Stefan Schaal

发表

Trajectory generation for multi-contact momentum control

Alexander Herzog, Nicholas Rotella, Stefan Schaal, 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

Interactive Perception: Leveraging Action in Perception and Perception in Action

Oliver Brock, Gaurav S. Sukhatme, Danica Kragic, 2016, IEEE Transactions on Robotics.

The Playful Software Platform: Reactive Programming for Orchestrating Robotic Behavior

Stefan Schaal, Vincent Berenz, 2018, IEEE Robotics & Automation Magazine.

Simulator Predictive Control: Using Learned Task Representations and MPC for Zero-Shot Generalization and Sequencing

Gaurav S. Sukhatme, Stefan Schaal, Karol Hausman, 2018 .

Learning composite adaptive control for a class of nonlinear systems

Jun Nakanishi, Stefan Schaal, Jay A. Farrell, 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

Learning from Demonstration

Stefan Schaal, S. Schaal, 1996, NIPS.

A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics

Jun Nakanishi, Stefan Schaal, Jan Peters, 2006, Robotics: Science and Systems.

A new perspective and extension of the Gaussian Filter

Stefan Schaal, Manuel Wüthrich, Sebastian Trimpe, 2015, Int. J. Robotics Res..

Reinforcement learning of motor skills in high dimensions: A path integral approach

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, 2010 IEEE International Conference on Robotics and Automation.

Path integral guided policy search

Sergey Levine, Stefan Schaal, Yevgen Chebotar, 2016, 2017 IEEE International Conference on Robotics and Automation (ICRA).

Reinforcement Learning for Parameterized Motor Primitives

Stefan Schaal, Jan Peters, Jan Peters, 2006, The 2006 IEEE International Joint Conference on Neural Network Proceedings.

Real Time Learning in Humanoids: A challenge for scalability of Online Algorithms

Stefan Schaal, Sethu Vijayakumar, S. Vijayakumar, 2000 .

Nonlinear dynamical systems for imitation with humanoid robots

Jun Nakanishi, Stefan Schaal, Auke Jan Ijspeert, 2001 .

Unsupervised Contact Learning for Humanoid Estimation and Control

Nicholas Rotella, Stefan Schaal, Ludovic Righetti, 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Understanding the geometry of workspace obstacles in Motion Optimization

Marc Toussaint, Stefan Schaal, Nathan D. Ratliff, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

On Time Optimization of Centroidal Momentum Dynamics

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2017, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Stepping stabilization using a combination of DCM tracking and step adjustment

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2016, 2016 4th International Conference on Robotics and Mechatronics (ICROM).

Learning force control policies for compliant manipulation

Stefan Schaal, Ludovic Righetti, Mrinal Kalakrishnan, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

A new data source for inverse dynamics learning

Stefan Schaal, Franziska Meier, Daniel Kappler, 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Understanding haptics by evolving mechatronic systems.

Stefan Schaal, George A Tsianos, Gerald E Loeb, 2011, Progress in brain research.

Robot learning by nonparametric regression

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

Biomimetic gaze stabilization based on feedback-error-learning with nonparametric regression networks

Stefan Schaal, Tomohiro Shibata, S. Schaal, 2001, Neural Networks.

Local Dimensionality Reduction for Non-Parametric Regression

Stefan Schaal, Heiko Hoffmann, Sethu Vijayakumar, 2009, Neural Processing Letters.

Locally Weighted Regression for Control

Stefan Schaal, Franziska Meier, Sethu Vijayakumar, 2017, Encyclopedia of Machine Learning and Data Mining.

Dual execution of optimized contact interaction trajectories

Peter Englert, Marc Toussaint, Stefan Schaal, 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Path integral reinforcement learning

Stefan Schaal, Jonas Buchli, Evangelos A. Theodorou, 2011 .

Local Dimensionality Reduction

Stefan Schaal, Christopher G. Atkeson, Sethu Vijayakumar, 1997, NIPS.

A Generalized Path Integral Control Approach to Reinforcement Learning

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, J. Mach. Learn. Res..

Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields

Stefan Schaal, Heiko Hoffmann, Peter Pastor, 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

Learning rhythmic movements by demonstration using nonlinear oscillators

Jun Nakanishi, Stefan Schaal, Auke Jan Ijspeert, 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

Self-supervised regrasping using spatio-temporal tactile features and reinforcement learning

Martin V. Butz, Stefan Schaal, Jeannette Bohg, 2016, IROS 2016.

Experiments with a hierarchical inverse dynamics controller on a torque-controlled humanoid

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2013 .

Time-Contrastive Networks: Self-Supervised Learning from Video

Sergey Levine, Stefan Schaal, Yevgen Chebotar, 2017, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Learning to Switch Between Sensorimotor Primitives Using Multimodal Haptic Signals

Gaurav S. Sukhatme, Oliver Kroemer, Stefan Schaal, 2016, SAB.

