Autonomous Motion Conference Paper Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies Oh, Y., Toussaint, M., Mainprice, J. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), :5305-5311, IEEE, Piscataway, NJ, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), 2021 (Published) DOI BibTeX

Conference Paper Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning Orthey, A., Toussaint, M. In 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), :7851-7857, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2021), 2021 (Published) DOI BibTeX

Conference Paper A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty Ha, J., Driess, D., Toussaint, M. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), :6745-6751, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), 2020 (Published) DOI BibTeX

Autonomous Motion Conference Paper An Interior Point Method Solving Motion Planning Problems with Narrow Passages Mainprice, J., Ratliff, N., Toussaint, M., Schaal, S. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), :547-552, IEEE, Piscataway, NJ, 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2020 (Published) DOI BibTeX

Conference Paper Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning Driess, D., Oguz, O. S., Ha, J., Toussaint, M. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020) , :9563-9569, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), 2020 (Published) DOI BibTeX

Conference Paper Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image Driess, D., Ha, J., Toussaint, M. In Robotics: Science and System XVI, RSS Foundation, Corvalis, OR, 2020 () DOI BibTeX

Article Describing Physics For Physical Reasoning: Force-Based Sequential Manipulation Planning Toussaint, M., Ha, J., Driess, D. IEEE Robotics and Automation Letters, 5(4):6209-6216, IEEE, New York, NY, 2020 () DOI BibTeX

Article Motion Planning Explorer: Visualizing Local Minima Using a Local-Minima Tree Orthey, A., Frész, B., Toussaint, M. IEEE Robotics and Automation Letters, 5(2):346-353, IEEE, New York, NY, 2020 () DOI BibTeX

Autonomous Motion Conference Paper Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks Kratzer, P., Toussaint, M., Mainprice, J. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), :1792-1798, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), 2020 (Published) DOI BibTeX

Proceedings Robotics: Science and System XVI RSS Foundation, Corvalis, OR, 2020 () BibTeX