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submitted

Mohajerian, P.;Mistry, M.;Schaal, S. (submitted). Cerebral or spinal level interaction of rhythmic and discrete movements during two-joint arm task, Journal of Neurophysiology
  Details  BibTeX

Theodorou, E. , Righetti, L., and Schaal, S. (submitted). Stochastic Differential Games and Their Relation to Risk Sensitive Control: A Path Integral Control Formalism
  Details  BibTeX

2016

Rotella, N.;Mason, S.;Schaal, S.;Righetti, L. (2016). Inertial Sensor-Based Humanoid Joint State Estimation, arXiv preprint (Accepted to ICRA 2016)
[Keywords: humanoid robotics, state estimation, sensor fusion, robot control]
  Details  PDF  BibTeX

Yevgen Chebotar, Karol Hausman, Zhe Su, Gaurav S. Sukhatme, Stefan Schaal (2016). Self-Supervised Regrasping using Spatio-Temporal Tactile Features and Reinforcement Learning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (under review)
[Keywords: grasping, regrasping, tactile sensing, spatio-temporal features, reinforcement learning, grasp stability, self-supervision]
  Details  BibTeX

2015

Daniel Kappler, Jeannette Bohg and Stefan Schaal (2015). Leveraging Big Data for Grasp Planning, Proceedings of the IEEE International Conference on Robotics and Automation
[Keywords: Data-Driven Grasp Synthesis, Deep Learning, Crowdsourcing]
  Details  PDF  BibTeX

M. Wüthrich, J. Bohg, D. Kappler, C. Pfreundt and S. Schaal (2015). The Coordinate Particle Filter - A novel Particle Filter for High Dimensional Systems, Proceedings of the IEEE International Conference on Robotics and Automation
[Keywords: Particle Filter, High-Dimensional State Space, Visual Tracking]
  Details  PDF  BibTeX

M. Wüthrich, S. Trimpe, D. Kappler and S. Schaal (2015). A New Perspective and Extension of the Gaussian Filter, Robotics: Science and Systems
[Keywords: Gaussian Filter, Kalman Filter, Unscented Kalman Filter, Variational Inference]
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Muehlebach, M. and Trimpe, S. (2015). LMI-Based Synthesis for Distributed Event-Based State Estimation, Proceedings of the American Control Conference
[Keywords: Event-based estimation, event-based control, distributed estimation, distributed control, LMI-synthesis, stability]
  Details  BibTeX

Rotella, N.; Herzog, A.; Schaal, S.; Righetti, L. (2015). Momentum Planning, Estimation and Control for Force-Centric Bipedal Locomotion, Dynamic Walking 2015 (Talk, Poster)
[Keywords: humanoid robot, model predictive control, state estimation, force control]
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Rotella, N.; Herzog, A.;Schaal, S.;Righetti, L.; (2015). Humanoid momentum estimation using sensed contact wrenches, 2015 International Conference on Humanoid Robots (Talk)
[Keywords: humanoid robotics, state estimation, sensor fusion]
  Details  PDF  BibTeX

Sankaran B., Bohg, J., Ratliff, N., Schaal S. (2015). Policy Learning with Hypothesis Based Local Action Selection, Reinforcement Learning and Decision Making
[Keywords: Hypothesis Classification, Greedy Action Selection, Policy Learning, Learning from Demonstration ]
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Trimpe, S. and Buchli, J. (2015). Event-based Estimation and Control for Remote Robot Operation with Reduced Communication, Proceedings of the IEEE International Conference on Robotics and Automation
[Keywords: Event-based estimation, event-based control, human-robot coordination, reduced communication]
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Zhe Su, Karol Hausman, Yevgen Chebotar, Artem Molchanov, Gerald Loeb, Gaurav S. Sukhatme and Stefan Schaal (2015). Force Estimation and Slip Detection for Grip Control using a Biomimetic Tactile Sensor, IEEE-RAS International Conference on Humanoid Robotics (Humanoids)
[Keywords: tactile sensing, biotac, force estimation, slip detection, slip classification, grasp control]
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2014

Atanasov, N., Sankaran, B., Le Ny, J., Pappas, G., and Daniilidis, K. (2014). Nonmyopic View Planning for Active Object Classification and Pose Estimation, IEEE Transactions on Robotics
[Keywords: Active Perception, Multiple Hypothesis Testing, POMDP, Active Classification]
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Bohg, J., Morales, A., Asfour, T. and Kragic, D. (2014). Data-Driven Grasp Synthesis - A Survey, IEEE Transactions on Robotics
[Keywords: Object grasping and manipulation, grasp synthesis, grasp planning, visual perception, object recognition and classification, visual representations]
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Bohg, J.;Romero, J.;Herzog, A.;Schaal, S. (2014). Robot Arm Pose Estimation through Pixel-Wise Part Classification, Proceedings of the IEEE International Conference on Robotics and Automation
[Keywords: Computer vision, RGB-D perception, visual servoing]
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Herzog, A.; Pastor, P.; Kalakrishnan, M.; Righetti, L.; Bohg, J.; Asfour, T.; Schaal, S. (2014). Learning of Grasp Selection based on Shape-Templates, Autonomous Robots, 36, 1-2, pp.51-65, Springer US
[Keywords: Model-free Grasping; Grasp Synthesis; Template Learning]
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Herzog, A.;Righetti, L.;Grimminger, F.;Pastor, P.;Schaal, S. (2014). Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics, Proceedings of the IEEE International Conference on Intelligent Robotics Systems
[Keywords: contact interaction, humanoid robotics, inverse dynamics, torque control, whole body control]
  Details  PDF  BibTeX

Herzog, A.;Righetti, L.;Grimminger, F.;Schaal, S. (2014). Experiments with Hierarchical Inverse Dynamics Controllers on a Torque Controlled Humanoid, Proceedings of Dynamic Walking
[Keywords: balancing, humanoid robotics, optimal control, QP]
  Details  PDF  BibTeX

Mason, S.;Righetti, L.;Schaal, S. (2014). Towards Full System Linear Quadratic Regulators for Humanoid Control, Proceedings of Dynamic Walking
[Keywords: balancing, humanoid robotics, LQR, whole body control]
  Details  PDF  BibTeX

Meier, F.;Hennig, P.;Schaal, S. (2014). Local Gaussian Regression, arXiv preprint
[Keywords: High-dimensional regression, internal model, real-time robot learning]
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Meier, F.;Hennig, P.;Schaal, S. (2014). Efficient Bayesian Local Model Learning for Control, Proceedings of the IEEE International Conference on Intelligent Robotics Systems
[Keywords: High-dimensional regression, internal model, real-time, robot learning]
  Details  PDF  BibTeX

Meier, F.;Hennig, P.;Schaal, S. (2014). Incremental Local Gaussian Regression, Advances in Neural Information Processing Systems
[Keywords: High-dimensional regression, incremental learning, internal model, real-time, robot learning]
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Rai, A., Meier, F., Ijspeert, A., Schaal, S. (2014). Learning coupling terms for obstacle avoidance, International Conference on Humanoid Robotics, pp.512-518, IEEE
[Keywords: dynamic movement primitives, coupling terms, obstacle avoidance, manipulation, robot]
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Righetti, L.;Kalakrishnan, M.;Pastor, P.;Binney, J.;Kelly, J.;Voorhies, R. C.;Sukhatme, G. S.;Schaal, S. (2014). An autonomous manipulation system based on force control and optimization, Auton. Robots, 36, 1-2, pp.11-30, Springer US
[Keywords: force control, optimal control, redundancy, whole body control]
  Details  PDF  BibTeX

Rotella, N.;Bloesch, M.;Righetti, L.;Schaal, S. (2014). State estimation for a humanoid robot, 2014 International Conference on Intelligent Robots and Systems (Poster))
[Keywords: humanoid robotics, kalman filter, state estimation]
  Details  PDF  BibTeX

Rotella, N.;Bloesch, M.;Righetti, L.;Schaal, S. (2014). State Estimation for Walking Humanoids on Unknown Terrain, Proceedings of Dynamic Walking 2014 (Poster)
[Keywords: humanoid robotics, kalman filter, state estimation]
  Details  PDF  BibTeX

Spatz, J. P.;Schaal, S. (2014). Perspective: Intelligent Systems: Bits and Bots, Nature, 509
[Keywords: intelligent systems, nano robotics, robotics, smart materials]
  Details  PDF  BibTeX

Toussaint, M.;Ratliff, N.;Bohg, J.;Righetti, L.;Englert, P.;Schaal, S. (2014). Dual Execution of Optimized Contact Interaction Trajectories, Proceedings of the International Conference on Intelligent Robots and Systems
[Keywords: contact interaction, manipulation, optimal control, uncertainty]
  Details  PDF  BibTeX