Generalizing Regrasping with Supervised Policy Learning

Gaurav S. Sukhatme, Oliver Kroemer, Stefan Schaal, 2016, ISER.

Inverse Dynamics Control with Floating Base and Constraints

Jun Nakanishi, Stefan Schaal, Michael N. Mistry, 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

Model-based policy search for automatic tuning of multivariate PID controllers

Stefan Schaal, Duy Nguyen-Tuong, Sebastian Trimpe, 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

Robust Gaussian filtering using a pseudo measurement

Stefan Schaal, Franziska Meier, Jeannette Bohg, 2015, 2016 American Control Conference (ACC).

Inverse dynamics control of floating-base robots with external constraints: A unified view

Stefan Schaal, Ludovic Righetti, Michael N. Mistry, 2011, 2011 IEEE International Conference on Robotics and Automation.

A model of smooth pursuit in primates based on learning the target dynamics

Stefan Schaal, Mitsuo Kawato, Tomohiro Shibata, 2005, Neural Networks.

Approximate nearest neighbor regression in very high dimensions

Stefan Schaal, Sethu Vijayakumar, S. Vijayakumar, 2006 .

Learning coupling terms for obstacle avoidance

Stefan Schaal, Franziska Meier, Auke Jan Ijspeert, 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

Probabilistic object tracking using a range camera

Stefan Schaal, Jeannette Bohg, Manuel Wüthrich, 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

COMPLIANT ZMP CONTROL FOR QUADRUPEDAL WALKING OVER ROUGH TERRAIN

Stefan Schaal, Jonas Buchli, Michael Mistry, 2010 .

Data-Driven Online Decision Making for Autonomous Manipulation

Stefan Schaal, Manuel Wüthrich, Daniel Kappler, 2015, Robotics: Science and Systems.

Memory-based neural networks for robot learning

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1995, Neurocomputing.

Robot Programming by Demonstration

Stefan Schaal, Aude Billard, Rüdiger Dillmann, 2009, Springer Handbook of Robotics.

Model-Free Reinforcement Learning of Impedance Control in Stochastic Environments

Stefan Schaal, Evangelos Theodorou, Michael N. Mistry, 2012, IEEE Transactions on Autonomous Mental Development.

Nonparametric Regression for Learning Nonlinear Transformations

Stefan Schaal, S. Schaal, 2000 .

Integrierte Wissensverarbeitung mit CAD am Beispiel der konstruktionsbegleitenden Kalkulation

Stefan Schaal, S. Schaal, 1992 .

Scaling Reinforcement Learning Paradigms for Motor Control

Stefan Schaal, Sethu Vijayakumar, Jan Peters, 2003 .

Learning tasks from a single demonstration

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1997, Proceedings of International Conference on Robotics and Automation.

A locally weighted learning composite adaptive controller with structure adaptation

Jun Nakanishi, Stefan Schaal, Jay A. Farrell, 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

Learning locomotion over rough terrain using terrain templates

Stefan Schaal, Jonas Buchli, Mrinal Kalakrishnan, 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Open loop stable control strategies for robot juggling

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

Learning from demonstration and adaptation of biped locomotion

Jun Morimoto, Gen Endo, Jun Nakanishi, 2004, Robotics Auton. Syst..

Recurrent neural networks from learning attractor dynamics

Stefan Schaal, Jan Peters, Jan Peters, 2003, NIPS 2003.

Towards Machine Learning of Motor Skills

Bernhard Schölkopf, Stefan Schaal, Jan Peters, 2007, AMS.

Learning task error models for manipulation

Gaurav S. Sukhatme, Stefan Schaal, Ludovic Righetti, 2013, 2013 IEEE International Conference on Robotics and Automation.

Feedback error learning and nonlinear adaptive control

Jun Nakanishi, Stefan Schaal, S. Schaal, 2004, Neural Networks.

DOOMED: Direct Online Optimization of Modeling Errors in Dynamics

Stefan Schaal, Franziska Meier, Daniel Kappler, 2016, Big Data.

Dynamics systems vs. optimal control--a unifying view.

Stefan Schaal, Auke Ijspeert, Peyman Mohajerian, 2007, Progress in brain research.

BiGS: BioTac Grasp Stability Dataset

Gaurav S. Sukhatme, Oliver Kroemer, Stefan Schaal, 2016 .

An empirical exploration of phase resetting for robust biped locomotion with dynamical movement primitives

Jun Morimoto, Gen Endo, Jun Nakanishi, 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

From Isolation to Cooperation: An Alternative View of a System of Experts

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1995, NIPS.

Robotics: Science and Systems II

Wolfram Burgard, Stefan Schaal, Dieter Fox, 2007 .

Receptive Field Weighted Regression

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1997 .

