Publications

Autonomous Motion Article A Value-Driven Eldercare Robot: Virtual and Physical Instantiations of a Case-Supported Principle-Based Behavior Paradigm Anderson, M., Anderson, S., Berenz, V. Proceedings of the IEEE, 1,15, October 2018 DOI URL BibTeX

Autonomous Motion Article ClusterNet: Instance Segmentation in RGB-D Images Shao, L., Tian, Y., Bohg, J. arXiv, September 2018, Submitted to ICRA'19 (Submitted) URL BibTeX

Autonomous Motion Article Playful: Reactive Programming for Orchestrating Robotic Behavior Berenz, V., Schaal, S. IEEE Robotics Automation Magazine, 25(3):49-60, September 2018 (In press) playful website playful_IEEE_RAM DOI URL 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

Autonomous Motion Article Real-time Perception meets Reactive Motion Generation Kappler, D., Meier, F., Issac, J., Mainprice, J., Garcia Cifuentes, C., Wüthrich, M., Berenz, V., Schaal, S., Ratliff, N., Bohg, J. IEEE Robotics and Automation Letters, 3(3):1864-1871, July 2018 (Published) arxiv video video DOI URL BibTeX

Autonomous Motion Conference Paper Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks Sutanto, G., Su, Z., Schaal, S., Meier, F. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, IEEE, International Conference on Robotics and Automation, May 2018 (Published) pdf video BibTeX

Autonomous Motion Conference Paper Online Learning of a Memory for Learning Rates Meier, F., Kappler, D., Schaal, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, IEEE, International Conference on Robotics and Automation, May 2018, accepted pdf video code BibTeX

Autonomous Motion Intelligent Control Systems Learning and Dynamical Systems Article Distributed Event-Based State Estimation for Networked Systems: An LMI Approach Muehlebach, M., Trimpe, S. IEEE Transactions on Automatic Control, 63(1):269-276, January 2018 (Published) arXiv (extended version) DOI BibTeX

Movement Generation and Control Autonomous Motion Conference Paper An MPC Walking Framework With External Contact Forces Mason, S., Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), 1785-1790, IEEE, Brisbane, Australia, May 2018 DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Task-Specific Dynamics to Improve Whole-Body Control Gams, A., Mason, S., Ude, A., Schaal, S., Righetti, L. In Hua, IEEE, Beijing, China, November 2018 URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper On Time Optimization of Centroidal Momentum Dynamics Ponton, B., Herzog, A., Del Prete, A., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), 5776-5782, IEEE, Brisbane, Australia, 2018 DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Unsupervised Contact Learning for Humanoid Estimation and Control Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), 411-417, IEEE, Brisbane, Australia, 2018 DOI URL BibTeX

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

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

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

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

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

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