Trimpe, S. (2014). Stability Analysis of Distributed Event-Based State Estimation, Proceedings of the 53rd IEEE Conference on Decision and Control
[Keywords: Event-based state estimation, distributed control, networked control]
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Trimpe, S.; D'Andrea, R. (2014). A Limiting Property of the Matrix Exponential, IEEE Transactions on Automatic Control, 59, 4, pp.1105-1110
[Keywords: matrix exponential, limiting property, logarithmic norm, time-scale separation]
  Details  PDF  BibTeX

Trimpe, S.; D'Andrea, R. (2014). Event-Based State Estimation With Variance-Based Triggering, IEEE Transactions on Automatic Control, 59, 12, pp.3266-3281
[Keywords: State estimation, distributed estimation, event-based communication, networked control systems, periodic solution, sensor scheduling, switching Riccati equation]
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Trimpe, S.; Millane, A.; Doessegger, S.; D'Andrea, R. (2014). A Self-Tuning LQR Approach Demonstrated on an Inverted Pendulum, Proceedings of the 19th IFAC World Congress
[Keywords: linear quadratic control, adaptive control, automatic controller tuning, balancing systems]
  Details  PDF  BibTeX

2013

Herzog, A; Righetti, L; Grimminger, F; Pastor, P; Schaal, S (2013). Experiments with a hierarchical inverse dynamics controller on a torque-controlled humanoid, Arxiv preprint arXiv:1305.2042
[Keywords: hierarchical control, inverse dynamics, locomotion, balance control, biped, contact interaction]
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Ijspeert, A.;Nakanishi, J.; Pastor, P; Hoffmann, H.; Schaal, S. (2013). Dynamical Movement Primitives: Learning Attractor Models forMotor Behaviors, Neural Computation, 25, pp.328-373
[Keywords: movement primitives, dynamic systems, rhythmic, discrete, perception-action coupling]
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Illonen, J., Bohg, J., Kyrki, V. (2013). 3-D Object Reconstruction of Symmetric Objects by Fusing Visual and Tactile Sensing, International Journal of Robotics Research, Sage
[Keywords: 3D Perception, object reconstruction, manipulation]
  Details  BibTeX

Kalakrishnan, M.; Pastor, P.; Righetti, L.; Schaal, S. (2013). Learning Objective Functions for Manipulation, IEEE International Conference on Robotics and Automation
[Keywords: learning, inverse reinforcement learning, manipulation, grasping, inverse kinematics, motion planning, trajectory optimization]
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M. Wüthrich, P. Pastor, M. Kalakrishnan, J. Bohg and S. Schaal (2013). Probabilistic Object Tracking Using a Range Camera, IEEE/RSJ International Conference on Intelligent Robots and Systems
[Keywords: object tracking, 3D perception]
  Details  PDF  BibTeX

Mistry, M.;Theodorou, E.;Schaal, S.;Kawato, M. (2013). Optimal control of reaching includes kinematic constraints, Journal of Neurophysiology
[Keywords: motor control, optimal control, reaching]
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Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G., Schaal, S. (2013). Learning Task Error Models for Manipulation, IEEE International Conference on Robotics and Automation
[Keywords: calibration, Gaussian Processes, model-based control]
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Righetti, L. and Buchli, J. and Mistry, M. and Kalakrishnan, M. and Schaal, S. (2013). Optimal distribution of contact forces with inverse dynamics control, International Journal of Robotics Research, 32, 3, pp.280-298
[Keywords: inverse dynamics; floating base; nonlinear control; legged robot]
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Righetti, L. and Kalakrishnan, M. and Pastor, P. and Binney, J. and Kelly, J. and Voorhies, R. and Sukhatme, G. and Schaal, S. (2013). An autonomous manipulation system based on force control and optimization, in: Springer (eds.), Autonomous Robots
[Keywords: manipulation; grasping; force control; optimization]
  Details  BibTeX

Righetti, L.; Buchli, J., Mistry, M.; Kalakrishnan, M.; Schaal, S. (2013). Using Torque Redundancy to Optimize Contact Forces in Legged Robots, Redundancy in Robot Manipulators and Multi-Robot Systems
[Keywords: force control, redundancy resolution, locomotion]
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Sankaran, B., Atanasov, N., Le Ny, J., Koletschka, T., Pappas, G., and Daniilidis, K. (2013). Hypothesis Testing Framework for Active Object Detection, IEEE International Conference on Robotics and Automation
[Keywords: Active Perception, Multiple Hypothesis Testing, POMDP, Active Classification]
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Sankaran, B., Ghazvininejad, M., He, X., Kale, D. and Cohen, L., (2013). Learning and Optimization with Submodular Functions
[Keywords: Submodular Optimization, Submodularity, Learning with Submodularity]
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2012

Ernesti, J. and Righetti, L. and Do, M. and Asfour, T. and Schaal, S. (2012). Encoding of Periodic and their Transient Motions by a Single Dynamic Movement Primitive, 2012 IEEE-RAS International Conference on Humanoid Robots, pp.57-64
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Herzog, A.;Pastor, P.;Kalakrishnan, M.;Righetti, L.;Asfour, T.;Schaal, S. (2012). Template-based learning of grasp selection, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp.2379-2384
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Kalakrishnan, M.; Righetti, L.; Pastor, P.; Schaal, S. (2012). Learning Force Control Policies for Compliant Robotic Manipulation, International Conference on Machine Learning (ICML)
[Keywords: movement primitives, reinforcement learning, pi2, skill learning, force control]
  Details  PDF  BibTeX

M. Wüthrich, P. Pastor, L. Righetti, A. Billard and S. Schaal (2012). Probabilistic depth image registration incorporating nonvisual information, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp.3637-3644
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Meier, F.;Theodorou, E.;Schaal, S. (2012). Movement Segmentation and Recognition for Imitation Learning, International Conference on Artificial Intelligence and Statistics (AISTATS)
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Pastor, P., Kalakrishnan, M., Righetti, L., Schaal, S. (2012). Towards Associative Skill Memories, IEEE-RAS International Conference on Humanoid Robots
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Pastor, P.;Kalakrishnan, M.;Meier, F.;Stulp, F.;Buchli, J.;Theodorou, E.;Schaal, S. (2012). From Dynamic Movement Primitives to Associative Skill Memories, Robotics and Autonomous Systems
[Keywords: associative memoryreinforcement learningmovement primitives]
  Details  BibTeX

Righetti, L. and Schaal, S. (2012). Inverse dynamics with optimal distribution of contact forces for the control of legged robots, Dynamics Walking
[Keywords: dynamics, control, inverse dynamics]
  Details  BibTeX

Righetti, L. and Schaal, S. (2012). Quadratic programming for inverse dynamics with optimal distribution of contact forces, 2012 IEEE-RAS International Conference on Humanoid Robots, pp.538-543
[Keywords: dynamics, control, inverse dynamics]
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Stulp, F.;Buchli, J.;Ellmer, A.;Mistry, M.;Theodorou, E.;Schaal, S. (2012). Model-free Reinforcement Learning of Impedance Control in Stochastic Environments, Autonomous Mental Development, IEEE Transactions on, 99, pp.1
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Stulp, F.;Theodorou, E.;Schaal, S. (2012). Reinforcement Learning with Sequences of Motion Primitives for Robust Manipulation, IEEE Transactions on Robotics
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2011

Braun, D. A., Ortega, P. A., Theodorou, E., Schaal, S. (2011). Path Integral Control and Bounded Rationality, To appear in Approximate Dynamic Programming and Reinforcement Learnig
[Keywords: Bounded Rationality, Path Integral Control]
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Buchli, J.;Stulp, F.;Theodorou, E.;Schaal, S. (2011). Learning variable impedance control, International Journal of Robotics Research
[Keywords: variable impedance control, reinforcment learning, PI2, movement primitives]
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Kalakrishnan, M.;Chitta, S.;Theodorou, E.;Pastor, P.;Schaal, S. (2011). STOMP: Stochastic trajectory optimization for motion planning, Robotics and Automation (ICRA), 2011 IEEE International Conference on
[Keywords: reinforcement learning, optimization, optimal motion planning]
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Kalakrishnan, M.;Righetti, L.;Pastor, P.;Schaal, S. (2011). Learning force control policies for compliant manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
[Keywords: movement primitives, reinforcement learning, PI2, skill learning, force control]
  Details  PDF  BibTeX