Learning Operational Space Control

Stefan Schaal, Jan Peters, Jan Peters, 2006, Robotics: Science and Systems.

State estimation for a humanoid robot

Nicholas Rotella, Stefan Schaal, Ludovic Righetti, 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Robot gaze stabilization based on mimesis of oculomotor dynamics and vestibulocerebellar learning

Stefan Schaal, Tomohiro Shibata, S. Schaal, 1998, Adv. Robotics.

Local Adaptive Subspace Regression

Stefan Schaal, Sethu Vijayakumar, S. Vijayakumar, 1998, Neural Processing Letters.

Encyclopedia of Machine Learning

Stefan Schaal, Sethu Vijayakumar, Jo-Anne Ting, 2010 .

Fast, robust quadruped locomotion over challenging terrain

Stefan Schaal, Michael N. Mistry, Jonas Buchli, 2010, 2010 IEEE International Conference on Robotics and Automation.

Experimental Evaluation of Task Space Position/Orientation Control Towards Compliant Control for Humanoid Robots

Jun Nakanishi, Stefan Schaal, Jan Peters, 2007 .

Compliant quadruped locomotion over rough terrain

Stefan Schaal, Michael N. Mistry, Jonas Buchli, 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

The Coordinate Particle Filter - a novel Particle Filter for high dimensional systems

Stefan Schaal, Jeannette Bohg, Manuel Wüthrich, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Learning, planning, and control for quadruped locomotion over challenging terrain

Stefan Schaal, Michael N. Mistry, Jonas Buchli, 2011, Int. J. Robotics Res..

2008 Special Issue: Reinforcement learning of motor skills with policy gradients

Stefan Schaal, Jan Peters, Jan Peters, 2008 .

Locally Weighted Learning for Control

Andrew W. Moore, Stefan Schaal, Christopher G. Atkeson, 1997, Artificial Intelligence Review.

On the design of LQR kernels for efficient controller learning

Stefan Schaal, Sebastian Trimpe, Philipp Hennig, 2017, 2017 IEEE 56th Annual Conference on Decision and Control (CDC).

Quadratic programming for inverse dynamics with optimal distribution of contact forces

Stefan Schaal, Ludovic Righetti, S. Schaal, 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

Learning and generalization of motor skills by learning from demonstration

Stefan Schaal, Tamim Asfour, Heiko Hoffmann, 2009, 2009 IEEE International Conference on Robotics and Automation.

Variable Impedance Control - A Reinforcement Learning Approach

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, Robotics: Science and Systems.

Skill learning and task outcome prediction for manipulation

Stefan Schaal, Evangelos Theodorou, Sachin Chitta, 2011, 2011 IEEE International Conference on Robotics and Automation.

Learning Attractor Landscapes for Learning Motor Primitives

Jun Nakanishi, Stefan Schaal, Auke Jan Ijspeert, 2002, NIPS.

Online Learning of a Memory for Learning Rates

Stefan Schaal, Franziska Meier, Daniel Kappler, 2017, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Force estimation and slip detection/classification for grip control using a biomimetic tactile sensor

Gaurav S. Sukhatme, Stefan Schaal, Yevgen Chebotar, 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

On the relevance of grasp metrics for predicting grasp success

Stefan Schaal, Jeannette Bohg, Antonio Morales, 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Optimal distribution of contact forces with inverse-dynamics control

Stefan Schaal, Ludovic Righetti, Michael N. Mistry, 2013, Int. J. Robotics Res..

Optimizing for what matters: The top grasp hypothesis

Stefan Schaal, Jeannette Bohg, Daniel Kappler, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

From dynamic movement primitives to associative skill memories

Stefan Schaal, Franziska Meier, Evangelos Theodorou, 2013, Robotics Auton. Syst..

Robot arm pose estimation through pixel-wise part classification

Alexander Herzog, Stefan Schaal, Jeannette Bohg, 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

Towards compliant humanoids-an experimental assessment of suitable task space position/orientation controllers

Jun Nakanishi, Stefan Schaal, Jan Peters, 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Automatic LQR Tuning Based on Gaussian Process Optimization: Early Experimental Results

Stefan Schaal, Jeannette Bohg, Sebastian Trimpe, 2015 .

Memory-based robot learning

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

http://www.jstor.org/about/terms.html. JSTOR's Terms and Conditions of Use provides, in part, that unless you have obtained

Stefan Schaal, Aude Billard, Auke Ijspeert, 2007 .

Slip Classification Using Tangential and Torsional Skin Distortions on a Biomimetic Tactile Sensor

Gaurav S. Sukhatme, Stefan Schaal, Yevgen Chebotar, 2015 .

IntentionGAN: MultiModal Imitation Learningfrom Unstructured Demonstrations

Gaurav S. Sukhatme, Stefan Schaal, Yevgen Chebotar, 2017 .

