Publications

Intelligent Control Systems Conference Paper Learning-enhanced robust controller synthesis with rigorous statistical and control-theoretic guarantees Fiedler, C., Scherer, C. W., Trimpe, S. In 60th IEEE Conference on Decision and Control (CDC), IEEE, December 2021, Accepted (Accepted) URL BibTeX

Intelligent Control Systems Conference Paper Local policy search with Bayesian optimization Müller, S., von Rohr, A., Trimpe, S. In Advances in Neural Information Processing Systems 34, 25:20708-20720, (Editors: Ranzato, M. and Beygelzimer, A. and Dauphin, Y. and Liang, P. S. and Wortman Vaughan, J.), Curran Associates, Inc., Red Hook, NY, 35th Conference on Neural Information Processing Systems (NeurIPS 2021) , December 2021 (Published) arXiv GitHub URL BibTeX

Intelligent Control Systems Conference Paper Using Physics Knowledge for Learning Rigid-Body Forward Dynamics with Gaussian Process Force Priors Rath, L., Geist, A. R., Trimpe, S. In Proceedings of the 5th Conference on Robot Learning, 164:101-111, Proceedings of Machine Learning Research, (Editors: Faust, Aleksandra and Hsu, David and Neumann, Gerhard), PMLR, 5th Conference on Robot Learning (CoRL 2021), November 2021 (Published) URL BibTeX

Intelligent Control Systems Conference Paper GoSafe: Globally Optimal Safe Robot Learning Baumann, D., Marco, A., Turchetta, M., Trimpe, S. In 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), :4452-4458, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2021), October 2021 (Published) DOI BibTeX

Intelligent Control Systems Conference Paper On exploration requirements for learning safety constraints Massiani, P., Heim, S., Trimpe, S. In Proceedings of the 3rd Conference on Learning for Dynamics and Control, :905-916, Proceedings of Machine Learning Research (PMLR), Vol. 144, (Editors: Jadbabaie, Ali and Lygeros, John and Pappas, George J. and Parrilo, Pablo A. and Recht, Benjamin and Tomlin, Claire J. and Zeilinger, Melanie), PMLR, 3rd Annual Conference on Learning for Dynamics and Control (L4DC), June 2021 (Published) URL BibTeX

Intelligent Control Systems Conference Paper Practical and Rigorous Uncertainty Bounds for Gaussian Process Regression Fiedler, C., Scherer, C. W., Trimpe, S. In The Thirty-Fifth AAAI Conference on Artificial Intelligence, the Thirty-Third Conference on Innovative Applications of Artificial Intelligence, the Eleventh Symposium on Educational Advances in Artificial Intelligence, 8:7439-7447, AAAI Press, Palo Alto, CA, Thirty-Fifth AAAI Conference on Artificial Intelligence (AAAI 2021), Thirty-Third Conference on Innovative Applications of Artificial Intelligence (IAAI 2021), Eleventh Symposium on Educational Advances in Artificial Intelligence (EAAI 2021), May 2021 () URL BibTeX

Dynamic Locomotion Intelligent Control Systems Conference Paper A little damping goes a long way Heim, S., Millard, M., Mouel, C. L., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E367-E367, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021) , March 2021 (Published) DOI URL BibTeX

Physical Intelligence Intelligent Control Systems Conference Paper Learning of sub-optimal gait controllers for magnetic walking soft millirobots Culha, U., Demir, S. O., Trimpe, S., Sitti, M. In Robotics: Science and Systems XVI, :P070, (Editors: Toussaint, Marc and Bicchi, Antonio and Hermans, Tucker), RSS Foundation, Robotics: Science and Systems 2020 (RSS 2020), 2020 (Published) DOI URL BibTeX

Intelligent Control Systems Conference Paper Learning Constrained Dynamics with Gauss Principle adhering Gaussian Processes Geist, A. R., Trimpe, S. In Proceedings of the 2nd Conference on Learning for Dynamics and Control, 120:225-234, Proceedings of Machine Learning Research (PMLR), (Editors: Bayen, Alexandre M. and Jadbabaie, Ali and Pappas, George and Parrilo, Pablo A. and Recht, Benjamin and Tomlin, Claire and Zeilinger, Melanie), PMLR, 2nd Annual Conference on Learning for Dynamics and Control (L4DC), June 2020 (Published) Proceedings of Machine Learning Research URL BibTeX

Intelligent Control Systems Conference Paper Robust Model-free Reinforcement Learning with Multi-objective Bayesian Optimization Turchetta, M., Krause, A., Trimpe, S. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), :10702-10708, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020 (Published) DOI BibTeX

Intelligent Control Systems Conference Paper Predictive Triggering for Distributed Control of Resource Constrained Multi-agent Systems Mastrangelo, J. M., Baumann, D., Trimpe, S. In Proceedings of the 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, :79-84, 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys), September 2019 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Conference Paper Event-triggered Pulse Control with Model Learning (if Necessary) Baumann, D., Solowjow, F., Johansson, K. H., Trimpe, S. In Proceedings of the American Control Conference, :792-797, American Control Conference (ACC), July 2019 (Published) arXiv PDF BibTeX

Intelligent Control Systems Conference Paper Data-driven inference of passivity properties via Gaussian process optimization Romer, A., Trimpe, S., Allgöwer, F. In Proceedings of the European Control Conference, European Control Conference (ECC), June 2019 (Published) PDF BibTeX