Meier, F.;Theodorou, E.;Stulp, F.;Schaal, S. (2011). Movement segmentation using a primitive library, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
[Keywords: movement primitives, movement recognition, Kalman filter, EM ALGORITHM, movement library]
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Paster, P.; Righetti, L.; Kalakrishnan, M.; Schaal, S. (2011). Online movement adaptation based on previous sensor experiences, Proceedings of the International Conference of Intelligent Robots and Systems (IROS 2011), pp.365-371
[Keywords: movement primitives, associative skill memories, prediction, reactive control, overall best paper award]
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Righetti, L.; Buchli, J.; Mistry, M.; Schaal, S. (2011). Control of legged robots with optimal distribution of contact forces , 2011 11th IEEE-RAS International Conference on Humanoid Robots, pp.318 - 324
[Keywords: inverse dynamics, contact forces]
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Righetti, L.;Mistry, M.;Buchli, j.;Schaal, S. (2011). Inverse dynamics control of floating-base robots with external contraints: an unified view, 2011 IEEE International Conference on Robotics and Automation (ICRA)
[Keywords: inverse control, floating base, constraints, projection-based control]
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Theodorou, E. A. (2011). Iterative path integral stochastic optimal control: Theory and applications to motor control. PhD Thesis, University of Southern California
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Theodorou, E. A.,Todorov, E. , Valero-Cuevas, F. (2011). Neuromuscular Stochastic Optimal Control of a Tendon Driven Index Finger , To appear In the proceedings of American Control Conference (ACC 2011)
[Keywords: Stochastic Optimal Control, Biomechanics]
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Ting, J.;D'Souza, A.;Schaal, S. (2011). Bayesian robot system identification with input and output noise, Neural Networks, 24, 1, pp.99-108
[Keywords: High-dimensional regression Input noise Variational Bayesian methods Rigid body dynamics Parameter identification]
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Wang, Z.; Lampert, C; Muelling, K; Schoelkopf, B.; Peters, J. (2011). Learning Anticipation Policies for Robot Table Tennis, IEEE/RSJ International Conference on Intelligent Robot Systems (IROS)
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2010

Buchli, J.;Theodorou, E.;Stulp, F.;Schaal, S. (2010). Variable impedance control - a reinforcement learning approach, Robotics Science and Systems (2010)
[Keywords: reinforcement learning, optimal control, pi2]
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Ellmer, A.;Schaal, S. (2010). Are reaching movements planned in kinematic or dynamic coordinates?, Abstracts of Neural Control of Movement Conference (NCM 2010)
[Keywords: computational motor control, planning, generalization]
  Details  BibTeX

Gregg, R. D.;Righetti, L.;Buchli, J.;Schaal, S. (2010). Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion, Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on, pp.1-7
[Keywords: asymptotic stability humanoid robots legged locomotion matrix inversion matrix multiplication robot dynamics 16-DOF humanoid 3D compass-gait biped acceleration-based controller asymptotically stable 3D bipedal dynamic walking bipedal locomotion ]
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Kalakrishnan, M.;Buchli, J.;Pastor, P.;Mistry, M.;Schaal, S. (2010). Fast, robust quadruped locomotion over challenging terrain, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.2665-2670
[Keywords: Best Paper Finalist, force control learning systems legged locomotion optimisation path planning stability criteria body trajectory optimizer challenging terrain control architecture control strategy fast robust quadruped locomotion floating-ba]
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Kalakrishnan, M.;Buchli, J.;Pastor, P.;Mistry, M.;Schaal, S. (2010). Learning, planning, and control for quadruped locomotion over challenging terrain, International Journal of Robotics Research, 30, 2, pp.236-258
[Keywords: Quadruped locomotion, locomotion planning and control, template learning, ZMP optimization, floating base inverse dynamics]
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Mistry, M.;Buchli, J.;Schaal, S. (2010). Inverse dynamics control of floating base systems using orthogonal decomposition, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.3406-3412
[Keywords: closed loop systems force control humanoid robots legged locomotion robot dynamics robot kinematics torque control approximate inverse dynamics solution closed loop kinematics constrained floating base rigid body systems contact forces estimatio]
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Peters, J.;Kober, J.;Schaal, S. (2010). Policy learning algorithmis for motor learning (Algorithmen zum automatischen Erlernen von Motorfähigkigkeiten), Automatisierungstechnik, 58, 12, pp.688-694
[Keywords: reinforcement leanring, motor skills]
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Righetti, L.;Buchli, j.;Mistry, M.;Schaal, S. (2010). Inverse dynamics with optimal distribution of ground reaction forces for legged robots, Proceedings of the international conference on climbing and walking robots (CLAWAR) 2010
[Keywords: inverse dynamics control, floating base, force control]
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Theodorou, E. A., Buchli, J., Schaal, S. (2010). Learning Policy Improvements with Path Integrals, International Conference on Artificial Intelligence and Statistics (AISTATS 2010)
[Keywords: reinforcement learning, optimal control, pi2]
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Theodorou, E. A., Todorov, E. , Valero-Cuevas, F. (2010). A first optimal control solution for a complex, nonlinear, tendon driven neuromuscular finger model, Proceedings of the ASME 2010 Summer Bioengineering Conference August 30-September 2, 2010, Naples, Florida, USA
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Theodorou, E. A., Valero-Cuevas, F. (2010). Optimality in Neuromuscular Systems, 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society
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Theodorou, E., Tassa, Y., Todorov, E. (2010). Stochastic Differential Dynamic Programming, In the proceedings of American Control Conference (ACC 2010)
[Keywords: Stochastic Differential Dynamic Programming,Second Order Optimal Control]
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Theodorou, E.;Buchli, J.;Schaal, S. (2010). Reinforcement learning of motor skills in high dimensions: A path integral approach, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.2397-2403
[Keywords: control engineering computing intelligent robots learning (artificial intelligence) learning systems optimal control stochastic systems complex motor system continuous state-action spaces estimation theory gradient-based policy learning high-dim]
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Theodorou, E.;Schaal, S. (2010). Learning optimal control solutions: a path integral approach, Abstracts of Neural Control of Movement Conference (NCM 2010)
[Keywords: computational motor control, reinforcement leanring, optimal control]
  Details  BibTeX

Ting, J.-A.;Vijayakumar, S.;Schaal, S. (2010). Locally weighted regression for control, in: Sammut, C.;Webb, G. I. (eds.), Encyclopedia of Machine Learning, pp.613-624, Springer
[Keywords: Kernel shaping; Lazy learning; Local distance metric adaptation; Locally weighted learning; LWPR; LWR; Nonstationary kernels supersmoothing]
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Ting, J.; DSouza, A.;Schaal, S. (2010). A Bayesian approach to nonlinear parameter identification for rigid-body dynamics, Neural Networks
[Keywords: bayesian least squares, rigid body parameter estimation, variational bayes, input output noise]
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Ting, J.;D'Souza, A.;Vijayakumar, S.;Schaal, S. (2010). Efficient learning and feature detection in high dimensional regression, Neural Computation, 22, pp.831-886
[Keywords: high-dimensional regression, feature selection, generalized linear models, variational Bayesian methods, sparse Bayesian learning]
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2009

Francisco J. Valero-Cuevas, Heiko Hoffmann, Manish U. Kurse, Jason J. Kutch, Evangelos A. Theodorou (2009). Computational models for neuromuscular function, IEEE Reviews in Biomedical Engineering -- (All authors have equally contributed), 2, pp.110135
[Keywords: Modeling, biomechanics, neuromuscular,control,computational methods.]
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Gams, A.;Ijspeert, A.;Schaal, S.;Lenarčič, J. (2009). On-line learning and modulation of periodic movements with nonlinear dynamical systems, Autonomous Robots, 27, 1, pp.3-23
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Gams, A.;Ijspeert, A.;Schaal, S.;Lenarčič, J. (2009). On-line learning and modulation of periodic movements with nonlinear dynamical systems, Autonomous Robots, 27, 1, pp.3-23
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Kalakrishnan, M.;Buchli, J.;Pastor, P.;Schaal, S. (2009). Learning locomotion over rough terrain using terrain templates, Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pp.167-172
[Keywords: legged locomotion path planning LittleDog quadruped robot foot hand-hold selection foothold ranking function human rock-climbing robotic legged locomotion rough terrain terrain templates]
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Mistry, M.;Schaal, S.;Yamane, K. (2009). Inertial parameter estimation of floating-base humanoid systems using partial force sensing, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)
[Keywords: inverse dynamics, floating base, parameter identification]
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Pastor, P.;Hoffmann, H.;Asfour, T.;Schaal, S. (2009). Learning and generalization of motor skills by learning from demonstration, International Conference on Robotics and Automation (ICRA2009)
[Keywords: movement primitives, dynamic systems, obstacle avoidance, generalization, affordances]
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Schaal, S. (2009). The SL simulation and real-time control software package, University of Southern California
[Keywords: simulation environment, documentation, real-time control envirionment, motor control]
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Schaal, S. (2009). The SL simulation and real-time control software package, University of Southern California
[Keywords: simulation environment, documentation, real-time control envirionment, motor control]
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Stulp, F.;Oztop, E.;Pastor, P.;Beetz, M.;Schaal, S. (2009). Compact models of motor primitive variations for predictible reaching and obstacle avoidance, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)
[Keywords: motor primitives, obstacle avoidance]
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Theodorou, E. A.;Buchli, J.;Schaal, S. (2009). Path integral-based stochastic optimal control for rigid body dynamics, Adaptive Dynamic Programming and Reinforcement Learning, 2009. ADPRL '09. IEEE Symposium on, pp.219-225
[Keywords: matrix algebra nonlinear control systems optimal control partial differential equations stochastic systems transforms Hamilton-Jacobi-Bellman equation logarithmic transformation nonlinear stochastic systems partial differential equation path integral stoc]
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Ting, J. (2009). Bayesian Methods for Autonomous Learning Systems (Phd Thesis), Department of Computer Science, University of Southern California
[Keywords: autonomous systems, bayesian methods, regression, statistical learning]
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2008