Policy gradient methods for machine learning

Stefan Schaal, Jan Peters, E Theodoru, 2007 .

Exemplar-based prediction of global object shape from local shape similarity

Stefan Schaal, Jeannette Bohg, Daniel Kappler, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Design Concurrent Calculation: A CAD- and Data-integrated Approach

Stefan Schaal, K. Ehrlenspiel, Stefan Schaal, 1993 .

Path integral control and bounded rationality

Stefan Schaal, Daniel A. Braun, Evangelos Theodorou, 2011, 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL).

Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning

Gaurav S. Sukhatme, Sergey Levine, Stefan Schaal, 2017, ICML.

Fast Learning of Biomimetic Oculomotor Control with Nonparametric Regression Networks

Stefan Schaal, Tomohiro Shibata, 2001 .

Surface tilt perception with a biomimetic tactile sensor

Stefan Schaal, Zhe Su, Gerald E. Loeb, 2016, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob).

Humanoid momentum estimation using sensed contact wrenches

Alexander Herzog, Nicholas Rotella, Stefan Schaal, 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

Full Dynamics LQR Control for Bipedal Walking

Stefan Schaal, Ludovic Righetti, Sean Mason, 2015 .

Incremental Local Gaussian Regression

Stefan Schaal, Franziska Meier, Philipp Hennig, 2014, NIPS.

Direct Loss Minimization Inverse Optimal Control

Marc Toussaint, Stefan Schaal, Jeannette Bohg, 2015, Robotics: Science and Systems.

Discovering optimal imitation strategies

Gordon Cheng, Stefan Schaal, Aude Billard, 2004, Robotics Auton. Syst..

An exoskeleton robot for human arm movement study

Stefan Schaal, Michael N. Mistry, Peyman Mohajerian, 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Learning variable impedance control

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2011, Int. J. Robotics Res..

A Unifying Framework for the Control of Robotic Systems

Jun Nakanishi, Stefan Schaal, Jan Peters, 2005 .

Robust learning of arm trajectories through human demonstration

Stefan Schaal, Aude Billard, S. Schaal, 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

Control, Planning, Learning, and Imitation with Dynamic Movement Primitives

Jun Nakanishi, Stefan Schaal, Auke Jan Ijspeert, 2003 .

Drifting Gaussian processes with varying neighborhood sizes for online model learning

Stefan Schaal, Franziska Meier, S. Schaal, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

A Kendama learning robot based on a dynamic optimization theory

Stefan Schaal, Rieko Osu, Hiroyuki Miyamoto, 1995, Proceedings 4th IEEE International Workshop on Robot and Human Communication.

Robot arm pose estimation by pixel-wise regression of joint angles

Stefan Schaal, Jeannette Bohg, Daniel Kappler, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Assessing the Quality of Learned Local Models

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1993, NIPS.

Template-based learning of grasp selection

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2012, 2012 IEEE International Conference on Robotics and Automation.

On-line Learning for Humanoid Robot Systems

Stefan Schaal, Sethu Vijayakumar, Jörg Conradt, 2000, ICML.

Robot Learning

Stefan Schaal, Daniel D. Lee, Jan Peters, 2017, Encyclopedia of Machine Learning and Data Mining.

Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks

Stefan Schaal, Franziska Meier, Zhe Su, 2017, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Automatic LQR tuning based on Gaussian process global optimization

Stefan Schaal, Jeannette Bohg, Sebastian Trimpe, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

A unifying framework for robot control with redundant DOFs

Jun Nakanishi, Stefan Schaal, Jan Peters, 2007, Auton. Robots.

Learning Control in Reobotics: Trajectory-Based Optimal Control Techniques

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 2010 .

A Connectionist Approach to Learn Association between Sentences and Behavioral Patterns of a Robot

Stefan Schaal, Aude Billard, Sethu Vijayakumar, 2004 .

Learning feedback terms for reactive planning and control

Stefan Schaal, Akshara Rai, Franziska Meier, 2016, 2017 IEEE International Conference on Robotics and Automation (ICRA).

A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation pdf

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2016, ArXiv.

Inertial sensor-based humanoid joint state estimation

Nicholas Rotella, Stefan Schaal, Ludovic Righetti, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Fast learning of biomimetic oculomotor control with nonparametric regression networks

Stefan Schaal, Tomohiro Shibata, S. Schaal, 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

Structured contact force optimization for kino-dynamic motion generation

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

A Robustness Analysis of Inverse Optimal Control of Bipedal Walking

Stefan Schaal, Ludovic Righetti, John R. Rebula, 2019, IEEE Robotics and Automation Letters.

Momentum Estimation, Planning and Control for Force-Centric Bipedal Locomotion

Alexander Herzog, Nicholas Rotella, Stefan Schaal, 2015 .

