc () URL BibTeX

Autonomous Motion Article Local dimensionality reduction for non-parametric regression Hoffman, H., Schaal, S., Vijayakumar, S. Neural Processing Letters, 2009, clmc () URL BibTeX

Autonomous Motion Article On-line learning and modulation of periodic movements with nonlinear dynamical systems Gams, A., Ijspeert, A., Schaal, S., Lenarčič, J. Autonomous Robots, 27(1):3-23, 2009, clmc () URL BibTeX

Autonomous Motion Conference Paper Path integral-based stochastic optimal control for rigid body dynamics Theodorou, E. A., Buchli, J., Schaal, S. In Adaptive Dynamic Programming and Reinforcement Learning, 2009. ADPRL ’09. IEEE Symposium on, :219-225, 2009, clmc () URL BibTeX

Autonomous Motion Conference Paper Proprioceptive control of a hybrid legged-wheeled robot Eich, M., Grimminger, F., Kirchner, F. In 2008 IEEE International Conference on Robotics and Biomimetics, :774-779, February 2009 () DOI BibTeX

Autonomous Motion Technical Report The SL simulation and real-time control software package Schaal, S. University of Southern California, Los Angeles, CA, 2009, clmc () URL BibTeX

Autonomous Motion Conference Paper A Bayesian approach to empirical local linearizations for robotics Ting, J., D’Souza, A., Vijayakumar, S., Schaal, S. In International Conference on Robotics and Automation (ICRA2008), Pasadena, CA, USA, May 19-23, 2008, 2008, clmc () URL BibTeX

Autonomous Motion Conference Paper A Versatile Stair-Climbing Robot for Search and Rescue Applications Eich, M., Grimminger, F., Kirchner, F. In 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, :35-40, October 2008 () DOI BibTeX

Autonomous Motion Article A library for locally weighted projection regression Klanke, S., Vijayakumar, S., Schaal, S. Journal of Machine Learning Research, 9:623-626, 2008, clmc () URL BibTeX

Autonomous Motion Article Adaptation to a sub-optimal desired trajectory M. Mistry, E. A. G. L. T. Y. S. S. M. K. Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008, 2008, clmc () PDF BibTeX

Autonomous Motion Book Chapter Adaptive stair-climbing behaviour with a hybrid legged-wheeled robot Eich, M., Grimminger, F., Kirchner, F. In Advances In Mobile Robotics, :768-775, World Scientific, August 2008 () DOI BibTeX

Autonomous Motion Conference Paper Behavioral experiments on reinforcement learning in human motor control Hoffmann, H., Theodorou, E., Schaal, S. In Abstracts of the Eighteenth Annual Meeting of Neural Control of Movement (NCM), Naples, Florida, April 29-May 4, 2008, clmc () BibTeX

Autonomous Motion Conference Paper Combining dynamic movement primitives and potential fields for online obstacle avoidance Park, D., Hoffmann, H., Schaal, S. In Adaptive Motion of Animals and Machines (AMAM), Cleveland, Ohio, 2008, 2008, clmc () URL BibTeX

Autonomous Motion Conference Paper Computational model for movement learning under uncertain cost Theodorou, E., Hoffmann, H., Mistry, M., Schaal, S. In Abstracts of the Society of Neuroscience Meeting (SFN 2008), Washington, DC 2008, 2008, clmc () BibTeX

Autonomous Motion Conference Paper Do humans plan continuous trajectories in kinematic coordinates? Hoffmann, H., Schaal, S. In Abstracts of the Society of Neuroscience Meeting (SFN 2008), Washington, DC 2008, 2008, clmc () BibTeX

Autonomous Motion Conference Paper Dynamic movement primitives for movement generation motivated by convergent force fields in frog Hoffmann, H., Pastor, P., Schaal, S. In Adaptive Motion of Animals and Machines (AMAM), 2008, clmc () PDF BibTeX

Autonomous Motion Conference Paper Human movement generation based on convergent flow fields: A computational model and a behavioral experiment Hoffmann, H., Schaal, S. In Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008, 2008, clmc () URL BibTeX

Autonomous Motion Empirical Inference Article Learning to control in operational space Peters, J., Schaal, S. International Journal of Robotics Research, 27:197-212, 2008, clmc () DOI URL BibTeX

Autonomous Motion Conference Paper Movement generation by learning from demonstration and generalization to new targets Pastor, P., Hoffmann, H., Schaal, S. In Adaptive Motion of Animals and Machines (AMAM), 2008, clmc () PDF BibTeX

Autonomous Motion Conference Paper Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields Park, D., Hoffmann, H., Pastor, P., Schaal, S. In IEEE International Conference on Humanoid Robots, 2008., 2008, clmc () PDF BibTeX

Autonomous Motion Article Operational space control: A theoretical and emprical comparison Nakanishi, J., Cory, R., Mistry, M., Peters, J., Schaal, S. International Journal of Robotics Research, 27(6):737-757, 2008, clmc () URL BibTeX

Autonomous Motion Article Optimization strategies in human reinforcement learning Hoffmann, H., Theodorou, E., Schaal, S. Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008, 2008, clmc () PDF BibTeX

Autonomous Motion Conference Paper The dual role of uncertainty in force field learning Mistry, M., Theodorou, E., Hoffmann, H., Schaal, S. In Abstracts of the Eighteenth Annual Meeting of Neural Control of Movement (NCM), Naples, Florida, April 29-May 4, 2008, clmc () BibTeX

Autonomous Motion Conference Paper A Computational Model of Arm Trajectory Modification Using Dynamic Movement Primitives Mohajerian, P., Hoffmann, H., Mistry, M., Schaal, S. In Abstracts of the 37st Meeting of the Society of Neuroscience, San Diego, CA, Nov 3-7, 2007, clmc () PDF BibTeX

Autonomous Motion Conference Paper A computational model of human trajectory planning based on convergent flow fields Hoffman, H., Schaal, S. In Abstracts of the 37st Meeting of the Society of Neuroscience, San Diego, CA, Nov. 3-7, 2007, clmc () BibTeX

Autonomous Motion Conference Paper A robust quadruped walking gait for traversing rough terrain Pongas, D., Mistry, M., Schaal, S. In International Conference on Robotics and Automation (ICRA2007), :1474-1479, Rome, April 10-14, 2007, 2007, clmc () URL BibTeX

Autonomous Motion Conference Paper Applying the episodic natural actor-critic architecture to motor primitive learning Peters, J., Schaal, S. In Proceedings of the 2007 European Symposium on Artificial Neural Networks (ESANN), Bruges, Belgium, April 25-27, 2007, clmc () URL BibTeX

Autonomous Motion Conference Paper Asguard : A Hybrid-Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain Eich, M., Grimminger, F., Bosse, S., Spenneberg, D., Kirchner, F. In 2007 () BibTeX

Autonomous Motion Conference Paper Bayesian Nonparametric Regression with Local Models Ting, J., Schaal, S. In Workshop on Robotic Challenges for Machine Learning, NIPS 2007, 2007, clmc () BibTeX

Autonomous Motion Book Chapter Dynamics systems vs. optimal control ? a unifying view Schaal, S., Mohajerian, P., Ijspeert, A. In Progress in Brain Research, (165):425-445, 2007, clmc () URL BibTeX

Autonomous Motion Empirical Inference Conference Paper Evaluation of Policy Gradient Methods and Variants on the Cart-Pole Benchmark Riedmiller, M., Peters, J., Schaal, S. In Proceedings of the 2007 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning, :254-261, ADPRL, 2007, clmc () PDF BibTeX

Autonomous Motion Conference Paper Inverse dynamics control with floating base and constraints Nakanishi, J., Mistry, M., Schaal, S. In International Conference on Robotics and Automation (ICRA2007), :1942-1947, Rome, Italy, April 10-14, 2007, clmc () URL BibTeX

Autonomous Motion Conference Paper Kernel carpentry for onlne regression using randomly varying coefficient model Edakunni, N. U., Schaal, S., Vijayakumar, S. In Proceedings of the 20th International Joint Conference on Artificial Intelligence, Hyderabad, India: Jan. 6-12, 2007, clmc () URL BibTeX

Autonomous Motion Technical Report Learning an Outlier-Robust Kalman Filter Ting, J., Theodorou, E., Schaal, S. CLMC Technical Report: TR-CLMC-2007-1, Los Angeles, CA, 2007, clmc () PDF BibTeX

Autonomous Motion Empirical Inference Conference Paper Policy Learning for Motor Skills Peters, J., Schaal, S. In Proceedings of 14th International Conference on Neural Information Processing (ICONIP), :233-242, (Editors: Ishikawa, M. , K. Doya, H. Miyamoto, T. Yamakawa), 2007, clmc () PDF DOI BibTeX

Autonomous Motion Empirical Inference Conference Paper Policy gradient methods for machine learning Peters, J., Theodorou, E., Schaal, S. In Proceedings of the 14th INFORMS Conference of the Applied Probability Society, :97-98, Eindhoven, Netherlands, July 9-11, 2007, 2007, clmc () BibTeX

Autonomous Motion Empirical Inference Conference Paper Reinforcement Learning for Optimal Control of Arm Movements Theodorou, E., Peters, J., Schaal, S. In Abstracts of the 37st Meeting of the Society of Neuroscience., Neuroscience, 2007, clmc () BibTeX

Autonomous Motion Empirical Inference Conference Paper Reinforcement learning by reward-weighted regression for operational space control Peters, J., Schaal, S. In Proceedings of the 24th Annual International Conference on Machine Learning, :745-750, ICML, 2007, clmc () DOI URL BibTeX

Autonomous Motion Empirical Inference Conference Paper Reinforcement learning for operational space control Peters, J., Schaal, S. In Proceedings of the 2007 IEEE International Conference on Robotics and Automation, :2111-2116, IEEE Computer Society, ICRA, 2007, clmc () DOI URL BibTeX

Autonomous Motion Empirical Inference Technical Report Relative Entropy Policy Search Peters, J. CLMC Technical Report: TR-CLMC-2007-2, Computational Learning and Motor Control Lab, Los Angeles, CA, 2007, clmc () PDF URL BibTeX

Autonomous Motion Conference Paper Task space control with prioritization for balance and locomotion Mistry, M., Nakanishi, J., Schaal, S. In IEEE International Conference on Intelligent Robotics Systems (IROS 2007), San Diego, CA: Oct. 29 Ð Nov. 2, 2007, clmc () URL BibTeX

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