Dae-Hyung Park, Heiko Hoffmann, Peter Pastor, and Stefan Schaal (2008). Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields, IEEE International Conference on Humanoid Robots, 2008.
  Details  PDF  BibTeX

Heiko Hoffmann, Evangelos Theodorou, and Stefan Schaal (2008). Optimization strategies in human reinforcement learning, Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008
[Keywords: Reinforcement Learning, Motor Control, Psychophysics]
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Heiko Hoffmann, Peter Pastor, and Stefan Schaal (2008). Dynamic movement primitives for movement generation motivated by convergent force fields in frog, Adaptive Motion of Animals and Machines (AMAM)
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Hoffmann, H.;Schaal, S. (2008). Human movement generation based on convergent flow fields: A computational model and a behavioral experiment, Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting
[Keywords: computational motor control, motor primitives, target switching]
  Details  PDF  BibTeX

Klanke, S.;Vijayakumar, S.;Schaal, S. (2008). A library for locally weighted projection regression, Journal of Machine Learning Research, 9, pp.623-626
[Keywords: regression, local learning, online learning, C, C++, Matlab, Octave, Python]
  Details  PDF  BibTeX

M. Mistry, E. A.Theodorou, G. Liaw, T. Yoshioka, S. Schaal, M. Kawato (2008). Adaptation to a sub-optimal desired trajectory, Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008
  Details  PDF  BibTeX

Mistry, M.;Theodorou, E.;Hoffmann, H.;Schaal, S. (2008). The dual role of uncertainty in force field learning, Abstracts of the Eighteenth Annual Meeting of Neural Control of Movement (NCM)
[Keywords: computational motor control, optimal control, redundancy resolution, internal model]
  Details  BibTeX

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (2008). Operational space control: A theoretical and emprical comparison, International Journal of Robotics Research, 27, 6, pp.737-757
[Keywords: task space control, operational space control, redundancy resolution, humanoid robotics]
  Details  PDF  BibTeX

Park, D.-H.;Hoffmann, H.;Schaal, S. (2008). Combining dynamic movement primitives and potential fields for online obstacle avoidance, Adaptive Motion of Animals and Machines (AMAM)
[Keywords: movement primitives, potential fields, obstacle avoidance, dexterous manipulation]
  Details  PDF  BibTeX

Peter Pastor, Heiko Hoffmann, and Stefan Schaal (2008). Movement generation by learning from demonstration and generalization to new targets, Adaptive Motion of Animals and Machines (AMAM)
  Details  PDF  BibTeX

Peters, J.;Schaal, S. (2008). Reinforcement learning of motor skills with policy gradients, Neural Networks, 21, 4, pp.682-97
[Keywords: Reinforcement learning, Policy gradient methods, Natural gradients, Natural Actor-Critic, Motor skills, Motor primitives]
  Details  PDF  BibTeX

Tevatia, G.;Schaal, S. (2008). Efficient inverse kinematics algorithms for highdimensional movement systems, CLMC Technical Report: TR-CLMC-2008-1
[Keywords: inverse kinematics, extended Jacobian]
  Details  PDF  BibTeX

Theodorou, E.;Hoffmann, H.;Mistry, M.;Schaal, S. (2008). Computational model for movement learning under uncertain cost, Abstracts of the Society of Neuroscience Meeting (SFN 2008)
[Keywords: computational motor control, motor planning, optimization, reinforcement learning]
  Details  BibTeX

Ting, J.-A.;D'Souza, A.;Vijayakumar, S.;Schaal, S. (2008). A Bayesian approach to empirical local linearizations for robotics, International Conference on Robotics and Automation (ICRA2008)
[Keywords: local linear models, bayesian approach, linearizations, Machine learning,]
  Details  PDF  BibTeX

2007

Edakunni, N. U.;Schaal, S.;Vijayakumar, S. (2007). Kernel carpentry for onlne regression using randomly varying coefficient model, Proceedings of the 20th International Joint Conference on Artificial Intelligence
[Keywords: bayesian weighted regression, variational bayes]
  Details  PDF  BibTeX

Mistry, M., Theodorou, E., Hoffmann, H., Schaal, S. (2007). Uncertain 3D Force Fields in Reaching Movements: Do Humans Favor Robust or Average Performance?, Abstracts of the 37th Meeting of the Society of Neuroscience
  Details  PDF  BibTeX

Mistry, M.;Nakanishi, J.;Schaal, S. (2007). Task space control with prioritization for balance and locomotion, IEEE International Conference on Intelligent Robotics Systems (IROS 2007)
[Keywords: operational space control, locomotion, balance, hierarchical]
  Details  PDF  BibTeX

Nakanishi, J.;Mistry, M.;Schaal, S. (2007). Inverse dynamics control with floating base and constraints, International Conference on Robotics and Automation (ICRA2007), pp.1942-1947
  Details  PDF  BibTeX

Peters, J. (2007). Machine Learning of Motor Skills for Robotics, Ph.D. Thesis, Department of Computer Science, University of Southern California
[Keywords: Machine Learning, Reinforcement Learning, Robotics, Motor Primitives, Policy Gradients, Natural Actor-Critic, Reward-Weighted Regression]
  Details  BibTeX

Peters, J. (2007). Relative Entropy Policy Search, CLMC Technical Report: TR-CLMC-2007-2
[Keywords: relative entropy, policy search, natural policy gradient]
  Details  PDF  BibTeX

Peters, J., Schaal, S. (2007). Policy Learning for Motor Skills, Proceedings of 14th International Conference on Neural Information Processing (ICONIP)
[Keywords: Machine Learning, Reinforcement Learning, Robotics, Motor Primitives, Policy Gradients, Natural Actor-Critic, Reward-Weighted Regression]
  Details  PDF  BibTeX

Peters, J.; Schaal, S.; Schoelkopf, B. (2007). Towards Machine Learning of Motor Skills, Proceedings of Autonome Mobile Systeme (AMS)
[Keywords: Motor Skill Learning, Robotics, Natural Actor-Critic, Reward-Weighted Regeression]
  Details  PDF  BibTeX

Peters, J.;Schaal, S. (2007). Reinforcement learning for operational space control, International Conference on Robotics and Automation (ICRA2007), pp.2111-2116
[Keywords: operational space control, reinforcement learning, weighted regression, EM-Algorithm]
  Details  PDF  BibTeX

Peters, J.;Schaal, S. (2007). Using reward-weighted regression for reinforcement learning of task space control, Proceedings of the 2007 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning
[Keywords: reinforcement learning, cart-pole, policy gradient methods]
  Details  PDF  BibTeX

Peters, J.;Schaal, S. (2007). Applying the episodic natural actor-critic architecture to motor primitive learning, Proceedings of the 2007 European Symposium on Artificial Neural Networks (ESANN)
[Keywords: reinforcement learning, policy gradient methods, motor primitives, natural actor-critic]
  Details  PDF  BibTeX

Peters, J.;Theodorou, E.;Schaal, S. (2007). Policy gradient methods for machine learning, INFORMS Conference of the Applied Probability Society
[Keywords: policy gradient methods, reinforcement learning, simulation-optimization]
  Details  BibTeX

Pongas, D.;Mistry, M.;Schaal, S. (2007). A robust quadruped walking gait for traversing rough terrain, International Conference on Robotics and Automation (ICRA2007), pp.1474-1479
[Keywords: quadruped locomotion, static walk, crawl gait, COG trajectory, rough terrain, internal-model control, littledog]
  Details  PDF  BibTeX

Riedmiller, M.;Peters, J.;Schaal, S. (2007). Evaluation of policy gradient methods and variants on the cart-pole benchmark, Proceedings of the 2007 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning
[Keywords: reinforcement learning, cart-pole, policy gradient methods]
  Details  PDF  BibTeX

Schaal, S. (2007). The new robotics - towards human-centered machines, HFSP Journal Frontiers of Interdisciplinary Research in the Life Sciences, 1, 2, pp.115-126
[Keywords: assistive robotics, humanoid robotics, perspective]
  Details  PDF  BibTeX

Schaal, S; Mohajerian, P.; Ijspeert, A. (2007). Dynamics systems vs. optimal control a unifying view, Progress in Brain Research, 165, pp.425-445
[Keywords: discrete movement; rhythmic movement; movement primitives; dynamic systems; optimization; computational motor control]
  Details  PDF  BibTeX

Ting, J.; Schaal, S. (2007). Bayesian Nonparametric Regression with Local Models, Workshop on Robotic Challenges for Machine Learning, NIPS 2007
[Keywords: local models, Bayesian nonparametric regression, machine learning, statistical learning]
  Details  BibTeX

Ting, J.; Theodorou, E.; Schaal, S. (2007). Learning an Outlier-Robust Kalman Filter, CLMC Technical Report: TR-CLMC-2007-1
[Keywords: automatic outlier detection, Kalman filter, system dynamics, weighted least squares, bayesian statistical learning]
  Details  PDF  BibTeX

2006

Peters, J.;Schaal, S. (2006). Learning operational space control, in: Burgard, W.;Sukhatme, G. S.;Schaal, S. (eds.), Robotics: Science and Systems (RSS 2006), Cambridge, MA: MIT Press
[Keywords: operational space control redundancy forward models inverse models compliance reinforcement leanring locally weighted learning]
  Details  PDF  BibTeX

Peters, J.;Schaal, S. (2006). Reinforcement Learning for Parameterized Motor Primitives, Proceedings of the 2006 International Joint Conference on Neural Networks (IJCNN 2006)
[Keywords: motor primitives, reinforcement learning]
  Details  PDF  BibTeX

Peters, J.;Schaal, S. (2006). Policy gradient methods for robotics, Proceedings of the IEEE International Conference on Intelligent Robotics Systems (IROS 2006)
[Keywords: policy gradient methods, reinforcement learning, robotics]
  Details  PDF  BibTeX

Theodorou, E. (2006). Statistical Learning of LQG controllers, Technical Report-2006-1
[Keywords: LQG controllers, Statistical Learning, System identification]
  Details  PDF  BibTeX

Vijayakumar, S.;DSouza, A.;Schaal, S. (2006). Approximate nearest neighbor regression in very high dimensions, in: Shakhnarovich, G.;Darrell, T.;Indyk, P. (eds.), Nearest-Neighbor Methods in Learning and Vision, pp.103-142, Cambridge, MA: MIT Press
  Details  PDF  BibTeX

2005

Hidaka,Y; Theodorou, E. (2005). Parametric and Non-Parametric approaches for nonlinear tracking of moving objects, Technical Report-2005-1
[Keywords: Stochastic Estimation, Kalman Filters, Particle Filters, Tracking.]
  Details  PDF  BibTeX

Mistry, M.;Mohajerian, P.;Schaal, S. (2005). Arm movement experiments with joint space force fields using an exoskeleton robot, IEEE Ninth International Conference on Rehabilitation Robotics, pp.408-413
[Keywords: computational motor control trajectory planning inverse kinematics force control human motor control torque perturbations]
  Details  PDF  BibTeX

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (2005). Comparative experiments on task space control with redundancy resolution, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.3901-3908
[Keywords: manipulator dynamics redundant manipulators space optimization dynamical decoupling humanoid robots inverse kinematics motor coordination redundancy resolution robot dynamics seven-degree-of-freedom anthropomorphic robot arm task space control Dynamical d]
  Details  PDF  BibTeX

Nakanishi, J.;Farrell, J. A.;Schaal, S. (2005). Composite adaptive control with locally weighted statistical learning, Neural Networks, 18, 1, pp.71-90
[Keywords: adaptive control, statistical learning, composite control law, provably stable, locally weighted regression]
  Details  PDF  BibTeX

Peters, J.;Mistry, M.;Udwadia, F. E.;Cory, R.;Nakanishi, J.;Schaal, S. (2005). A unifying framework for the control of robotics systems, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.1824-1831
  Details  PDF  BibTeX

Peters, J.;Mistry, M.;Udwadia, F. E.;Schaal, S. (2005). A new methodology for robot control design, The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005)
[Keywords: robot control, nonlinear control, gauss principle]
  Details  PDF  BibTeX

Peters, J.;Vijayakumar, S.;Schaal, S. (2005). Natural Actor-Critic, in: Gama, J.;Camacho, R.;Brazdil, P.;Jorge, A.;Torgo, L. (eds.), Proceedings of the 16th European Conference on Machine Learning (ECML 2005), 3720, pp.280-291, Springer
[Keywords: Reinforcement Learning, Policy Gradients, Natural Gradients]
  Details  PDF  BibTeX

Pongas, D.;Billard, A.;Schaal, S. (2005). Rapbid synchronization and accurate phase-locking of rhythmic motor primitives, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.2911-2916
[Keywords: earning from demonstration periodic movement phase locking rhythm generation rhythmic motor rhythmic movement pattern synchronization Motor primitives Periodic movement Synchronization and Phase locking learning from demonstration]
  Details  PDF  BibTeX

Schaal, S.;Schweighofer, N. (2005). Computational motor control in humans and robots, Curr Opin Neurobiol, 15, 6, pp.675-82
  Details  PDF  BibTeX

Shibata, T.;Tabata, H.;Schaal, S.;Kawato, M. (2005). A model of smooth pursuit based on learning of the target dynamics using only retinal signals, Neural Networks, 18, pp.213-225
[Keywords: oculomotor control learning biomimetic robotics internal models]
  Details  PDF  BibTeX

Theodorou, E. (2005). Linear and Nonlinear Estimation models applied to Hemodynamic Model, Technical Report-2005-1
[Keywords: Stochastic Estimation, Kalman Filters, Shaping Filters, Hemodynamic model]
  Details  PDF  BibTeX

2004

Billard, A.;Epars, Y.;Calinon, S.;Cheng, G.;Schaal, S. (2004). Discovering optimal imitation strategies, Robotics and Autonomous Systems, 47, 2-3, pp.68-77
[Keywords: imitation, intent extraction, motor control]
  Details  BibTeX

D'Souza, A (2004). Towards Tractable Parameter-Free Statistical Learning (Phd Thesis), Department of Computer Science, University of Southern California
[Keywords: parameter-free statistical learning]
  Details  PDF  BibTeX

Nakanishi, J.;Farrell, J. A.;Schaal, S. (2004). Learning Composite Adaptive Control for a Class of Nonlinear Systems, IEEE International Conference on Robotics and Automation, pp.2647-2652
[Keywords: adaptive control, learning, composite control law, provably stable, locally weighted regression]
  Details  PDF  BibTeX

Nakanishi, J.;Morimoto, J.;Endo, G.;Cheng, G.;Schaal, S.;Kawato, M. (2004). Learning from demonstration and adaptation of biped locomotion, Robotics and Autonomous Systems, 47, 2-3, pp.79-91
[Keywords: movement primitives, locomotion, phase resetting, learning from demonstration]
  Details  PDF  BibTeX

Nakanishi, J.;Morimoto, J.;Endo, G.;Cheng, G.;Schaal, S.;Kawato, M. (2004). A framework for learning biped locomotion with dynamic movement primitives, IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004), IEEE
[Keywords: movement primitives, dynamic systems, locomotion, phase resetting, learning]
  Details  PDF  BibTeX

Nakanishi, J.;Schaal, S. (2004). Feedback error learning and nonlinear adaptive control, Neural Networks, 17, 10, pp.1453-1465
[Keywords: adaptive control, feedback error learning, learning]
  Details  PDF  BibTeX

Peters, J.; Schaal, S. (2004). Learning Motor Primitives with Reinforcement Learning, Proceedings of the 11th Joint Symposium on Neural Computation
[Keywords: natural policy gradients, motor primitives, natural actor-critic]
  Details  BibTeX

Schaal, S.;Ijspeert, A.;Billard, A. (2004). Computational approaches to motor learning by imitation, in: Frith, C. D.;Wolpert, D. (eds.), The Neuroscience of Social Interaction, 1431, pp.199-218, Oxford University Press
[Keywords: imitation learning computational review movement primitives duality of movement generation and recognition motor control]
  Details  PDF  BibTeX

Schaal, S.;Peters, J.;Nakanishi, J.;Ijspeert, A. (2004). Learning Movement Primitives, International Symposium on Robotics Research (ISRR2003), Springer
[Keywords: movement primitives, supervised learning, reinforcment learning, locomotion, phase resetting, learning from demonstration]
  Details  PDF  BibTeX

Schaal, S.;Sternad, D.;Osu, R.;Kawato, M. (2004). Rhythmic movement is not discrete, Nature Neuroscience, 7, 10, pp.1137-1144
[Keywords: fMRI discrete rhythmic movement movement primitives]
  Details  PDF  BibTeX

2003

Billard, A.;Epars, Y.;Schaal, S.;Cheng, G. (2003). Discovering imitation strategies through categorization of multi-cimensional data, IEEE International Conference on Intelligent Robots and Systems (IROS 2003)
[Keywords: movement primitives, sequencing]
  Details  PDF  BibTeX

D'Souza, A.;Vijayakumar, S.;Schaal, S. (2003). Bayesian backfitting, Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003)
[Keywords: statistical learning, Bayesian variational methods, linear regression, graphical models]
  Details  PDF  BibTeX

Ijspeert, A.;Nakanishi, J.;Schaal, S. (2003). Learning attractor landscapes for learning motor primitives, in: Becker, S.;Thrun, S.;Obermayer, K. (eds.), Advances in Neural Information Processing Systems 15, pp.1547-1554, Cambridge, MA: MIT Press
[Keywords: learning nonlinear attractor landscapes movement primitives humanoid robotics statistical learning]
  Details  PDF  BibTeX

Nakanishi, J.;Morimoto, J.;Endo, G.;Schaal, S.;Kawato, M. (2003). Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives, Workshop on Robot Learning by Demonstration, IEEE International Conference on Intelligent Robots and Systems (IROS 2003)
[Keywords: movement primitives, locomotion, phase resetting, learning from demonstration]
  Details  PDF  BibTeX

Peters, J.;Vijayakumar, S.;Schaal, S. (2003). Reinforcement learning for humanoid robotics, IEEE-RAS International Conference on Humanoid Robots (Humanoids2003)
[Keywords: reinforcement learning, policy gradients, movement primitives, behaviors, dynamic systems, humanoid robotics]
  Details  PDF  BibTeX

Peters, J.;Vijayakumar, S.;Schaal, S. (2003). Scaling reinforcement learning paradigms for motor learning, Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003)
[Keywords: Reinforcement learning, neurodynamic programming, actorcritic methods, policy gradient methods, natural policy gradient]
  Details  PDF  BibTeX

Schaal, S. (2003). Dynamic movement primitives - A framework for motor control in humans and humanoid robots, The International Symposium on Adaptive Motion of Animals and Machines
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, fMRI, behavioral evidence]
  Details  PDF  BibTeX

Schaal, S. (2003). Movement planning and imitation by shaping nonlinear attractors, Proceedings of the 12th Yale Workshop on Adaptive and Learning Systems
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes]
  Details  PDF  BibTeX

Schaal, S.;Ijspeert, A.;Billard, A. (2003). Computational approaches to motor learning by imitation, Philosophical Transaction of the Royal Society of London: Series B, Biological Sciences, 358, 1431, pp.537-547
[Keywords: imitation learning, computational, review, movement primitives, duality of movement generation and recognition, motor control]
  Details  PDF  BibTeX

2002

Ijspeert, J. A.;Nakanishi, J.;Schaal, S. (2002). Movement imitation with nonlinear dynamical systems in humanoid robots, International Conference on Robotics and Automation (ICRA2002)
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, humanoid robotics, Overall Best Paper Award]
  Details  PDF  BibTeX

Ijspeert, J. A.;Nakanishi, J.;Schaal, S. (2002). Learning rhythmic movements by demonstration using nonlinear oscillators, IEEE International Conference on Intelligent Robots and Systems (IROS 2002), pp.958-963, Piscataway, NJ: IEEE
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, discrete, rhythmic]
  Details  PDF  BibTeX

Nakanishi, J.;Farrell, J. A.;Schaal, S. (2002). A locally weighted learning composite adaptive controller with structure adaptation, IEEE International Conference on Intelligent Robots and Systems (IROS 2002)
[Keywords: adaptive control, learning, composite control law, provably stable, locally weighted regression]
  Details  PDF  BibTeX

Schaal, S. (2002). Learning robot control, in: Arbib, M. A. (eds.), The handbook of brain theory and neural networks, 2nd Edition, pp.983-987, MIT Press
[Keywords: robot learning, review, reinforcement learning, supervised learning, real-time learning]
  Details  PDF  BibTeX

Schaal, S. (2002). Arm and hand movement control, in: Arbib, M. A. (eds.), The handbook of brain theory and neural networks, 2nd Edition, pp.110-113, MIT Press
  Details  PDF  BibTeX

Schaal, S.;Atkeson, C. G.;Vijayakumar, S. (2002). Scalable techniques from nonparameteric statistics for real-time robot learning, Applied Intelligence, 17, 1, pp.49-60
[Keywords: statistical learning, nonparametric regression, distance metric, dimensionality reduction, high dimensional learning, robot learning, real-time learning]
  Details  PDF  BibTeX

2001

Billard, A.;Schaal, S. (2001). Robust learning of arm trajectories through human demonstration, IEEE International Conference on Intelligent Robots and Systems (IROS 2001), Piscataway, NJ: IEEE
[Keywords: imitation learning, movement primitives, humanoid robotics]
  Details  PDF  BibTeX

D'Souza, A.;Vijayakumar, S.;Schaal, S. (2001). Learning inverse kinematics, IEEE International Conference on Intelligent Robots and Systems (IROS 2001), Piscataway, NJ: IEEE
[Keywords: inverse kinematics, humanoid robotics, high dimensional, resolved motion rate control, local learning, null space optimization]
  Details  PDF  BibTeX

Ijspeert, A.;Nakanishi, J.;Schaal, S. (2001). Trajectory formation for imitation with nonlinear dynamical systems, IEEE International Conference on Intelligent Robots and Systems (IROS 2001), pp.752-757
[Keywords: movement primitives behaviors dynamic systems computational motor control attractor landscapes]
  Details  PDF  BibTeX

Kotosaka, S.;Schaal, S. (2001). Synchronized robot drumming by neural oscillator, Journal of the Robotics Society of Japan, 19, 1, pp.116-123
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, humanoid robotics, drumming, synchronization, Best Annual Paper Award of the Japanese Robotics Society]
  Details  BibTeX

Schaal, S.;Sternad, D. (2001). Origins and violations of the 2/3 power law in rhythmic 3D movements, Experimental Brain Research, 136, pp.60-72
[Keywords: computational motor control, trajectory planning, power law, movement segmentation, motor primitives, rhythmic movement]
  Details  PDF  BibTeX

Schaal, S.;Vijayakumar, S.;D'Souza, A.;Ijspeert, A.;Nakanishi, J. (2001). Real-time statistical learning for robotics and human augmentation, in: Jarvis, R. A.;Zelinsky, A. (eds.), International Symposium on Robotics Research
[Keywords: humanoid robotics, statistical learning, movement primitives, real-time learning]
  Details  PDF  BibTeX

Shibata, T.;Schaal, S. (2001). Biomimetic gaze stabilization based on feedback-error learning with nonparametric regression networks, Neural Networks, 14, 2, pp.201-216
[Keywords: oculomotor control, cerebellum, VOR, OKR, learning, locally weighted learning, feedback error learning, Best Annual Paper Award of the Japanese Neural Networks Society]
  Details  PDF  BibTeX

Shibata, T.;Schaal, S. (2001). Fast learning of biomimetic oculomotor control with nonparametric regression networks (in Japanese), Journal of the Robotics Society of Japan, 19, 4, pp.468-479
  Details  BibTeX

Shibata, T.;Schaal, S. (2001). Biomimetic smooth pursuit based on fast learning of the target dynamics, IEEE International Conference on Intelligent Robots and Systems (IROS 2001)
[Keywords: oculomotor control, cerebellum, smooth pursuit learning, locally weighted learning, tracking, target dynamics]
  Details  PDF  BibTeX

Shibata, T.;Vijayakumar, S.;Conradt, J.;Schaal, S. (2001). Biomimetic oculomotor control, Adaptive Behavior, 9, 3/4, pp.189-207
[Keywords: oculomotor control, cerebellum, smooth pursuit learning, locally weighted learning, tracking, target dynamics, visual attention, humanoid robotics]
  Details  PDF  BibTeX

Vijayakumar, S.;Conradt, J.;Shibata, T.;Schaal, S. (2001). Overt visual attention for a humanoid robot, IEEE International Conference on Intelligent Robots and Systems (IROS 2001)
[Keywords: oculomotor control, visual attention, dynamic fields, saccades]
  Details  PDF  BibTeX

2000

Conradt, J.;Tevatia, G.;Vijayakumar, S.;Schaal, S. (2000). On-line learning for humanoid robot systems, Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), 1, pp.191-198
[Keywords: humanoid robotics, on-line learning, nonparametric regression, supersmoothing, incremental]
  Details  PDF  BibTeX

Kotosaka, S.;Schaal, S. (2000). Synchronized robot drumming by neural oscillator, The International Symposium on Adaptive Motion of Animals and Machines
[Keywords: trajectory formation, learning, nonlinear dynamics, motor skill acquisition, pattern generators, drumming]
  Details  PDF  BibTeX

Kotosaka, S.;Shibata, T.;Schaal, S. (2000). Humanoid Robot DB, Proceedings of the International Conference on Machine Automation (ICMA2000), pp.21-26
[Keywords: humanoid robotics, computational motor control]
  Details  BibTeX

Nakanishi, J.;Fukuda, T.;Koditschek, D. E. (2000). A brachiating robot controller, IEEE Transactions on Robotics and Automation, 16, 2, pp.109-123
[Keywords: dynamic systems, nonlinear robot control, brachiation, dynamically dexterous robotics, limit cycles, locomotion, swing map, symmetry, target dynamics, task encoding, underactuated system.]
  Details  PDF  BibTeX

Schaal, S.;Atkeson, C. G.;Vijayakumar, S. (2000). Real-time robot learning with locally weighted statistical learning, International Conference on Robotics and Automation (ICRA2000)
[Keywords: real-time robot learning, statistical learning, humanoid robotics, finalist for Overall Best Paper Award]
  Details  PDF  BibTeX

Schaal, S.;Kotosaka, S.;Sternad, D. (2000). Nonlinear dynamical systems as movement primitives, Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots, CD-Proceedings
[Keywords: trajectory formation, learning, nonlinear dynamics, motor skill acquisition, pattern generators]
  Details  PDF  BibTeX

Schaal, S.;Sternad, D.;Dean, W.;Kotoska, S.;Osu, R.;Kawato, M. (2000). Reciprocal excitation between biological and robotic research, Sensor Fusion and Decentralized Control in Robotic Systems III, Proceedings of SPIE, 4196, pp.30-40
[Keywords: humanoid robotics, computational motor control, neuroscience, dynamic systems approach, pattern generators]
  Details  PDF  BibTeX

Shibata, T.;Schaal, S. (2000). Biomimetic gaze stabilization, in: Demiris, J.;Birk, A. (eds.), Robot learning: an Interdisciplinary approach, pp.31-52, World Scientific
[Keywords: oculomotor control, cerebellum, VOR, OKR, learning, locally weighted learning, feedback error learning]
  Details  PDF  BibTeX

Shibata, T.;Schaal, S. (2000). Fast learning of biomimetic oculomotor control with nonparametric regression networks, International Conference on Robotics and Automation (ICRA2000), pp.3847-3854
[Keywords: oculomotor control, cerebellum, VOR, OKR, learning, locally weighted learning, feedback error learning]
  Details  PDF  BibTeX

Sternad, D.;Dean, W. J.;Schaal, S. (2000). Interaction of rhythmic and discrete pattern generators in single joint movements, Human Movement Science, 19, 4, pp.627-665
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, movement sequencing, discrete, rhythmic, superposition, phase resetting]
  Details  PDF  BibTeX

Sternad, D.;Duarte, M.;Katsumata, H.;Schaal, S. (2000). Dynamics of a bouncing ball in human performance, Physical Review E, 63, 011902, pp.1-8
[Keywords: dynamic systems approach, computational motor control, task dynamics, perception-action coupling, movement primitives, special press comment]
  Details  PDF  BibTeX

Tevatia, G.;Schaal, S. (2000). Inverse kinematics for humanoid robots, International Conference on Robotics and Automation (ICRA2000), pp.294-299
[Keywords: inverse kinematics humanoid robotics high dimensional resolved motion rate control efficient extended Jacobian]
  Details  PDF  BibTeX

Vijayakumar, S.;Schaal, S. (2000). Locally weighted projection regression: An O(n) algorithm for incremental real time learning in high dimensional spaces, Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), 1, pp.288-293
[Keywords: nonparametric regression, linear models, principle components, dimensionality reduction, supersmoothing, highdimensional regression]
  Details  PDF  BibTeX

Vijayakumar, S.;Schaal, S. (2000). Fast and efficient incremental learning for high-dimensional movement systems, International Conference on Robotics and Automation (ICRA2000)
[Keywords: robot learning, humanoids, high-dimensional, locally weighted regression, dimensionality reduction, partial least squares]
  Details  PDF  BibTeX

Vijayakumar, S.;Schaal, S. (2000). Real Time Learning in Humanoids: A challenge for scalability of Online Algorithms, Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots, CD-Proceedings
[Keywords: humanoid robotics, learning, high-dimensional, internal models, locally weighted regression]
  Details  PDF  BibTeX

1999

Schaal, S. (1999). Nonparametric regression for learning nonlinear transformations, in: Ritter, H.;Cruse, H.;Dean, J. (eds.), Prerational Intelligence in Strategies, High-Level Processes and Collective Behavior, 2, pp.595-621, Kluwer Academic Publishers
[Keywords: nonparametric regression, learning, review, statistical learning, lazy learning]
  Details  PDF  BibTeX

Sternad, D.;Schaal, D. (1999). Segmentation of endpoint trajectories does not imply segmented control, Experimental Brain Research, 124, 1, pp.118-136
[Keywords: trajectory formation, segementation, movement primitives, motor control, piecewise planarity]
  Details  PDF  BibTeX

1998

Schaal, S.;Atkeson, C. G. (1998). Constructive incremental learning from only local information, Neural Computation, 10, 8, pp.2047-2084
[Keywords: statistical learning, nonparametric regression, distance metric, incremental learning, on-line learning, supersmoothing]
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Schaal, S.;Sternad, D. (1998). Programmable pattern generators, 3rd International Conference on Computational Intelligence in Neuroscience, pp.48-51
[Keywords: movement primitives behaviors dynamic systems computational motor control attractor landscapes]
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Schaal, S.;Vijayakumar, S.;Atkeson, C. G. (1998). Local dimensionality reduction, in: Jordan, M. I.;Kearns, M. J.;Solla, S. A. (eds.), Advances in Neural Information Processing Systems 10, pp.633-639, MIT Press
[Keywords: dimensionality reduction, partial least squares, pca, regression, high dimensions, local]
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Shibata, T.;Schaal, S. (1998). Biomimetic gaze stabilization based on a study of the vestibulocerebellum, European Workshop on Learning Robots, pp.84-94
[Keywords: oculomotor control, cerebellum, VOR, OKR, learning, locally weighted learning, feedback error learning]
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Shibata, T.;Schaal, S. (1998). Towards biomimetic vision, International Conference on Intelligence Robots and Systems, pp.872-879
[Keywords: oculomotor control, cerebellum, VOR, OKR, learning, locally weighted learning, feedback error learning]
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Vijayakumar, S.;Schaal, S. (1998). Local adaptive subspace regression, Neural Processing Letters, 7, 3, pp.139-149
[Keywords: nonparametric regression, linear models, principle components, dimensionality reduction, supersmoothing]
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Vijayakumar, S.;Schaal, S. (1998). Robust local learning in high dimensional spaces, 5th Joint Symposium on Neural Computation, pp.186-193, Institute for Neural Computation, University of California, San Diego
[Keywords: nonparametric regression, linear models, principle components, dimensionality reduction, supersmoothing]
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1997

Atkeson, C. G.;Moore, A. W.;Schaal, S. (1997). Locally weighted learning, Artificial Intelligence Review, 11, 1-5, pp.11-73
[Keywords: statistical learning, nonparametric regression, distance metric, lazy learning]
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Atkeson, C. G.;Moore, A. W.;Schaal, S. (1997). Locally weighted learning for control, Artificial Intelligence Review, 11, 1-5, pp.75-113
[Keywords: statistical learning, nonparametric regression, distance metric, lazy learning, learning control, reinforcement learning]
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Atkeson, C. G.;Schaal, S. (1997). Robot learning from demonstration, in: Fisher Jr., D. H. (eds.), Machine Learning: Proceedings of the Fourteenth International Conference (ICML '97), pp.12-20, Morgan Kaufmann
[Keywords: imitation learning, reinforcement learning, dynamic programming, motor skills]
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Atkeson, C. G.;Schaal, S. (1997). Learning tasks from a single demonstration, IEEE International Conference on Robotics and Automation (ICRA97), 2, pp.1706-1712, Piscataway, NJ: IEEE
[Keywords: learning from demonstration, imitation, reinforcement learning]
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Schaal, S. (1997). Learning from demonstration, in: Mozer, M. C.;Jordan, M.;Petsche, T. (eds.), Advances in Neural Information Processing Systems 9, pp.1040-1046, MIT Press
[Keywords: imitation learning, movement primitives, reinforcement learning, shaping, priming]
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Vijayakumar, S.;Schaal, S. (1997). Local dimensionality reduction for locally weighted learning, International Conference on Computational Intelligence in Robotics and Automation, pp.220-225
[Keywords: statistical learning, nonparametric regression, distance metric, dimensionality reduction, high dimensional learning]
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1996

Miyamoto, H.;Gandolfo, F.;Gomi, H.;Schaal, S.;Koike, Y.;Rieka, O.;Nakano, E.;Wada, Y.;Kawato, M. (1996). A kendama learning robot based on a dynamic optimiation principle, Preceedings of the International Conference on Neural Information Processing, pp.938-942
[Keywords: teaching by showing, task-level learning, dynamic optimization, imitation, humanoid robots]
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Miyamoto, H.;Schaal, S.;Gandolfo, F.;Koike, Y.;Osu, R.;Nakano, E.;Wada, Y.;Kawato, M. (1996). A Kendama learning robot based on bi-directional theory, Neural Networks, 9, 8, pp.1281-1302
[Keywords: teaching by showing, task-level learning, dynamic optimization, imitation, humanoid robots]
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Schaal, S.;Atkeson, C. G. (1996). From isolation to cooperation: An alternative of a system of experts, in: Touretzky, D. S.;Mozer, M. C.;Hasselmo, M. E. (eds.), Advances in Neural Information Processing Systems 8, pp.605-611, MIT Press
[Keywords: statistical learning, nonparametric regression, distance metric, supersmoothing, mixture model, incremental learning]
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Schaal, S.;Sternad, D.;Atkeson, C. G. (1996). One-handed juggling: A dynamical approach to a rhythmic movement task, Journal of Motor Behavior, 28, 2, pp.165-183
[Keywords: biological motor control, trajectory formation, nonlinear dynamics, task dynamics, movement primitives]
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1995

Atkeson, C. G.;Schaal, S. (1995). Memory-based neural networks for robot learning, Neurocomputing, 9, pp.1-27
[Keywords: memory-based learning, juggling, locally weighted regression, nearest neighbor, internal models]
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Miyamoto, H.;Gandolfo, F.;Gomi, H.;Schaal, S.;Koike, Y.;Osu, R.;Nakano, E.;Kawato, M. (1995). A kendama learning robot based on a dynamic optimization theory, Preceedings of the 4th IEEE International Workshop on Robot and Human Communication (RO-MAN'95), pp.327-332
[Keywords: learning from demonstration, internal models, via points, robot learning, imitation, biomimetic robotics, reinforcement learning]
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Schaal, S.;Atkeson, C. G. (1995). Robot learning by nonparametric regression, in: Graefe, V. (eds.), Intelligent Robots and Systems, pp.137-153, Elsevier
[Keywords: nonparametric regression, memory-based learning, statistical, robot, juggling]
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Sternad, D.;Schaal, S.;Atkeson, C. G. (1995). Batting a ball: Dynamics of a rhythmic skill, in: Bardy, B.;Bostma, R.;Guiard, Y. (eds.), Studies in Perception and Action, pp.119-122, Erlbaum
[Keywords: motor control, nonlinear dynamics, task dynamics, ball bouncing, open-loop stability]
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1994

Schaal, S. (1994). Nonparametric regression for learning, Conference on Adaptive Behavior and Learning, Center of Interdisciplinary Research (ZIF) Bielefeld Germany, also technical report TR-H-098 of the ATR Human Information Processing Research Laboratories
[Keywords: nonparametric regression, review, statistical learning]
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Schaal, S.;Atkeson, C. G. (1994). Robot juggling: An implementation of memory-based learning, Control Systems Magazine, 14, 1, pp.57-71
[Keywords: nonparametric regression, memory-based learning, statistical, robot, juggling]
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Schaal, S.;Atkeson, C. G. (1994). Assessing the quality of learned local models, in: Cowan, J.;Tesauro, G.;Alspector, J. (eds.), Advances in Neural Information Processing Systems 6, pp.160-167, Morgan Kaufmann
[Keywords: nonparametric regression, confidence measures, exploration, linear models]
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Schaal, S.;Atkeson, C. G. (1994). Robot learning by nonparametric regression, Proceedings of the International Conference on Intelligent Robots and Systems (IROS'94), pp.478-485, Munich Germany
[Keywords: nonparametric regression, memory-based learning, statistical, robot, juggling]
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Schaal, S.;Atkeson, C. G. (1994). Memory-based robot learning, IEEE International Conference on Robotics and Automation, 3, pp.2928-2933
[Keywords: nonparametric regression, memory-based learning, statistical, robot, juggling]
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1993

Atkeson, C. G.;Schaal, S. (1993). Roles for memory-based learning in robotics, Proceedings of the Sixth International Symposium on Robotics Research, pp.503-521
[Keywords: statistical learning, robotics, nonparametric regression]
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Schaal, S.;Atkeson, C. G. (1993). Open loop stable control strategies for robot juggling, IEEE International Conference on Robotics and Automation, 3, pp.913-918, Piscataway, NJ: IEEE
[Keywords: trajectory formation nonlinear nynamics motor skill acquisition]
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Schaal, S.;Ehrlenspiel, K. (1993). Design concurrent calculation: A CAD- and data-integrated approach, Journal of Engineering Design, 4, pp.71-85
[Keywords: computer-aided desing, knowledge-based reasoning, SQL-databases, artificial intelligence]
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Schaal, S.;Sternad, D. (1993). Learning passive motor control strategies with genetic algorithms, in: Nadel, L.;Stein, D. (eds.), 1992 Lectures in complex systems, pp.913-918, Addison-Wesley
[Keywords: trajectory formation, learning, nonlinear nynamics, motor skill acquisition]
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Sternad, D.;Schaal, S. (1993). A genetic algorithm for evolution from an ecological perspective, in: Nadel, L.;Stein, D. (eds.), 1992 Lectures in Complex Systems, pp.223-231, Addison-Wesley
[Keywords: artificial life, complex systems]
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1992

Ehrlenspiel, K.;Schaal, S. (1992). Ins CAD integrierte Kostenkalkulation (CAD-Integrated Cost Calculation), Konstruktion 44, 12, pp.407-414
[Keywords: computer aided design, SQL, knowledge-based systems, design-concurrent calculation]
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Schaal, S. (1992). Integrierte Wissensverarbeitung mit CAD am Beispiel der konstruktionsbegleitenden Kalkulation (Ways to smarter CAD Systems), Hanser 1992. (Konstruktionstechnik München Band 8). Zugl. München: TU Diss.
[Keywords: computer-aided desing, knowledge-based reasoning, SQL-databases, artificial intelligence]
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Schaal, S. (1992). Informationssysteme mit CAD (Information systems within CAD), in: Milberg, J. (eds.), CAD/CAM Grundlagen, pp.199-204, Springer
[Keywords: computer-aided desing, knowledge-based reasoning, SQL-databases, artificial intelligence]
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Schaal, S.;Atkeson, C. G.;Botros, S. (1992). What should be learned?, Proceedings of Seventh Yale Workshop on Adaptive and Learning Systems, pp.199-204
[Keywords: trajectory formation nonlinear nynamics motor skill acquisition]
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1991

Ehrlenspiel, K.;Schaal, S. (1991). Ways to smarter CAD-systems, in: Hubka (eds.), Proceedings of ICED'91Heurista, pp.10-16, Edition
[Keywords: computer aided design, SQL, knowledge-based systems, design-concurrent calculation]
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Anonymous ().
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