Combining learned and analytical models for predicting action effects from sensory data pdf

Stefan Schaal, Jeannette Bohg, Alina Kloss, 2017, Int. J. Robotics Res..

Operational Space Control: A Theoretical and Empirical Comparison

Jun Nakanishi, Stefan Schaal, Jan Peters, 2008, Int. J. Robotics Res..

Robot learning by nonparametric regression

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

PII: S0893-6080(96)00043-3

Yasuharu Koike, Stefan Schaal, Rieko Osu, 1997 .

Hierarchical reinforcement learning with movement primitives

Stefan Schaal, Freek Stulp, S. Schaal, 2011, 2011 11th IEEE-RAS International Conference on Humanoid Robots.

Virtual vs. real: Trading off simulations and physical experiments in reinforcement learning with Bayesian optimization

Andreas Krause, Stefan Schaal, Sebastian Trimpe, 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

Policy Learning for Motor Skills

Stefan Schaal, Jan Peters, Jan Peters, 2007, ICONIP.

Inverse kinematics with floating base and constraints for full body humanoid robot control

Jun Nakanishi, Gordon Cheng, Stefan Schaal, 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

Dynamic Movement Primitives ( DMPs ) encode a desired movement trajectory in terms of the attractor

Stefan Schaal, Franziska Meier, S. Schaal, 2016 .

Balancing and walking using full dynamics LQR control with contact constraints

Nicholas Rotella, Stefan Schaal, Ludovic Righetti, 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

Learning Control in Robotics

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 2010, IEEE Robotics & Automation Magazine.

Toward biomimetic oculomotor control

Stefan Schaal, Tomohiro Shibata, S. Schaal, 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

LWPR: A Scalable Method for Incremental Online Learning in High Dimensions

Stefan Schaal, Sethu Vijayakumar, Aaron D'Souza, 2005 .

A Unifying Methodology for Robot Control with Redundant DOFs

Jun Nakanishi, Stefan Schaal, Jan Peters, 2008 .

Momentum-based Balance Control for Torque-controlled Humanoids pdf

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2013, ArXiv.

Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance

Stefan Schaal, Heiko Hoffmann, Peter Pastor, 2009, 2009 IEEE International Conference on Robotics and Automation.

Special Issue on The Brain Mechanisms of Imitation Learning

Stefan Schaal, Aude Billard, S. Schaal, 2006, Neural Networks.

Inverse dynamics with optimal distribution of ground reaction forces for legged robots

Stefan Schaal, Ludovic Righetti, Jonas Buchli, 2010 .

Fast and efficient incremental learning for high-dimensional movement systems

Stefan Schaal, Sethu Vijayakumar, S. Vijayakumar, 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

Humanoid robot “DB”

Stefan Schaal, Shinya Kotosaka, Tomohiro Shibata, 2001 .

Robot Program 59. Robot Programming by Demonstration

Stefan Schaal, Aude Billard, Rüdiger Dillmann, 2008 .

Inverse dynamics with optimal distribution of contact forces for the control of legged robots

Stefan Schaal, Ludovic Righetti, 2012 .

A Probabilistic Representation for Dynamic Movement Primitives pdf

Stefan Schaal, Franziska Meier, S. Schaal, 2016, ArXiv.

Encoding of periodic and their transient motions by a single dynamic movement primitive

Stefan Schaal, Ludovic Righetti, Tamim Asfour, 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

Learning to grasp under uncertainty

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2011, 2011 IEEE International Conference on Robotics and Automation.

Kernel Carpentry for Online Regression Using Randomly Varying Coefficient Model

Stefan Schaal, Narayanan Unny Edakunni, Sethu Vijayakumar, 2007, IJCAI.

A convex model of humanoid momentum dynamics for multi-contact motion generation

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

Learning Policy Improvements with Path Integrals

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, AISTATS.

Using Humanoid Robots to Study Human Behavior

Joshua G. Hale, Frank E. Pollick, Ales Ude, 2000, IEEE Intell. Syst..

Learning passive motor control strategies with genetic algorithms

Stefan Schaal, S. Schaal, 1993 .

Self-supervised regrasping using spatio-temporal tactile features and reinforcement learning

Gaurav S. Sukhatme, Stefan Schaal, Yevgen Chebotar, 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Regrasping Using Tactile Perception and Supervised Policy Learning

Gaurav S. Sukhatme, Oliver Kroemer, Stefan Schaal, 2017, AAAI Spring Symposia.

Learning Force Control Policies for Compliant Robotic Manipulation

Stefan Schaal, Ludovic Righetti, Mrinal Kalakrishnan, 2012, ICML.

Natural Actor-Critic

Stefan Schaal, Jan Peters, Jan Peters, 2003, Neurocomputing.