Intelligent Control Systems Conference Paper Trajectory-Based Off-Policy Deep Reinforcement Learning Doerr, A., Volpp, M., Toussaint, M., Trimpe, S., Daniel, C. In Proceedings of the International Conference on Machine Learning (ICML), International Conference on Machine Learning (ICML), June 2019 (Published) arXiv PDF BibTeX

Intelligent Control Systems Conference Paper Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks Mager, F., Baumann, D., Jacob, R., Thiele, L., Trimpe, S., Zimmerling, M. In Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems, :97-108, 10th ACM/IEEE International Conference on Cyber-Physical Systems, April 2019 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Autonomous Learning Conference Paper Deep Reinforcement Learning for Event-Triggered Control Baumann, D., Zhu, J., Martius, G., Trimpe, S. In Proceedings of the 57th IEEE International Conference on Decision and Control (CDC), :943-950, 57th IEEE International Conference on Decision and Control (CDC), December 2018 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Empirical Inference Conference Paper Efficient Encoding of Dynamical Systems through Local Approximations Solowjow, F., Mehrjou, A., Schölkopf, B., Trimpe, S. In Proceedings of the 57th IEEE International Conference on Decision and Control (CDC), :6073 - 6079 , Miami, Fl, USA, December 2018 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Conference Paper Depth Control of Underwater Robots using Sliding Modes and Gaussian Process Regression Lima, G. S., Bessa, W. M., Trimpe, S. In Proceeding of the 15th Latin American Robotics Symposium, João Pessoa, Brazil, 15th Latin American Robotics Symposium, November 2018 (Published) BibTeX

Intelligent Control Systems Micro, Nano, and Molecular Systems Conference Paper Gait learning for soft microrobots controlled by light fields Rohr, A. V., Trimpe, S., Marco, A., Fischer, P., Palagi, S. In International Conference on Intelligent Robots and Systems (IROS) 2018, :6199-6206, Piscataway, NJ, USA, International Conference on Intelligent Robots and Systems, October 2018 (Published) arXiv IEEE Xplore DOI URL BibTeX

Intelligent Control Systems Conference Paper Learning-Based Robust Model Predictive Control with State-Dependent Uncertainty Soloperto, R., Müller, M. A., Trimpe, S., Allgöwer, F. In Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC), Madison, Wisconsin, USA, 6th IFAC Conference on Nonlinear Model Predictive Control, August 2018 (Published) PDF 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

Intelligent Control Systems Conference Paper Event-triggered Learning for Resource-efficient Networked Control Solowjow, F., Baumann, D., Garcke, J., Trimpe, S. In Proceedings of the American Control Conference (ACC), :6506 - 6512, American Control Conference, June 2018 (Published) arXiv PDF DOI BibTeX

Intelligent Control Systems Conference Paper Evaluating Low-Power Wireless Cyber-Physical Systems Baumann, D., Mager, F., Singh, H., Zimmerling, M., Trimpe, S. In Proceedings of the IEEE Workshop on Benchmarking Cyber-Physical Networks and Systems (CPSBench), :13-18, IEEE Workshop on Benchmarking Cyber-Physical Networks and Systems (CPSBench), April 2018 (Published) arXiv PDF DOI 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

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 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 Intelligent Control Systems Conference Paper Direct Loss Minimization Inverse Optimal Control Doerr, A., Ratliff, N., Bohg, J., Toussaint, M., Schaal, S. In Proceedings of Robotics: Science and Systems, Rome, Italy, Robotics: Science and Systems XI, July 2015 (Published) PDF Video BibTeX

Autonomous Motion Intelligent Control Systems Learning and Dynamical Systems Conference Paper LMI-Based Synthesis for Distributed Event-Based State Estimation Muehlebach, M., Trimpe, S. In Proceedings of the American Control Conference, July 2015 (Published) PDF DOI BibTeX

Autonomous Motion Intelligent Control Systems Learning and Dynamical Systems Conference Paper Guaranteed H2 Performance in Distributed Event-Based State Estimation Muehlebach, M., Trimpe, S. In Proceeding of the First International Conference on Event-based Control, Communication, and Signal Processing, June 2015 (Published) PDF DOI BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper On the Choice of the Event Trigger in Event-based Estimation Trimpe, S., Campi, M. In Proceeding of the First International Conference on Event-based Control, Communication, and Signal Processing, June 2015 (Published) PDF DOI BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Event-based Estimation and Control for Remote Robot Operation with Reduced Communication Trimpe, S., Buchli, J. In Proceedings of the IEEE International Conference on Robotics and Automation, May 2015 (Published) PDF DOI BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper A New Perspective and Extension of the Gaussian Filter Wüthrich, M., Trimpe, S., Kappler, D., Schaal, S. In Robotics: Science and Systems, 2015 () Web PDF BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper A Self-Tuning LQR Approach Demonstrated on an Inverted Pendulum Trimpe, S., Millane, A., Doessegger, S., D’Andrea, R. In Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, 2014 (Published) PDF Supplementary material DOI BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Stability Analysis of Distributed Event-Based State Estimation Trimpe, S. In Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014 (Published) PDF Supplementary material DOI BibTeX

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