A Kalman filter for robust outlier detection

Stefan Schaal, Evangelos Theodorou, Jo-Anne Ting, 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Movement segmentation using a primitive library

Stefan Schaal, Franziska Meier, Evangelos Theodorou, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets

Gaurav S. Sukhatme, Stefan Schaal, Yevgen Chebotar, 2017, NIPS.

Biomimetic Oculomotor Control

Stefan Schaal, Sethu Vijayakumar, Jörg Conradt, 2001, Adapt. Behav..

Humanoid robot for brain research

Stefan Schaal, Shinya Kotosaka, Tomohiro Shibata, 2000, Adv. Robotics.

Using Torque Redundancy to Optimize Contact Forces in Legged Robots

Stefan Schaal, Ludovic Righetti, Jonas Buchli, 2013 .

Movement imitation with nonlinear dynamical systems in humanoid robots

Jun Nakanishi, Stefan Schaal, Auke Jan Ijspeert, 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

Locally Weighted Projection Regression : An O(n) Algorithm for Incremental Real Time Learning in High Dimensional Space

Stefan Schaal, Sethu Vijayakumar, S. Vijayakumar, 2000 .

Compact models of motor primitive variations for predictable reaching and obstacle avoidance

Michael Beetz, Stefan Schaal, Freek Stulp, 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots.

Bayesian robot system identification with input and output noise

Stefan Schaal, Jo-Anne Ting, Aaron D'Souza, 2011, Neural Networks.

Proc. Advances in Neural Information Processing Systems (NIPS '08)

Stefan Schaal, Sethu Vijayakumar, Jo-Anne Ting, 2008 .

STOMP: Stochastic trajectory optimization for motion planning

Stefan Schaal, Evangelos Theodorou, Sachin Chitta, 2011, 2011 IEEE International Conference on Robotics and Automation.

Policy Learning with Hypothesis based Local Action Selection pdf

Stefan Schaal, Jeannette Bohg, Bharath Sankaran, 2015, ArXiv.

Discovering imitation strategies through categorization of multi-dimensional data

Gordon Cheng, Stefan Schaal, Aude Billard, 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

Scalable Techniques from Nonparametric Statistics for Real Time Robot Learning

Stefan Schaal, Christopher G. Atkeson, Sethu Vijayakumar, 2002, Applied Intelligence.

Composite adaptive control with locally weighted statistical learning

Jun Nakanishi, Stefan Schaal, Jay A. Farrell, 2005, Neural Networks.

On-line learning and modulation of periodic movements with nonlinear dynamical systems

Andrej Gams, Stefan Schaal, Auke Jan Ijspeert, 2009, Auton. Robots.

Path integral-based stochastic optimal control for rigid body dynamics

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2009, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning.

Towards Associative Skill Memories

Stefan Schaal, Ludovic Righetti, Mrinal Kalakrishnan, 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

Inverse kinematics for humanoid robots

Stefan Schaal, Gaurav Tevatia, S. Schaal, 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

Task space control with prioritization for balance and locomotion

Jun Nakanishi, Stefan Schaal, Michael N. Mistry, 2007 .

Toward a Dynamical Systems Analysis of Neuromodulation

Stefan Schaal, Aude Billard, Sethu Vijayakumar, 2004 .

Learning of grasp selection based on shape-templates

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2014, Auton. Robots.

Comparative experiments on task space control with redundancy resolution

Jun Nakanishi, Stefan Schaal, Jan Peters, 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Reinforcement learning of full-body humanoid motor skills

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots.

Learning Movement Primitives

Jun Nakanishi, Stefan Schaal, Auke Jan Ijspeert, 2005, ISRR.

Navigation and Cognitive Map Formation Using Aperiodic Neurodynamics

Stefan Schaal, Aude Billard, Sethu Vijayakumar, 2004 .

Learning objective functions for manipulation

Stefan Schaal, Ludovic Righetti, Mrinal Kalakrishnan, 2013, 2013 IEEE International Conference on Robotics and Automation.

Depth-based object tracking using a Robust Gaussian Filter

Stefan Schaal, Jeannette Bohg, Manuel Wüthrich, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Movement Segmentation and Recognition for Imitation Learning

Stefan Schaal, Franziska Meier, Evangelos Theodorou, 2012, AISTATS.

Representation and Control of the Task Space in Humans and Humanoid Robots

Stefan Schaal, Michael Mistry, S. Schaal, 2015 .

Locally Weighted Projection Regression: Incremental Real Time Learning in High Dimensional Space

Stefan Schaal, Sethu Vijayakumar, S. Vijayakumar, 2000, ICML.

Nonparametric Regression for Learning

Stefan Schaal, S. Schaal, 1994 .

A framework for learning biped locomotion with dynamical movement primitives

Jun Morimoto, Gen Endo, Jun Nakanishi, 2004, 4th IEEE/RAS International Conference on Humanoid Robots, 2004..

Local dimensionality reduction for locally weighted learning

Stefan Schaal, Sethu Vijayakumar, S. Vijayakumar, 1997, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'.

Bayesian methods for autonomous learning systems

Stefan Schaal, Jo-Anne S. Y. Ting, 2009 .

Reinforcement Learning for Humanoid Robotics

Stefan Schaal, Sethu Vijayakumar, Jan Peters, 2003 .

Control of legged robots with optimal distribution of contact forces

Stefan Schaal, Ludovic Righetti, Michael N. Mistry, 2011, 2011 11th IEEE-RAS International Conference on Humanoid Robots.

A Library for Locally Weighted Projection Regression

Stefan Schaal, Sethu Vijayakumar, Stefan Klanke, 2008, J. Mach. Learn. Res..

Biomimetic Gaze Stabilization

Stefan Schaal, Tomohiro Shibata, S. Schaal, 1999 .

Policy Gradient Methods for Robotics

Stefan Schaal, Jan Peters, Jan Peters, 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Learning where to search using visual attention

Martin V. Butz, Stefan Schaal, Jeannette Bohg, 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Overt visual attention for a humanoid robot

Stefan Schaal, Sethu Vijayakumar, Jörg Conradt, 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

Computational elements of robot learning by imitation

Stefan Schaal, Aude Billard, 2002 .

Algorithmen zum Automatischen Erlernen von Motorfähigkeiten

Stefan Schaal, Jan Peters, Jens Kober, 2010 .

The New Robotics—towards Human-centered Machines

Stefan Schaal, S. Schaal, Stefan Schaal, 2007 .

Combining Model-Based and Model-Free Updates for Deep Reinforcement Learning

Gaurav S. Sukhatme, Sergey Levine, Stefan Schaal, 2017 .

Learning an Outlier-Robust Kalman Filter

Stefan Schaal, Evangelos Theodorou, Jo-Anne Ting, 2007, ECML.

A unifying methodology for the control of robotic systems

Jun Nakanishi, Stefan Schaal, Jan Peters, 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Editorial: Special Issue on Machine Learning in Robotics

Stefan Schaal, J. Andrew Bagnell, S. Schaal, 2008, Int. J. Robotics Res..

Locally Weighted Regression for Control

Stefan Schaal, Sethu Vijayakumar, Jo-Anne Ting, 2017, Encyclopedia of Machine Learning and Data Mining.

Graph matching vs mutual information maximization for object detection

Stefan Schaal, Ladan Shams, Mark J. Brady, 2001, Neural Networks.

On the Fundamental Importance of Gauss-Newton in Motion Optimization pdf

Marc Toussaint, Stefan Schaal, Jeannette Bohg, 2016, ArXiv.

A New Methodology for Robot Controller Design

Stefan Schaal, Jan Peters, Firdaus E. Udwadia, 2005 .

Historical Perspective of Humanoid Robot Research in the Americas

Stefan Schaal, Stefan Schaal, S. Schaal, 2018, Humanoid Robotics: A Reference.

Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion

Stefan Schaal, Ludovic Righetti, Robert D. Gregg, 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots.

Towards robust online inverse dynamics learning

Stefan Schaal, Franziska Meier, Daniel Kappler, 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2013, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Reinforcement learning of impedance control in stochastic force fields

Stefan Schaal, Evangelos Theodorou, Michael Mistry, 2011, 2011 IEEE International Conference on Development and Learning (ICDL).

Robotics: Science and Systems I, June 8-11, 2005, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

Gaurav S. Sukhatme, Stefan Schaal, Sebastian Thrun, 2005, Robotics: Science and Systems.

Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting

Stefan Schaal, Ludovic Righetti, Sean Mason, 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

Jun Nakanishi, Stefan Schaal, Heiko Hoffmann, 2013, Neural Computation.

Learning Manipulation Graphs from Demonstrations Using Multimodal Sensory Signals

Gaurav S. Sukhatme, Oliver Kroemer, Stefan Schaal, 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Biomimetic smooth pursuit based on fast learning of the target dynamics

Stefan Schaal, Tomohiro Shibata, S. Schaal, 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

Risk sensitive nonlinear optimal control with measurement uncertainty pdf

Stefan Schaal, Ludovic Righetti, Brahayam Ponton, 2016, ArXiv.

Inertial parameter estimation of floating base humanoid systems using partial force sensing

Stefan Schaal, Katsu Yamane, Michael N. Mistry, 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots.

Reinforcement Learning With Sequences of Motion Primitives for Robust Manipulation

Stefan Schaal, Evangelos Theodorou, Freek Stulp, 2012, IEEE Transactions on Robotics.

Applying the Episodic Natural Actor-Critic Architecture to Motor Primitive Learning

Stefan Schaal, Jan Peters, Jan Peters, 2007, ESANN.

Robust Gaussian Filtering pdf

Stefan Schaal, Manuel Wüthrich, Sebastian Trimpe, 2015, ArXiv.

Locally Weighted Learning

Andrew W. Moore, Stefan Schaal, Christopher G. Atkeson, 1997, Artificial Intelligence Review.

Online movement adaptation based on previous sensor experiences

Stefan Schaal, Ludovic Righetti, Mrinal Kalakrishnan, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Probabilistic depth image registration incorporating nonvisual information

Stefan Schaal, Ludovic Righetti, Aude Billard, 2012, 2012 IEEE International Conference on Robotics and Automation.

Learning motion primitive goals for robust manipulation

Stefan Schaal, Ludovic Righetti, Evangelos Theodorou, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Learning inverse kinematics

Stefan Schaal, Sethu Vijayakumar, Aaron D'Souza, 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

Local Gaussian Regression pdf

Stefan Schaal, Franziska Meier, Philipp Hennig, 2014, ArXiv.

Rapid synchronization and accurate phase-locking of rhythmic motor primitives

Stefan Schaal, Aude Billard, Dimitris Pongas, 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Natural Actor-Critic

Stefan Schaal, Sethu Vijayakumar, Jan Peters, 2003, Neurocomputing.

Real-Time Perception Meets Reactive Motion Generation

Stefan Schaal, Franziska Meier, Jeannette Bohg, 2017, IEEE Robotics and Automation Letters.

Special issue on robotics and neuroscience

Paolo Dario, Stefan Schaal, Yoshihiko Nakamura, 2008, Neural Networks.

Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks

Stefan Schaal, Nathan D. Ratliff, Jim Mainprice, 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

An MPC Walking Framework with External Contact Forces

Nicholas Rotella, Stefan Schaal, Ludovic Righetti, 2017, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Reinforcement learning by reward-weighted regression for operational space control

Stefan Schaal, Jan Peters, Jan Peters, 2007, ICML '07.

Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid

Alexander Herzog, Nicholas Rotella, Stefan Schaal, 2014, Autonomous Robots.

Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), Stanford University, Stanford, CA, USA, June 29 - July 2, 2000

Toby Walsh, Alan Bundy, Stefan Schaal, 2000, ICML.

Reinforcement Learning for Operational Space Control

Stefan Schaal, Jan Peters, Jan Peters, 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

The Role of Measurement Uncertainty in Optimal Control for Contact Interactions

Stefan Schaal, Ludovic Righetti, Brahayam Ponton, 2016 .

Policy Gradient Methods for Robot Control

Stefan Schaal, Sethu Vijayakumar, Jan Peters, 2003 .

Probabilistic Articulated Real-Time Tracking for Robot Manipulation

Stefan Schaal, Jeannette Bohg, Manuel Wüthrich, 2016, IEEE Robotics and Automation Letters.

Scaling simulation-to-real transfer by learning composable robot skills

Gaurav S. Sukhatme, Stefan Schaal, Karol Hausman, 2018, ISER.

Efficient Bayesian local model learning for control

Stefan Schaal, Franziska Meier, Philipp Hennig, 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

An autonomous manipulation system based on force control and optimization

Gaurav S. Sukhatme, Stefan Schaal, Ludovic Righetti, 2014, Auton. Robots.

Trajectory formation for imitation with nonlinear dynamical systems

Jun Nakanishi, Stefan Schaal, Auke Jan Ijspeert, 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations pdf

Gaurav S. Sukhatme, Stefan Schaal, Karol Hausman, 2018, ArXiv.

Learning to Control in Operational Space

Stefan Schaal, Jan Peters, Jan Peters, 2008, Int. J. Robotics Res..

Robot Learning From Demonstration

Stefan Schaal, Christopher G. Atkeson, S. Schaal, 1997, ICML.

Real-time robot learning with locally weighted statistical learning

Stefan Schaal, Christopher G. Atkeson, Sethu Vijayakumar, 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

A Unifying Computational Framework for Optimization and Dynamic Systems Approaches to Motor Control

Stefan Schaal, Auke Jan Ijspeert, Jan Peters, 2003 .

Are internal models of the entire body learnable

Stefan Schaal, Sethu Vijayakumar, Aaron D'Souza, 2001 .

Locally Weighted Regression for Control

Stefan Schaal, Franziska Meier, Sethu Vijayakumar, 2010 .

Intelligent Systems: Bits and Bots

Stefan Schaal, Joachim P. Spatz, 2014 .

CB: Exploring neuroscience with a humanoid research platform

Jun Morimoto, Jun Nakanishi, Gordon Cheng, 2008, 2008 IEEE International Conference on Robotics and Automation.

Learning Task-Specific Dynamics to Improve Whole-Body Control

Andrej Gams, Ales Ude, Stefan Schaal, 2018, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids).