Publications
Please also see the list of publications of the LIS group, which might be more up-to-date.
See also my arXiv preprints and Google scholar profile.
2024
- In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2024. [arxiv] [bibtex]
@inproceedings{24-moldagalieva-ICRA, title = {{db-CBS}: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning}, author = {}, arxiv = {2309.16445}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2024} } - Svetlana Levit, Joaquim Ortiz-Haro, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2024. [bibtex]
@inproceedings{24-levit-ICRA, author = {Levit, Svetlana and Ortiz-Haro, Joaquim and Toussaint, Marc}, title = {Solving Sequential Manipulation Puzzles by Finding Easier Subproblems}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2024} } - Marc Toussaint, Joaquim Ortiz-Haro, Valentin N. Hartmann, Erez Karpas, and Wolfgang Hönig. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2024. [webpage] [bibtex]
@inproceedings{24-toussaint-ICRA, title = {Effort Level Search in Infinite Completion Trees with Application to Task-and-Motion Planning}, author = {Toussaint, Marc and Ortiz-Haro, Joaquim and Hartmann, Valentin N. and Karpas, Erez and Hönig, Wolfgang}, web = {https://www.user.tu-berlin.de/mtoussai/24-CompletionTrees/}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2024} } - Cen-You Li, Olaf Duennbier, Marc Toussaint, Barbara Rakitsch, and Christoph Zimmer. e-Print arXiv: 2402.14402, 2024. [arxiv] [bibtex]
@misc{24-li-GlobalSafe, title = {Global Safe Sequential Learning via Efficient Knowledge Transfer}, author = {Li, Cen-You and Duennbier, Olaf and Toussaint, Marc and Rakitsch, Barbara and Zimmer, Christoph}, arxiv = {2402.14402}, year = {2024} }
2023
- Baskın Şenbaşlar, Wolfgang Hönig, and Nora Ayanian. e-Print arXiv: 2302.12863, Autonomous Robots (AuRo), Special Issue "Robot Swarms in the Real World: from Design to Deployment", p. 921–946, 2023. [arxiv] [doi] [bibtex]
@article{23-senbaslar-AuRo, title = {RLSS: real-time, decentralized, cooperative, networkless multi-robot trajectory planning using linear spatial separations}, author = {Şenbaşlar, Baskın and Hönig, Wolfgang and Ayanian, Nora}, journal = {Autonomous Robots (AuRo), Special Issue "Robot Swarms in the Real World: from Design to Deployment"}, doi = {10.1007/s10514-023-10104-w}, video = {https://youtu.be/Jrdvf2qyzrg}, year = {2023}, issn = {1573-7527}, pages = {921--946}, arxiv = {2302.12863} } - Joaquim Ortiz-Haro, Wolfgang Hoenig, Valentin N. Hartmann, and Marc Toussaint. e-Print arXiv: 2311.03553, 2023. [webpage] [arxiv] [bibtex]
@misc{23-ortiz-iDbAstar, title = {iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning}, author = {Ortiz-Haro, Joaquim and Hoenig, Wolfgang and Hartmann, Valentin N. and Toussaint, Marc}, arxiv = {2311.03553}, video = {https://youtu.be/GoznOEWbUb8}, web = {https://quimortiz.github.io/idbastar}, year = {2023} } - Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint, and Wolfgang Hönig. e-Print arXiv: 2310.03394, 2023. [webpage] [arxiv] [bibtex]
@misc{23-wahba-kinodynamic, title = {Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments}, author = {Wahba, Khaled and Ortiz-Haro, Joaquim and Toussaint, Marc and Hönig, Wolfgang}, web = {https://github.com/IMRCLab/coltrans-planning}, arxiv = {2310.03394}, video = {https://youtu.be/hjHR-yy6_kg}, year = {2023} } - Akmaral Moldagalieva, Joaquim Ortiz-Haro, Marc Toussaint, and Wolfgang Hönig. e-Print arXiv: 2309.16445, 2023. [webpage] [arxiv] [bibtex]
@misc{23-moldagalieva-dbCBS, title = {db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning}, author = {Moldagalieva, Akmaral and Ortiz-Haro, Joaquim and Toussaint, Marc and Hönig, Wolfgang}, arxiv = {2309.16445}, web = {https://github.com/IMRCLab/db-CBS}, video = {https://youtu.be/1mglNQOmOLE}, year = {2023} } - Janis Eric Freund, Camille Phiquepal, Andreas Orthey, and Marc Toussaint. e-Print arXiv: 2309.10672, 2023. [arxiv] [bibtex]
@misc{23-freund-asymptotically, title = {Asymptotically Optimal Belief Space Planning in Discrete Partially-Observable Domains}, author = {Freund, Janis Eric and Phiquepal, Camille and Orthey, Andreas and Toussaint, Marc}, arxiv = {2309.10672}, year = {2023} } - Phillip Grote, Joaquim Ortiz-Haro, Marc Toussaint, and Ozgur S. Oguz. e-Print arXiv: 2309.07620, 2023. [arxiv] [bibtex]
@misc{23-grote-neural, title = {Neural Field Representations of Articulated Objects for Robotic Manipulation Planning}, author = {Grote, Phillip and Ortiz-Haro, Joaquim and Toussaint, Marc and Oguz, Ozgur S.}, arxiv = {2309.07620}, year = {2023} } - Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, and Pete Florence. In Proc. of the Int. Conf. on Machine Learning (ICML), p. 8469–8488, 2023. [arxiv] [bibtex]
@inproceedings{23-driess-ICML, title = {PaLM-E: An Embodied Multimodal Language Model}, author = {Driess, Danny and Xia, Fei and Sajjadi, Mehdi S. M. and Lynch, Corey and Chowdhery, Aakanksha and Ichter, Brian and Wahid, Ayzaan and Tompson, Jonathan and Vuong, Quan and Yu, Tianhe and Huang, Wenlong and Chebotar, Yevgen and Sermanet, Pierre and Duckworth, Daniel and Levine, Sergey and Vanhoucke, Vincent and Hausman, Karol and Toussaint, Marc and Greff, Klaus and Zeng, Andy and Mordatch, Igor and Florence, Pete}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}, arxiv = {2303.03378}, pages = {8469--8488}, year = {2023} } - Servet B. Bayraktar, Andreas Orthey, Zachary Kingston, Marc Toussaint, and Lydia E. Kavraki. e-Print arXiv: 2212.02955, IEEE Robotics and Automation Letters, p. 4529–4536, 2023. [arxiv] [doi] [bibtex]
@article{23-bayraktar-RAL, arxiv = {2212.02955}, title = {Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces}, author = {Bayraktar, Servet B. and Orthey, Andreas and Kingston, Zachary and Toussaint, Marc and Kavraki, Lydia E.}, journal = {IEEE Robotics and Automation Letters}, doi = {10.1109/LRA.2023.3282788}, pages = {4529--4536}, issn = {2377-3766}, year = {2023} } - Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Erez Karpas, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2023. [arxiv] [doi] [bibtex]
@inproceedings{23-ortiz-ICRA, author = {Ortiz-Haro, Joaquim and Ha, Jung-Su and Driess, Danny and Karpas, Erez and Toussaint, Marc}, year = {2023}, title = {Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning}, arxiv = {2210.12386}, doi = {10.1109/ICRA48891.2023.10160887}, issn = icrassn, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)} } - Welf Rehberg, Joaquim Ortiz-Haro, Marc Toussaint, and Wolfgang Hoenig. ICRA workshop on Energy Efficient Aerial Robotic Systems, 2023. [webpage] [arxiv] [bibtex]
@misc{23-rehberg-ICRAws, title = {Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning}, author = {Rehberg, Welf and Ortiz-Haro, Joaquim and Toussaint, Marc and Hoenig, Wolfgang}, arxiv = {2304.14062}, howpublished = {ICRA workshop on Energy Efficient Aerial Robotic Systems}, web = {https://aerial-robotics-workshop-icra2023.com}, year = {2023} } - Valentin N. Hartmann, and Marc Toussaint. ICAPS Workshop on Planning and Robotics, 2023. [arxiv] [bibtex]
@misc{23-hartmann-ICAPSws-robplan, title = {Towards computing low-makespan solutions for multi-arm multi-task planning problems}, author = {Hartmann, Valentin N. and Toussaint, Marc}, year = {2023}, howpublished = {ICAPS Workshop on Planning and Robotics}, arxiv = {2305.17527} } - Ingmar Schubert, Jingwei Zhang, Jake Bruce, Sarah Bechtle, Emilio Parisotto, Martin Riedmiller, Jost Tobias Springenberg, Arunkumar Byravan, Leonard Hasenclever, and Nicolas Heess. e-Print arXiv: 2305.10912, 2023. [arxiv] [bibtex]
@misc{23-schubert-arXiv, title = {A Generalist Dynamics Model for Control}, author = {Schubert, Ingmar and Zhang, Jingwei and Bruce, Jake and Bechtle, Sarah and Parisotto, Emilio and Riedmiller, Martin and Springenberg, Jost Tobias and Byravan, Arunkumar and Hasenclever, Leonard and Heess, Nicolas}, year = {2023}, arxiv = {2305.10912} } - Hongyou Zhou, Ingmar Schubert, Marc Toussaint, and Ozgur S. Oguz. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), p. 11328-11335, 2023. [arxiv] [doi] [bibtex]
@inproceedings{23-zhou-IROS, title = {Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation}, author = {Zhou, Hongyou and Schubert, Ingmar and Toussaint, Marc and Oguz, Ozgur S.}, arxiv = {2306.17053}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, issn = {2153-0866}, pages = {11328-11335}, year = {2023}, doi = {10.1109/IROS55552.2023.10342010} } - Valentin N. Hartmann, Joaquim Ortiz-Haro, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), p. 2822-2829, 2023. [arxiv] [doi] [bibtex]
@inproceedings{23-hartmann-IROS, title = {Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort}, author = {Hartmann, Valentin N. and Ortiz-Haro, Joaquim and Toussaint, Marc}, year = {2023}, arxiv = {2303.00637}, pages = {2822-2829}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, issn = {2153-0866}, doi = {10.1109/IROS55552.2023.10341264} }
2022
- David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, and Daniel Weiskopf. Journal of Visualization, 25, p. 127–141, 2022. [doi] [bibtex]
@article{22-hagele-JVis, author = {H{\"{a}}gele, David and Abdelaal, Moataz and Oguz, Ozgur S. and Toussaint, Marc and Weiskopf, Daniel}, title = {Visual analytics for nonlinear programming in robot motion planning}, journal = {Journal of Visualization}, issn = {1343-8875}, volume = {25}, number = {1}, pages = {127--141}, year = {2022}, doi = {10.1007/s12650-021-00786-8} } - Samuel Leder, HyunGyu Kim, Ozgur Salih Oguz, Nicolas Kubail Kalousdian, Valentin N. Hartmann, Achim Menges, Marc Toussaint, and Metin Sitti. Advanced Science, 2022. [doi] [bibtex]
@article{22-leder-AdvSci, title = {Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction}, author = {Leder, Samuel and Kim, HyunGyu and Oguz, Ozgur Salih and Kalousdian, Nicolas Kubail and Hartmann, Valentin N. and Menges, Achim and Toussaint, Marc and Sitti, Metin}, year = {2022}, journal = {Advanced Science}, issn = {2198-3844}, doi = {10.1002/advs.202201524} } - Joaquim Ortiz-Haro, Erez Karpas, Michael Katz, and Marc Toussaint. e-Print arXiv: 2211.15275, IEEE Robotics and Automation Letters, 2022. [arxiv] [doi] [bibtex]
@article{22-ortiz-RAL, arxiv = {2211.15275}, author = {Ortiz-Haro, Joaquim and Karpas, Erez and Katz, Michael and Toussaint, Marc}, title = {A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving}, journal = {IEEE Robotics and Automation Letters}, issn = {2377-3766}, year = {2022}, doi = {10.1109/LRA.2022.3191948} } - Camille Phiquepal, Andreas Orthey, Nicolas Viennot, and Marc Toussaint. e-Print arXiv: 2204.04444, IEEE Robotics and Automation Letters, 2022. [arxiv] [doi] [bibtex]
@article{22-phiquepal-RAL, arxiv = {2204.04444}, title = {Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs}, author = {Phiquepal, Camille and Orthey, Andreas and Viennot, Nicolas and Toussaint, Marc}, journal = {IEEE Robotics and Automation Letters}, issn = {2377-3766}, year = {2022}, doi = {10.1109/LRA.2022.3191944} } - Jung-Su Ha, Danny Driess, and Marc Toussaint. e-Print arXiv: 2112.04812, IEEE Robotics and Automation Letters, 2022. [arxiv] [doi] [bibtex]
@article{22-ha-RAL, arxiv = {2112.04812}, title = {Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input}, author = {Ha, Jung-Su and Driess, Danny and Toussaint, Marc}, journal = {IEEE Robotics and Automation Letters}, issn = {2377-3766}, year = {2022}, doi = {10.1109/LRA.2022.3194955} } - Nicolas Kubail Kalousdian, Grzegorz Lochnicki, Valentin N. Hartmann, Samuel Leder, Ozgur S. Oguz, Achim Menges, and Marc Toussaint. IEEE Robotics and Automation Letters, 7, p. 5749-5756, 2022. [doi] [bibtex]
@article{22-kalousdian-RAL, title = {Learning Robotic Manipulation of Natural Materials with Variable Properties for Construction Tasks}, author = {Kalousdian, Nicolas Kubail and Lochnicki, Grzegorz and Hartmann, Valentin N. and Leder, Samuel and Oguz, Ozgur S. and Menges, Achim and Toussaint, Marc}, journal = {IEEE Robotics and Automation Letters}, issn = {2377-3766}, year = {2022}, month = apr, volume = {7}, number = {2}, pages = {5749-5756}, doi = {10.1109/LRA.2022.3159288} } - Valentin N. Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, and Marc Toussaint. e-Print arXiv: 2106.02489, Transactions on Robotics, 2022. [webpage] [arxiv] [video] [doi] [bibtex]
@article{22-hartmann-TRO, title = {Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly}, author = {Hartmann, Valentin N. and Orthey, Andreas and Driess, Danny and Oguz, Ozgur S. and Toussaint, Marc}, journal = {Transactions on Robotics}, issn = {1552-3098}, year = {2022}, arxiv = {2106.02489}, youtube = {GqhouvL5dig}, web = {https://vhartmann.com/multi-robot/}, doi = {10.1109/TRO.2022.3198020} } - Danny Driess, Ingmar Schubert, Pete Florence, Yunzhu Li, and Marc Toussaint. In Neural Information Processing Systems (NeurIPS), 2022. [webpage] [arxiv] [bibtex]
@inproceedings{22-driess-NeurIPS, arxiv = {2206.01634}, title = {Reinforcement Learning with Neural Radiance Fields}, author = {Driess, Danny and Schubert, Ingmar and Florence, Pete and Li, Yunzhu and Toussaint, Marc}, booktitle = {Neural Information Processing Systems (NeurIPS)}, issn = {1049-5258}, year = {2022}, web = {https://dannydriess.github.io/nerf-rl} } - Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, and Marc Toussaint. In Proc. of the Annual Conf. on Robot Learning (CORL), 2022. [webpage] [arxiv] [bibtex]
@inproceedings{22-driess-CoRL, arxiv = {2202.11855}, title = {Learning Multi-Object Dynamics with Compositional Neural Radiance Fields}, author = {Driess, Danny and Huang, Zhiao and Li, Yunzhu and Tedrake, Russ and Toussaint, Marc}, booktitle = {Proc{.} of the Annual Conf{.} on Robot Learning (CORL)}, issn = {2331-8422}, year = {2022}, web = {https://dannydriess.github.io/compnerfdyn/} } - Valentin N. Hartmann, Marlin P. Strub, Marc Toussaint, and Jonathan D. Gammell. In Proc. of the Int. Symposium of Robotics Research (ISRR), 2022. [webpage] [arxiv] [doi] [bibtex]
@inproceedings{22-hartmann-ISRR, arxiv = {2205.08480}, title = {Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort}, author = {Hartmann, Valentin N. and Strub, Marlin P. and Toussaint, Marc and Gammell, Jonathan D.}, booktitle = {Proc.{} of the Int.{} Symposium of Robotics Research (ISRR)}, issn = {2511-1256}, year = {2022}, web = {https://robotic-esp.com/code/eirmstar/}, doi = {https://doi.org/10.1007/978-3-031-25555-7} } - Jason Harris, Danny Driess, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2022. [arxiv] [doi] [bibtex]
@inproceedings{22-harris-IROS, arxiv = {2205.04362}, title = {FC3: Feasibility-Based Control Chain Coordination}, author = {Harris, Jason and Driess, Danny and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, issn = {2153-0866}, year = {2022}, doi = {10.1109/IROS47612.2022.9981758} } - Wolfgang Hoenig, Joaquim Ortiz-Haro, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2022. [arxiv] [doi] [bibtex]
@inproceedings{22-hoenig-IROS, arxiv = {2203.11108}, title = {db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning}, author = {Hoenig, Wolfgang and Ortiz-Haro, Joaquim and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, issn = {2153-0866}, year = {2022}, doi = {10.1109/IROS47612.2022.9981577} } - Jay Kamat, Joaquim Ortiz-Haro, Marc Toussaint, Florian T. Pokorny, and Andreas Orthey. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2022. [arxiv] [doi] [bibtex]
@inproceedings{22-kamat-IROS, arxiv = {2203.01751}, title = {BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning}, author = {Kamat, Jay and Ortiz-Haro, Joaquim and Toussaint, Marc and Pokorny, Florian T. and Orthey, Andreas}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, issn = {2153-0866}, year = {2022}, doi = {10.1109/IROS47612.2022.9981732} } - Marc Toussaint, Jason Harris, Jung-Su Ha, Danny Driess, and Wolfgang Hönig. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2022. [webpage] [arxiv] [doi] [bibtex]
@inproceedings{22-toussaint-IROS, author = {Toussaint, Marc and Harris, Jason and Ha, Jung-Su and Driess, Danny and H{\"o}nig, Wolfgang}, title = {Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation}, arxiv = {2203.05390}, year = {2022}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, issn = {2153-0866}, web = {https://www.user.tu-berlin.de/mtoussai/22-SecMPC/}, doi = {10.1109/IROS47612.2022.9982236} } - Cornelius V. Braun, Joaquim Ortiz-Haro, and Ozgur S. Oguz Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2022. [arxiv] [doi] [bibtex]
@inproceedings{22-braun-IROS, arxiv = {2110.03420}, title = {RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning}, author = {Braun, Cornelius V. and Ortiz-Haro, Joaquim and Marc Toussaint, Ozgur S. Oguz}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, issn = {2153-0866}, year = {2022}, doi = {10.1109/IROS47612.2022.9981797} } - Joaquim Ortiz-Haro, Erez Karpas, Marc Toussaint, and Michael Katz. In Proc. of the Int. Conf. on Automated Planning and Scheduling (ICAPS), 32, p. 279–287, 2022. [webpage] [bibtex]
@inproceedings{22-ortiz-ICAPS, title = {Conflict-directed diverse planning for logic-geometric programming}, author = {Ortiz-Haro, Joaquim and Karpas, Erez and Toussaint, Marc and Katz, Michael}, booktitle = {Proc.{} of the Int.{} Conf.{} on Automated Planning and Scheduling (ICAPS)}, issn = {2334-0835}, volume = {32}, pages = {279--287}, year = {2022}, web = {https://quimortiz.github.io/ConflictPlanningLGP/} } - Francesco Grothe, Valentin N. Hartmann, Andreas Orthey, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2022. [webpage] [arxiv] [doi] [bibtex]
@inproceedings{22-grothe-ICRA, title = {ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time}, author = {Grothe, Francesco and Hartmann, Valentin N. and Orthey, Andreas and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, issn = {1050-4729}, year = {2022}, arxiv = {2203.02176}, web = {https://vhartmann.com/strrt/}, doi = {10.1109/ICRA46639.2022.9811814} } - Philipp Kratzer, Marc Toussaint, and Jim Mainprice. e-Print arXiv: 2210.13317, 2022. [arxiv] [bibtex]
@misc{22-kratzer-x, arxiv = {2210.13317}, title = {Planning Coordinated Human-Robot Motions with Neural Network Full-Body Prediction Models}, author = {Kratzer, Philipp and Toussaint, Marc and Mainprice, Jim}, year = {2022} }
2021
- Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, and Lydia E. Kavraki. e-Print arXiv: 2112.06402, IEEE Robotics and Automation Letters, 2021. [arxiv] [doi] [bibtex]
@article{21-chamzas-ICRA, arxiv = {2112.06402}, title = {MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets}, author = {Chamzas, Constantinos and Quintero-Peña, Carlos and Kingston, Zachary and Orthey, Andreas and Rakita, Daniel and Gleicher, Michael and Toussaint, Marc and Kavraki, Lydia E.}, year = {2021}, journal = {IEEE Robotics and Automation Letters}, doi = {10.1109/LRA.2021.3133603} } - Danny Driess, Jung-Su Ha, and Marc Toussaint. The International Journal of Robotics Research, 40, p. 1435-1466, 2021. [video] [doi] [bibtex]
@article{21-driess-IJRR, author = {Driess, Danny and Ha, Jung-Su and Toussaint, Marc}, title = {Learning to solve sequential physical reasoning problems from a scene image}, journal = {The International Journal of Robotics Research}, volume = {40}, number = {12-14}, pages = {1435-1466}, year = {2021}, doi = {10.1177/02783649211056967}, youtube = {W6zLkZeN8VA} } - Nicholas Roy, Ingmar Posner, Tim Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Dan Koditschek, Tomas Lozano-Perez, Vikash Mansinghka, Christopher Pal, Blake Richards, Dorsa Sadigh, Stefan Schaal, Gaurav Sukhatme, Denis Therien, Marc Toussaint, and Michiel Van Panne. e-Print arXiv: 2110.15245, 2021. [arxiv] [bibtex]
@misc{21-roy-Summit, title = {From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence}, author = {Roy, Nicholas and Posner, Ingmar and Barfoot, Tim and Beaudoin, Philippe and Bengio, Yoshua and Bohg, Jeannette and Brock, Oliver and Depatie, Isabelle and Fox, Dieter and Koditschek, Dan and Lozano-Perez, Tomas and Mansinghka, Vikash and Pal, Christopher and Richards, Blake and Sadigh, Dorsa and Schaal, Stefan and Sukhatme, Gaurav and Therien, Denis and Toussaint, Marc and de Panne, Michiel Van}, year = {2021}, arxiv = {2110.15245} } - Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, and Marc Toussaint. In Proc. of the Annual Conf. on Robot Learning (CORL), 2021. [bibtex]
@inproceedings{21-ortiz-CoRL, title = {Structured deep generative models for sampling on constraint manifolds in sequential manipulation}, author = {Ortiz-Haro, Joaquim and Ha, Jung-Su and Driess, Danny and Toussaint, Marc}, booktitle = {Proc{.} of the Annual Conf{.} on Robot Learning (CORL)}, year = {2021} } - Danny Driess, Jung-Su Ha, Marc Toussaint, and Russ Tedrake. In Proc. of the Annual Conf. on Robot Learning (CORL), 2021. [arxiv] [video] [bibtex]
@inproceedings{21-driess-CoRL, title = {Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning}, author = {Driess, Danny and Ha, Jung-Su and Toussaint, Marc and Tedrake, Russ}, booktitle = {Proc{.} of the Annual Conf{.} on Robot Learning (CORL)}, year = {2021}, arxiv = {2110.00792}, youtube = {ga8Wlkss7co} } - Ingmar Schubert, Danny Driess, Ozgur S. Oguz, and Marc Toussaint. In Neural Information Processing Systems (NeurIPS), 2021. [arxiv] [bibtex]
@inproceedings{21-schubert-NeurIPS, title = {Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics}, author = {Schubert, Ingmar and Driess, Danny and Oguz, Ozgur S. and Toussaint, Marc}, booktitle = {Neural Information Processing Systems (NeurIPS)}, year = {2021}, arxiv = {2111.07908} } - Ingmar Schubert, Ozgur S. Oguz, and Marc Toussaint. In Proc. of the Int. Conf. on Learning Representations (ICLR), 2021. [arxiv] [bibtex]
@inproceedings{21-schubert-ICLR, title = {Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks}, author = {Schubert, Ingmar and Oguz, Ozgur S. and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Learning Representations (ICLR)}, arxiv = {2107.06661}, year = {2021} } - Joaquim Ortiz-Haro, Valentin N. Hartmann, Ozgur S. Oguz, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [arxiv] [video] [doi] [bibtex]
@inproceedings{21-ortiz-ICRA, title = {Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation}, author = {Ortiz-Haro, Joaquim and Hartmann, Valentin N. and Oguz, Ozgur S. and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2021}, arxiv = {2011.04828}, youtube = {mCNdvjTbHNI}, doi = {10.1109/ICRA48506.2021.9560978} } - Danny Driess, Jung-Su Ha, Russ Tedrake, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [video] [doi] [bibtex]
@inproceedings{21-driess-ICRA, title = {Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input}, author = {Driess, Danny and Ha, Jung-Su and Tedrake, Russ and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2021}, youtube = {AcPWRTkr3_g}, doi = {10.1109/ICRA48506.2021.9560934} } - Marc Tuscher, Julian Hörz, Danny Driess, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [arxiv] [video] [doi] [bibtex]
@inproceedings{21-tuscher-ICRA, title = {Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping}, author = {Tuscher, Marc and H{\"o}rz, Julian and Driess, Danny and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, arxiv = {2103.05401}, year = {2021}, youtube = {Hew00rMw8qg}, doi = {10.1109/ICRA48506.2021.9561416} } - Camille Phiquepal, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [arxiv] [video] [doi] [bibtex]
@inproceedings{21-phiquepal-ICRA, title = {Control-Tree Optimization: an approach to MPC under discrete Partial Observability}, author = {Phiquepal, Camille and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2021}, arxiv = {2302.00116}, youtube = {Ju5hv2gIlxw}, doi = {10.1109/ICRA48506.2021.9561664} } - Andreas Orthey, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [arxiv] [doi] [bibtex]
@inproceedings{21-orthey-ICRA, title = {Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning}, author = {Orthey, Andreas and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2021}, arxiv = {2011.00832}, doi = {10.1109/ICRA48506.2021.9562053} } - Marc Toussaint, Jung-Su Ha, and Ozgur S. Oguz. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [video] [doi] [bibtex]
@inproceedings{21-toussaint-ICRA, title = {Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning}, author = {Toussaint, Marc and Ha, Jung-Su and Oguz, Ozgur S.}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2021}, youtube = {9ihdtMJvcQk}, doi = {10.1109/ICRA48506.2021.9561256} } - Marie-Therese Khoury, Andreas Orthey, and Marc Toussaint. In Proc. of the Int. Conf. on Automation Science and Engineering (CASE), 2021. [arxiv] [doi] [bibtex]
@inproceedings{21-khoury-CASE, title = {Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts}, author = {Khoury, Marie-Therese and Orthey, Andreas and Toussaint, Marc}, year = {2021}, booktitle = {Proc{.} of the Int{.} Conf{.} on Automation Science and Engineering (CASE)}, arxiv = {2011.01552}, doi = {10.1109/CASE49439.2021.9551548} } - Andreas Orthey, and Marc Toussaint. e-Print arXiv: 2010.14524, Transactions on Robotics, 2021. [arxiv] [doi] [bibtex]
@article{21-orthey-TRO, title = {Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning}, author = {Orthey, Andreas and Toussaint, Marc}, year = {2021}, journal = {Transactions on Robotics}, issn = {1552-3098}, arxiv = {2010.14524}, doi = {10.1109/TRO.2021.3070975} } - Yoojin Oh, Marc Toussaint, and Jim Mainprice. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2021. [arxiv] [doi] [bibtex]
@inproceedings{21-oh-IROS, arxiv = {2108.10634}, title = {Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies}, author = {Oh, Yoojin and Toussaint, Marc and Mainprice, Jim}, year = {2021}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, doi = {10.1109/IROS51168.2021.9636049} } - Andreas Orthey, Florian T. Pokorny, and Marc Toussaint. RSS Workshop on Geometry and Topology in Robotics, 2021. [arxiv] [bibtex]
@misc{21-orthey-RSSws, title = {Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning}, author = {Orthey, Andreas and Pokorny, Florian T. and Toussaint, Marc}, year = {2021}, howpublished = {RSS Workshop on Geometry and Topology in Robotics}, arxiv = {2107.02498} } - Hon Sum Alec Yu, Dingling Yao, Christoph Zimmer, Marc Toussaint, and Duy Nguyen-Tuong. In Proc. of the European Conf. on Machine Learning (ECML), 2021. [arxiv] [doi] [bibtex]
@inproceedings{21-yu-ECML, arxiv = {2108.00819}, title = {Active Learning in Gaussian Process State Space Model}, author = {Yu, Hon Sum Alec and Yao, Dingling and Zimmer, Christoph and Toussaint, Marc and Nguyen-Tuong, Duy}, year = {2021}, booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML)}, doi = {10.1007/978-3-030-86523-8_21} } - Janik Hager, Ruben Bauer, Marc Toussaint, and Jim Mainprice. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2021. [arxiv] [doi] [bibtex]
@inproceedings{21-hager-ROMAN, arxiv = {2107.01836}, title = {GraspME -- Grasp Manifold Estimator}, author = {Hager, Janik and Bauer, Ruben and Toussaint, Marc and Mainprice, Jim}, year = {2021}, booktitle = {IEEE Int{.} Conf{.} on Robot and Human Interactive Communication (RO-MAN)}, doi = {10.1109/RO-MAN50785.2021.9515479} } - Yoojin Oh, Marc Toussaint, and Jim Mainprice. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2021. [arxiv] [doi] [bibtex]
@inproceedings{21-oh-ROMAN, arxiv = {2107.01829}, title = {A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures}, author = {Oh, Yoojin and Toussaint, Marc and Mainprice, Jim}, year = {2021}, booktitle = {IEEE Int{.} Conf{.} on Robot and Human Interactive Communication (RO-MAN)}, doi = {10.1109/RO-MAN50785.2021.9515440} } - An T. Le, Philipp Kratzer, Simon Hagenmayer, Marc Toussaint, and Jim Mainprice. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2021. [arxiv] [video] [doi] [bibtex]
@inproceedings{21-le-ROMAN, arxiv = {2104.08137}, title = {Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks}, author = {Le, An T. and Kratzer, Philipp and Hagenmayer, Simon and Toussaint, Marc and Mainprice, Jim}, year = {2021}, booktitle = {IEEE Int{.} Conf{.} on Robot and Human Interactive Communication (RO-MAN)}, youtube = {zQ_7w28kYyg}, doi = {10.1109/RO-MAN50785.2021.9515539} }
2020
- Andreas Orthey, and Marc Toussaint. In Workshop on the Algorithmic Foundations of Robotics, 2020. [arxiv] [bibtex]
@inproceedings{20-orthey-WAFR, title = {Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory}, author = {Orthey, Andreas and Toussaint, Marc}, booktitle = {Workshop on the Algorithmic Foundations of Robotics}, year = {2020}, arxiv = {2002.04385} } - Andreas Orthey, Benjamin Frész, and Marc Toussaint. e-Print arXiv: 1909.05035, IEEE Robotics and Automation Letters, 5, p. 346-353, 2020. [arxiv] [doi] [bibtex]
@article{20-orthey-RAL, title = {Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree}, author = {Orthey, Andreas and Frész, Benjamin and Toussaint, Marc}, journal = {IEEE Robotics and Automation Letters}, month = apr, year = {2020}, volume = {5}, number = {2}, pages = {346-353}, arxiv = {1909.05035}, doi = {10.1109/LRA.2019.2958524} } - Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni, Rohit Prakash, Marc Toussaint, and Jim Mainprice. e-Print arXiv: 2011.11552, IEEE Robotics and Automation Letters, 6, p. 367–373, IEEE, 2020. [arxiv] [doi] [bibtex]
@article{20-kratzer-RAL, title = {MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze}, author = {Kratzer, Philipp and Bihlmaier, Simon and Midlagajni, Niteesh Balachandra and Prakash, Rohit and Toussaint, Marc and Mainprice, Jim}, journal = {IEEE Robotics and Automation Letters}, volume = {6}, number = {2}, pages = {367--373}, year = {2020}, publisher = {IEEE}, arxiv = {2011.11552}, doi = {10.1109/LRA.2020.3043167} } - Philipp Kratzer, Niteesh Balachandra Midlagajni, Marc Toussaint, and Jim Mainprice. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), p. 1157–1163, 2020. [arxiv] [doi] [bibtex]
@inproceedings{20-kratzer-ROMAN, title = {Anticipating human intention for full-body motion prediction in object grasping and placing tasks}, author = {Kratzer, Philipp and Midlagajni, Niteesh Balachandra and Toussaint, Marc and Mainprice, Jim}, booktitle = {IEEE Int{.} Conf{.} on Robot and Human Interactive Communication (RO-MAN)}, pages = {1157--1163}, organization = {IEEE}, year = {2020}, arxiv = {2007.10038}, doi = {10.1109/RO-MAN47096.2020.9223547} } - Yoojin Oh, Shao-Wen Wu, Marc Toussaint, and Jim Mainprice. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), p. 1223–1229, 2020. [arxiv] [doi] [bibtex]
@inproceedings{20-oh-ROMAN, title = {Natural Gradient Shared Control}, author = {Oh, Yoojin and Wu, Shao-Wen and Toussaint, Marc and Mainprice, Jim}, booktitle = {IEEE Int{.} Conf{.} on Robot and Human Interactive Communication (RO-MAN)}, pages = {1223--1229}, year = {2020}, arxiv = {2007.15308}, organization = {IEEE}, doi = {10.1109/ro-man47096.2020.9223465} } - Jim Mainprice, Nathan Ratliff, Marc Toussaint, and Stefan Schaal. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), p. 547–552, 2020. [arxiv] [doi] [bibtex]
@inproceedings{20-mainprice-ROMAN, title = {An interior point method solving motion planning problems with narrow passages}, author = {Mainprice, Jim and Ratliff, Nathan and Toussaint, Marc and Schaal, Stefan}, booktitle = {IEEE Int{.} Conf{.} on Robot and Human Interactive Communication (RO-MAN)}, pages = {547--552}, year = {2020}, arxiv = {2007.04842}, organization = {IEEE}, doi = {10.1109/ro-man47096.2020.9223504} } - David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, and Daniel Weiskopf. In Proc. of the 13th Int. Symp. on Visual Information Communication and Interaction, Best Paper Award, 2020. [arxiv] [video] [doi] [bibtex]
@inproceedings{20-haegele-VINCI, author = {H\"{a}gele, David and Abdelaal, Moataz and Oguz, Ozgur S. and Toussaint, Marc and Weiskopf, Daniel}, title = {Visualization of Nonlinear Programming for Robot Motion Planning}, year = {2020}, isbn = {9781450387507}, booktitle = {Proc{.} of the 13th Int{.} Symp{.} on Visual Information Communication and Interaction}, articleno = {10}, numpages = {8}, note = {\emph{Best Paper Award}}, youtube = {ESmC2EAcvCU}, arxiv = {2101.12075}, doi = {10.1145/3430036.3430050} } - Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation PlanningSon T. Nguyen, Ozgur S. Oguz, Valentin N. Hartmann, and Marc Toussaint. In Proc. of the Annual Conf. on Robot Learning (CORL), , PMLR, 2020. [video] [bibtex]
@inproceedings{20-nguyen-CoRL, title = {Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning}, author = {Nguyen, Son T. and Oguz, Ozgur S. and Hartmann, Valentin N. and Toussaint, Marc}, booktitle = {Proc{.} of the Annual Conf{.} on Robot Learning (CORL)}, series = {Proceedings of Machine Learning Research}, volume = {}, publisher = {{PMLR}}, year = {2020}, youtube = {ZruIQ9V0_oo} } - Isabell Wochner, Danny Driess, Heiko Zimmermann, Daniel F. B. Haeufle, Marc Toussaint, and Syn Schmitt. Frontiers in Computational Neuroscience, 14, p. 38, 2020. [journal] [doi] [bibtex]
@article{20-wochner-frontiers, author = {Wochner, Isabell and Driess, Danny and Zimmermann, Heiko and Haeufle, Daniel F. B. and Toussaint, Marc and Schmitt, Syn}, title = {Optimality Principles in Human Point-to-Manifold Reaching Accounting for Muscle Dynamics}, journal = {Frontiers in Computational Neuroscience}, volume = {14}, pages = {38}, year = {2020}, journal_url = {https://www.frontiersin.org/article/10.3389/fncom.2020.00038}, doi = {10.3389/fncom.2020.00038} } - Daniel F. B. Haeufle, Isabell Wochner, David Holzmüller, Danny Driess, Michael Günther, and Syn Schmitt. Frontiers in Robotics and AI, 7, p. 77, 2020. [journal] [doi] [bibtex]
@article{20-haeufle-frontiers, author = {Haeufle, Daniel F. B. and Wochner, Isabell and Holzmüller, David and Driess, Danny and Günther, Michael and Schmitt, Syn}, title = {Muscles Reduce Neuronal Information Load: Quantification of Control Effort in Biological vs. Robotic Pointing and Walking}, journal = {Frontiers in Robotics and AI}, volume = {7}, pages = {77}, year = {2020}, journal_url = {https://www.frontiersin.org/article/10.3389/frobt.2020.00077}, doi = {10.3389/frobt.2020.00077} } - Christoph Zimmer, Danny Driess, Mona Meister, and Nguyen-Tuong Duy. In Proceedings of the Twenty Third International Conference on Artificial Intelligence and Statistics, p. 2098–2108, 2020. [bibtex]
@inproceedings{20-zimmer-AISTATS, title = {Adaptive Discretization for Evaluation of Probabilistic Cost Functions}, author = {Zimmer, Christoph and Driess, Danny and Meister, Mona and Duy, Nguyen-Tuong}, booktitle = {Proceedings of the Twenty Third International Conference on Artificial Intelligence and Statistics}, pages = {2098--2108}, year = {2020}, pdf = {http://proceedings.mlr.press/v108/zimmer20a/zimmer20a.pdf} } - Ingmar Schubert, and Marc Toussaint. ICRA Workshop on Machine Learning in Planning and Control of Robot Motion, 2020. [bibtex]
@misc{20-schubert-ICRAws, title = {Lazy Action Value Models for Q-Learning in Robotics}, author = {Schubert, Ingmar and Toussaint, Marc}, howpublished = {ICRA Workshop on Machine Learning in Planning and Control of Robot Motion}, year = {2020} } - Samuel Leder, HyunGyu Kim, Ozgur S. Oguz, Valentin N. Hartmann, Marc Toussaint, Achim Menges, and Metin Sitti. IROS: Workshop on Construction and Architecture Robotics, 2020. [bibtex]
@misc{20-leder-IROSws-wcar, title = {Co-Design in Architecture: A Modular Material-Robot Kinematic Construction System}, author = {Leder, Samuel and Kim, HyunGyu and Oguz, Ozgur S. and Hartmann, Valentin N. and Toussaint, Marc and Menges, Achim and Sitti, Metin}, year = {2020}, howpublished = {IROS: Workshop on Construction and Architecture Robotics} } - Valentin N. Hartmann, Ozgur S. Oguz, and Marc Toussaint. ICAPS Workshop on Planning and Robotics, 2020. [video] [bibtex]
@misc{20-hartmann-ICAPSws-robplan, title = {Planning Planning: The Path Planner as a Finite State Machine}, author = {Hartmann, Valentin N. and Oguz, Ozgur S. and Toussaint, Marc}, year = {2020}, howpublished = {ICAPS Workshop on Planning and Robotics}, youtube = {3Qu4P9DaQWc} } - Son Tung Nguyen, Ozgur S. Oguz, Danny Driess, and Marc Toussaint. RSS Workshop on Self-Supervised Robot Learning, 2020. [video] [bibtex]
@misc{20-nguyen-RSSws-ssrl, title = {From Images to Task Planning: How NLP Can Help Physical Reasoning}, author = {Nguyen, Son Tung and Oguz, Ozgur S. and Driess, Danny and Toussaint, Marc}, year = {2020}, howpublished = {RSS Workshop on Self-Supervised Robot Learning}, youtube = {UsumCDOu0F8} } - Hoai My Van, Ozgur S. Oguz, Zhehua Zhou, and Marc Toussaint. RSS Workshop on Learning (in) Task and Motion Planning, 2020. [video] [bibtex]
@misc{20-van-RSSws-ltamp, title = {Guided Sequential Manipulation Planning Using a Hierarchical Policy}, author = {Van, Hoai My and Oguz, Ozgur S. and Zhou, Zhehua and Toussaint, Marc}, year = {2020}, howpublished = {RSS Workshop on Learning (in) Task and Motion Planning}, youtube = {T-CuF4XCsnc} } - C Henkel, and M Toussaint. In Proc. of the 35th Annual ACM Symposium on Applied Computing, 2020. [bibtex]
@inproceedings{20-henkel-SAC, title = {Optimized directed roadmap graph for multi-agent path finding using stochastic gradient descent}, author = {Henkel, C and Toussaint, M}, booktitle = {Proc.{} of the 35th Annual ACM Symposium on Applied Computing}, year = {2020}, url = {https://dl.acm.org/doi/pdf/10.1145/3341105.3373916} } - Sabrina Hoppe, Markus Giftthaler, Robert Krug, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2020. [video] [doi] [bibtex]
@inproceedings{20-hoppe-IROS, author = {Hoppe, Sabrina and Giftthaler, Markus and Krug, Robert and Toussaint, Marc}, title = {Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG}, youtube = {Z_GcNbCWE-E}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2020}, doi = {10.1109/IROS45743.2020.9341390} } - Valentin N. Hartmann, Ozgur S. Oguz, Danny Driess, Marc Toussaint, and Achim Menges. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2020. [arxiv] [video] [doi] [bibtex]
@inproceedings{20-hartmann-IROS, title = {Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning}, author = {Hartmann, Valentin N. and Oguz, Ozgur S. and Driess, Danny and Toussaint, Marc and Menges, Achim}, year = {2020}, arxiv = {2003.07754}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, youtube = {j5S0s29IHwA}, doi = {10.1109/IROS45743.2020.9341502} } - Marc Toussaint, Jung-Su Ha, and Danny Driess. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), IEEE Robotics and Automation Letters, 2020. [arxiv] [video] [doi] [bibtex]
@article{20-toussaint-RAL, title = {Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning}, author = {Toussaint, Marc and Ha, Jung-Su and Driess, Danny}, journal = {IEEE Robotics and Automation Letters}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2020}, youtube = {tVFkKIIODaM}, arxiv = {2002.12780}, doi = {10.1109/LRA.2020.3010462} } - Danny Driess, Jung-Su Ha, and Marc Toussaint. In Proc. of Robotics: Science and Systems (R:SS), 2020. [doi] [bibtex]
@inproceedings{20-driess-RSS, title = {Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image}, author = {Driess, Danny and Ha, Jung-Su and Toussaint, Marc}, booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)}, year = {2020}, doi = {10.15607/RSS.2020.XVI.003} } - Philipp Kratzer, Marc Toussaint, and Jim Mainprice. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), p. 1792–1798, 2020. [arxiv] [doi] [bibtex]
@inproceedings{20-kratzer-prediction, title = {Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks}, author = {Kratzer, Philipp and Toussaint, Marc and Mainprice, Jim}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, pages = {1792--1798}, year = {2020}, arxiv = {1910.01843}, doi = {10.1109/icra40945.2020.9197290} } - Jung-Su Ha, Danny Driess, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2020. [video] [doi] [bibtex]
@inproceedings{20-ha-ICRA, title = {A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty}, author = {Ha, Jung-Su and Driess, Danny and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2020}, youtube = {CEaJdVlSZyo}, doi = {10.1109/LRA.2020.3010462} } - Danny Driess, Ozgur Oguz, Jung-Su Ha, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2020. [video] [doi] [bibtex]
@inproceedings{20-driess-ICRA, title = {Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning}, author = {Driess, Danny and Oguz, Ozgur and Ha, Jung-Su and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2020}, youtube = {3iWnIfm3Pz0}, doi = {10.1109/icra40945.2020.9197291} }
2019
- Sabrina Hoppe, Zhongyu Lou, Daniel Hennes, and Marc Toussaint. IEEE Robotics and Automation Letters, 2019. [video] [doi] [bibtex]
@article{19-hoppe-RAL, author = {Hoppe, Sabrina and Lou, Zhongyu and Hennes, Daniel and Toussaint, Marc}, journal = {IEEE Robotics and Automation Letters}, title = {Planning Approximate Exploration Trajectories for Model-Free Reinforcement Learning in Contact-Rich Manipulation}, year = {2019}, youtube = {JTfeHhWSb0Y}, doi = {10.1109/LRA.2019.2928212} } - Danny Driess, Syn Schmitt, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2019. [video] [bibtex]
@inproceedings{19-driess-IROS, title = {Active Inverse Model Learning with Error and Reachable Set Estimates}, author = {Driess, Danny and Schmitt, Syn and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2019}, youtube = {3ks0sMa3BgM} } - C Henkel, J Abbenseth, and M Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2019. [arxiv] [bibtex]
@inproceedings{19-henkel-IROS, title = {An optimal algorithm to solve the combined task allocation and path finding problem}, author = {Henkel, C and Abbenseth, J and Toussaint, M}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2019}, arxiv = {1907.10360} } - Andreas Orthey, and Marc Toussaint. In Proc. of the Int. Symposium of Robotics Research (ISRR), 2019. [arxiv] [bibtex]
@inproceedings{19-orthey-ISRR, title = {Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications}, author = {Orthey, Andreas and Toussaint, Marc}, booktitle = {Proc.{} of the Int.{} Symposium of Robotics Research (ISRR)}, year = {2019}, arxiv = {1906.01350} } - Yoojin Oh, Hangbeom Kim, Marc Toussaint, and Jim Mainprice. ICRA Workshop on Long-term Human Motion Prediction, 2019. [bibtex]
@misc{19-oh-ICRAws, title = {A Differentiable Policy for Shared Autonomy}, author = {Oh, Yoojin and Kim, Hangbeom and Toussaint, Marc and Mainprice, Jim}, howpublished = {ICRA Workshop on Long-term Human Motion Prediction}, year = {2019} } - Danny Driess, Ozgur Oguz, and Marc Toussaint. RSS Workshop on Robust Task and Motion Planning, 2019. [video] [bibtex]
@misc{19-driess-RSSws, title = {Hierarchical Task and Motion Planning using Logic-Geometric Programming (HLGP)}, author = {Driess, Danny and Oguz, Ozgur and Toussaint, Marc}, year = {2019}, howpublished = {RSS Workshop on Robust Task and Motion Planning}, youtube = {VndjJtzl7ho} } - Yoojin Oh, Marc Toussaint, and Jim Mainprice. e-Print arXiv: 1906.12280, RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics, 2019. [arxiv] [bibtex]
@misc{19-oh-RSSws, author = {Oh, Yoojin and Toussaint, Marc and Mainprice, Jim}, title = {Learning Arbitration for Shared Autonomy by Hindsight Data Aggregation}, journal = {RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics}, year = {2019}, arxiv = {1906.12280} } - Philipp Kratzer, Marc Toussaint, and Jim Mainprice. RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics, 2019. [arxiv] [bibtex]
@misc{19-kratzer-RSSws, author = {Kratzer, Philipp and Toussaint, Marc and Mainprice, Jim}, title = {Motion Prediction with Recurrent Neural Network Dynamical Models and Trajectory Optimization}, howpublished = {RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics}, year = {2019}, arxiv = {1906.12279} } - Muhammad Usman Khalid, Janik M. Hager, Werner Kraus, Marco F. Huber, and Marc Toussaint. In Proc. of the Int. Conf. on Automation Science and Engineering (CASE), 2019. [bibtex]
@inproceedings{19-khalid-CASE, title = {Deep Workpiece Region Segmentation for Bin Picking}, author = {Khalid, Muhammad Usman and Hager, Janik M. and Kraus, Werner and Huber, Marco F. and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Automation Science and Engineering (CASE)}, year = {2019} } - Camille Phiquepal, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Nominated for Best Paper Award in Cognitive Robotics, 2019. [video] [bibtex]
@inproceedings{19-phiquepal-ICRA, title = {Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach}, author = {Phiquepal, Camille and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, note = {\emph{Nominated for Best Paper Award in Cognitive Robotics}}, year = {2019}, youtube = {vNNZqMC_KNY} } - Marc Toussaint, Kelsey R Allen, Kevin A Smith, and Josh B Tenenbaum. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), Sister Conference Best Paper Track – Extended abstract of the R:SS’18 paper, 2019. [bibtex]
@misc{19-toussaint-IJCAIabstract, title = {Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning -- Extended Abstract}, author = {Toussaint, Marc and Allen, Kelsey R and Smith, Kevin A and Tenenbaum, Josh B}, booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial Intelligence (IJCAI)}, note = {Sister Conference Best Paper Track -- Extended abstract of the R:SS'18 paper}, year = {2019} } - Andreas Doerr, Michael Volpp, Marc Toussaint, Sebastian Trimpe, and Christian Daniel. In Proc. of the 36th Int. Conf. on Machine Learning (ICML), 2019. [arxiv] [bibtex]
@inproceedings{19-doerr-ICML, title = {Trajectory-based off-policy deep reinforcement learning}, author = {Doerr, Andreas and Volpp, Michael and Toussaint, Marc and Trimpe, Sebastian and Daniel, Christian}, booktitle = {Proc{.} of the 36th Int{.} Conf{.} on Machine Learning (ICML)}, year = {2019}, arxiv = {1905.05710} } - Danny Driess, Daniel Hennes, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2019. [video] [bibtex]
@inproceedings{19-driess-ICRA, title = {Active Multi-Contact Continuous Tactile Exploration with Gaussian Process Differential Entropy}, author = {Driess, Danny and Hennes, Daniel and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2019}, youtube = {_FOkJoJLOPM} }
2018
- Sebastian Höfer, Jörg Raisch, Marc Toussaint, and Oliver Brock. PLOS ONE, 13, p. 1-48, Public Library of Science, 2018. [doi] [bibtex]
@article{18-hoefer-PLOSONE, author = {Höfer, Sebastian and Raisch, Jörg and Toussaint, Marc and Brock, Oliver}, journal = {PLOS ONE}, publisher = {Public Library of Science}, title = {No free lunch in ball catching: A comparison of Cartesian and angular representations for control}, year = {2018}, month = jun, volume = {13}, pages = {1-48}, number = {6}, doi = {10.1371/journal.pone.0197803} } - Philipp Kratzer, Marc Toussaint, and Jim Mainprice. In IEEE-RAS Int. Conf. on Humanoid Robots, 2018. [bibtex]
@inproceedings{18-kratzer-Humanoids, title = {Towards Combining Motion Optimization and Data Driven Dynamical Models for Human Motion Prediction}, author = {Kratzer, Philipp and Toussaint, Marc and Mainprice, Jim}, booktitle = {IEEE-RAS Int{.} Conf{.} on Humanoid Robots}, year = {2018} } - Ruth Schulz, Philipp Kratzer, and Marc Toussaint. Frontiers in neurorobotics, 12, p. 36, Frontiers, 2018. [video] [bibtex]
@article{18-schulz-frontiers, title = {Preferred interaction styles for human-robot collaboration vary over tasks with different action types}, author = {Schulz, Ruth and Kratzer, Philipp and Toussaint, Marc}, journal = {Frontiers in neurorobotics}, volume = {12}, pages = {36}, year = {2018}, publisher = {Frontiers}, youtube = {1qymi-qon9M}, pdf = {https://www.frontiersin.org/articles/10.3389/fnbot.2018.00036/full} } - Thibaut Munzer, Marc Toussaint, and Manuel Lopes. Autonomous Robots, 42, p. 1103-1115, 2018. [bibtex]
@article{18-munzer-AuRo, title = {Efficient behavior learning in human–robot collaboration}, author = {Munzer, Thibaut and Toussaint, Marc and Lopes, Manuel}, year = {2018}, volume = {42}, pages = {1103-1115}, journal = {Autonomous Robots} } - Marc Toussaint, Kelsey R Allen, Kevin A Smith, and Josh B Tenenbaum. In Proc. of Robotics: Science and Systems (R:SS), Best Paper Award, 2018. [video] [bibtex]
@inproceedings{18-toussaint-RSS, title = {Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning}, author = {Toussaint, Marc and Allen, Kelsey R and Smith, Kevin A and Tenenbaum, Josh B}, booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)}, note = {\emph{Best Paper Award}}, year = {2018}, youtube = {-L4tCIGXKBE} } - Peter Englert, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2018. [video] [bibtex]
@inproceedings{18-englert-IROS, title = {Kinematic Morphing Networks for Manipulation Skill Transfer}, author = {Englert, Peter and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2018}, youtube = {hI1BC0G0oD4} } - Andreas Doerr, Christian Daniel, Martin Schiegg, Nguyen-Tuong Duy, Stefan Schaal, Marc Toussaint, and Sebastian Trimpe. In Proc. of the 35th Int. Conf. on Machine Learning (ICML), 2018. [arxiv] [bibtex]
@inproceedings{18-doerr-ICML, title = {Probabilistic Recurrent State-Space Models}, author = {Doerr, Andreas and Daniel, Christian and Schiegg, Martin and Duy, Nguyen-Tuong and Schaal, Stefan and Toussaint, Marc and Trimpe, Sebastian}, booktitle = {Proc{.} of the 35th Int{.} Conf{.} on Machine Learning (ICML)}, year = {2018}, arxiv = {1801.10395} } - Baptiste Busch, Marc Toussaint, and Manuel Lopes. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2018. [video] [bibtex]
@inproceedings{18-busch-ICRA, title = {Planning Ergonomic Sequences of Actions in Human-Robot Interaction}, author = {Busch, Baptiste and Toussaint, Marc and Lopes, Manuel}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2018}, vimeo = {232348427} } - Danny Driess, Heiko Zimmermann, Simon Wolfen, Dan Suissa, Daniel Haeufle, Daniel Hennes, Marc Toussaint, and Syn Schmitt. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2018. [video] [bibtex]
@inproceedings{18-driess-ICRA, title = {Learning to Control Redundant Musculoskeletal Systems with Neural Networks and {SQP}: Exploiting Muscle Properties}, author = {Driess, Danny and Zimmermann, Heiko and Wolfen, Simon and Suissa, Dan and Haeufle, Daniel and Hennes, Daniel and Toussaint, Marc and Schmitt, Syn}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, youtube = {ODFvqBWOtec}, year = {2018} } - Ngo Anh Vien, Heiko Zimmermann, and Marc Toussaint. In Proc. of The AAAI Conference on Artificial Intelligence (AAAI 18), 2018. [bibtex]
@inproceedings{18-vien-AAAI, author = {Vien, Ngo Anh and Zimmermann, Heiko and Toussaint, Marc}, title = {Bayesian Functional Optimization}, booktitle = {Proc{.} of The AAAI Conference on Artificial Intelligence (AAAI 18)}, year = {2018} } - Konrad Rawlik, Dmitry Zarubin, Marc Toussaint, and Sethu Vijayakumar. In Proc. of the International Symposium of Robotics Research, 2018. [bibtex]
@inproceedings{18-rawlik-ISRR, title = {An Approximate Inference Approach to Temporal Optimization for Robotics}, author = {Rawlik, Konrad and Zarubin, Dmitry and Toussaint, Marc and Vijayakumar, Sethu}, booktitle = {Proc{.} of the International Symposium of Robotics Research}, year = {2018} } - Peter Englert, and Marc Toussaint. The International Journal of Robotics Research, 37, p. 137-154, 2018. [video] [bibtex]
@article{18-englert-IJRR, author = {Englert, Peter and Toussaint, Marc}, title = {Learning manipulation skills from a single demonstration}, journal = {The International Journal of Robotics Research}, volume = {37}, number = {1}, pages = {137-154}, year = {2018}, youtube = {sG01B_GcTJQ} } - Camille Phiquepal, and Marc Toussaint. RSS Workshop on Task and Motion Planning, 2018. [video] [bibtex]
@misc{18-phiquepal-RSSws, title = {Multi-Agent Task and Motion Planning: An Optimization based Approach}, author = {Phiquepal, Camille and Toussaint, Marc}, year = {2018}, howpublished = {RSS Workshop on Task and Motion Planning}, youtube = {y-iLmFbwaFs} }
2017
- Peter Englert, Ngo Anh Vien, and Marc Toussaint. The International Journal of Robotics Research, 36, p. 1474-1488, 2017. [bibtex]
@article{17-englert-IJRR, author = {Englert, Peter and Vien, Ngo Anh and Toussaint, Marc}, title = {Inverse {KKT}: Learning cost functions of manipulation tasks from demonstrations}, journal = {The International Journal of Robotics Research}, volume = {36}, number = {13-14}, pages = {1474-1488}, year = {2017} } - Andreas Doerr, Christian Daniel, Duy Nguyen-Tuong, Alonso Marco, Stefan Schaal, Marc Toussaint, and Sebastian Trimpe. In Proc. of the Annual Conf. on Robot Learning (CORL), 2017. [bibtex]
@inproceedings{17-doerr-CoRL, title = {Optimizing Long-term Predictions for Model-based Policy Search}, author = {Doerr, Andreas and Daniel, Christian and Nguyen-Tuong, Duy and Marco, Alonso and Schaal, Stefan and Toussaint, Marc and Trimpe, Sebastian}, booktitle = {Proc{.} of the Annual Conf{.} on Robot Learning (CORL)}, year = {2017} } - Manuel Baum, Matthew Bernstein, Roberto Martín-Martín, Sebastian Höfer, Johannes Kulick, Marc Toussaint, Alex Kacelnik, and Oliver Brock. In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2017. [video] [bibtex]
@inproceedings{17-baum-Humanoids, author = {Baum, Manuel and Bernstein, Matthew and Mart{\'i}n-Mart{\'i}n, Roberto and H{\"o}fer, Sebastian and Kulick, Johannes and Toussaint, Marc and Kacelnik, Alex and Brock, Oliver}, title = {Opening a Lockbox through Physical Exploration}, booktitle = {Proc{.} of the IEEE-RAS Int{.} Conf{.} on Humanoid Robots (Humanoids)}, year = {2017}, youtube = {WSnPnpHLpdI} } - Sabrina Hoppe, Zhongyu Lou, Daniel Hennes, and Marc Toussaint. IROS Workshop on Frontiers in Contact-rich Robotic Interaction, 2017. [bibtex]
@misc{17-hoppe-IROSws, title = {Deep Learning for Manipulation with Visual and Haptic Feedback}, author = {Hoppe, Sabrina and Lou, Zhongyu and Hennes, Daniel and Toussaint, Marc}, year = {2017}, howpublished = {IROS Workshop on Frontiers in Contact-rich Robotic Interaction} } - Ilker Yildirim, Tobias Gerstenberg, Basil Saeed, Marc Toussaint, and Josh B Tenenbaum. In Proc. of the Thirty-Night Annual Conf. of the Cognitive Science Society (CogSci), 2017. [bibtex]
@inproceedings{17-yildirim-CogSci, title = {Physical problem solving: Joint planning with symbolic, geometric, and dynamic constraints}, author = {Yildirim, Ilker and Gerstenberg, Tobias and Saeed, Basil and Toussaint, Marc and Tenenbaum, Josh B}, booktitle = {Proc{.} of the Thirty-Night Annual Conf{.} of the Cognitive Science Society (CogSci)}, year = {2017} } - Thibaut Munzer, Marc Toussaint, and Manuel Lopes. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2017. [video] [bibtex]
@inproceedings{17-munzer-ICRA, author = {Munzer, Thibaut and Toussaint, Marc and Lopes, Manuel}, title = {Preference learning on the execution of collaborative human-robot tasks}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, vimeo = {182913540}, year = {2017} } - Ruth Schulz, Philipp Kratzer, and Marc Toussaint. In Proc. of the Int. Conf. on Human Agent Interaction (HAI), 2017. [video] [bibtex]
@inproceedings{17-schulz-HAIa, title = {Building a Bridge with a Robot: A System for Collaborative On-table Task Execution}, author = {Schulz, Ruth and Kratzer, Philipp and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Human Agent Interaction (HAI)}, year = {2017}, youtube = {Em59X9087tc} } - Ruth Schulz, In Proc. of the Int. Conf. on Human Agent Interaction (HAI), 2017. [video] [bibtex]
@inproceedings{17-schulz-HAIb, title = {Collaborative Robots Learning Spatial Language for Picking and Placing Objects on a Table}, author = {Schulz, Ruth}, booktitle = {Proc{.} of the Int{.} Conf{.} on Human Agent Interaction (HAI)}, year = {2017}, youtube = {9L-HWd6qF88} } - Marc Toussaint, and Manuel Lopes. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2017. [bibtex]
@inproceedings{17-toussaint-ICRA, title = {Multi-Bound Tree Search for Logic-Geometric Programming in Cooperative Manipulation Domains}, author = {Toussaint, Marc and Lopes, Manuel}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2017} } - Danny Driess, Peter Englert, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2017. [video] [bibtex]
@inproceedings{17-driess-IROS, author = {Driess, Danny and Englert, Peter and Toussaint, Marc}, title = {Active Learning with Query Paths for Tactile Object Shape Exploration}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, youtube = {4k5unx7En28}, year = {2017} } - Danny Driess, Peter Englert, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2017. [video] [bibtex]
@inproceedings{17-driess-ICRA, title = {Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations}, author = {Driess, Danny and Englert, Peter and Toussaint, Marc}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, youtube = {CudjsbB7sfM}, year = {2017} } - Robert Lieck, Ngo Anh Vien, and Marc Toussaint. ICAPS Workshop on Heuristics and Search for Domain-independent Planning (HSDIP), 2017. [bibtex]
@misc{17-lieck-ICAPSws, title = {Exploiting Variance Information in {Monte-Carlo} Tree Search}, author = {Lieck, Robert and Vien, Ngo Anh and Toussaint, Marc}, year = {2017}, howpublished = {ICAPS Workshop on Heuristics and Search for Domain-independent Planning (HSDIP)} } - Robert Lieck, and Marc Toussaint. ICAPS Workshop on Planning, Search, and Optimization, 2017. [bibtex]
@misc{17-lieck-ICAPSws2, author = {Lieck, Robert and Toussaint, Marc}, year = {2017}, title = {Active Tree Search}, howpublished = {ICAPS Workshop on Planning, Search, and Optimization} } - Andrea Baisero, Stefan Otte, Peter Englert, and Marc Toussaint. e-Print arXiv: 1701.06450, 2017. [arxiv] [video] [bibtex]
@misc{17-baisero-SymbId, title = {Identification of Unmodeled Objects from Symbolic Descriptions}, author = {Baisero, Andrea and Otte, Stefan and Englert, Peter and Toussaint, Marc}, year = {2017}, youtube = {tyiImFoC9p8}, arxiv = {1701.06450} } - Marc Toussaint, In Geometric and Numerical Foundations of Movements, Springer, 2017. [bibtex]
@incollection{17-toussaint-Newton, author = {Toussaint, Marc}, title = {A tutorial on {N}ewton methods for constrained trajectory optimization and relations to {SLAM}, {G}aussian {P}rocess smoothing, optimal control, and probabilistic inference}, booktitle = {Geometric and Numerical Foundations of Movements}, editor = {Laumond, Jean-Paul}, publisher = {Springer}, year = {2017} } - Jonas Langhabel, Robert Lieck, Marc Toussaint, and Martin Rohrmeier. In Proc. of the 18th Int. Society for Music Information Retrieval Conference (ISMIR’17), 2017. [bibtex]
@inproceedings{17-langhabel-ISMIR, author = {Langhabel, Jonas and Lieck, Robert and Toussaint, Marc and Rohrmeier, Martin}, year = {2017}, title = {Feature Discovery for Sequential Prediction of Monophonic Music}, booktitle = {Proc{.} of the 18th Int{.} Society for Music Information Retrieval Conference (ISMIR'17)} } - Camille Phiquepal, and Marc Toussaint. RSS Workshop on Integrated Task and Motion Planning, 2017. [video] [bibtex]
@misc{17-phiquepal-TAMPws, title = {Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach}, author = {Phiquepal, Camille and Toussaint, Marc}, year = {2017}, howpublished = {RSS Workshop on Integrated Task and Motion Planning}, youtube = {7tefP951Foo} }
2016
- Kim Peter Wabersich, and Marc Toussaint. NIPS Workshop on Bayesian Optimization, 2016. [arxiv] [bibtex]
@misc{16-wabersich-NIPSws, title = {Advancing Bayesian Optimization: The Mixed-Global-Local {(MGL)} Kernel and Length-Scale Cool Down}, author = {Wabersich, Kim Peter and Toussaint, Marc}, howpublished = {NIPS Workshop on Bayesian Optimization}, year = {2016}, arxiv = {1612.03117} } - Johannes Kulick, Robert Lieck, and Marc Toussaint. NIPS Workshop on the Future of Interactive Learning Machines, 2016. [bibtex]
@misc{16-kulick-NIPSws, author = {Kulick, Johannes and Lieck, Robert and Toussaint, Marc}, year = {2016}, title = {Cross-Entropy as a Criterion for Robust Interactive Learning of Latent Properties}, howpublished = {NIPS Workshop on the Future of Interactive Learning Machines} } - Danny Drieß, Peter Englert, and Marc Toussaint. IROS Workshop on Mechatronics behind Force/Torque Controlled Robot Actuation: Secrets and Challenges, 2016. [bibtex]
@misc{16-driess-IROSws, title = {Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations}, author = {Drieß, Danny and Englert, Peter and Toussaint, Marc}, howpublished = {IROS Workshop on Mechatronics behind Force/Torque Controlled Robot Actuation: Secrets and Challenges}, year = {2016} } - Peter Englert, and Marc Toussaint. In Proc. of Robotics: Science and Systems (R:SS), 2016. [video] [bibtex]
@inproceedings{16-englert-RSS, author = {Englert, Peter and Toussaint, Marc}, title = {Combined Optimization and Reinforcement Learning for Manipulation Skills}, booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)}, year = {2016}, youtube = {bn_sv5A1BhQ} } - Ngo Anh Vien, Peter Englert, and Marc Toussaint. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2016. [bibtex]
@inproceedings{16-vien-IJCAI, title = {Policy Search in Reproducing Kernel Hilbert Space}, author = {Vien, Ngo Anh and Englert, Peter and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial Intelligence (IJCAI)}, year = {2016} } - Marc Toussaint, Thibaut Munzer, Yoan Mollard, Li Yang Wu, Ngo Anh Vien, and Manuel Lopes. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2016. [video] [video] [bibtex]
@inproceedings{16-toussaint-ICRA, title = {Relational Activity Processes for Modeling Concurrent Cooperation}, author = {Toussaint, Marc and Munzer, Thibaut and Mollard, Yoan and Wu, Li Yang and Vien, Ngo Anh and Lopes, Manuel}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2016}, vimeo = {139342248}, youtube = {J6qt8Pi3zYg} } - Nathan Ratliff, Marc Toussaint, Jeannette Bohg, and Stefan Schaal. 2016. [bibtex]
@misc{16-ratliff-GaussNewton, title = {On the Fundamental Importance of Gauss-Newton in Motion Optimization}, author = {Ratliff, Nathan and Toussaint, Marc and Bohg, Jeannette and Schaal, Stefan}, year = {2016} } - Oliver Brock, Jaeheung Park, and Marc Toussaint. In Handbook of Robotics, Springer, 2016. [bibtex]
@incollection{16-brock-Handbook, title = {Mobility and Manipulation}, author = {Brock, Oliver and Park, Jaeheung and Toussaint, Marc}, booktitle = {Handbook of Robotics}, chapter = {40}, editor = {Siciliano, Bruno and Khatib, Oussama}, publisher = {Springer}, year = {2016}, pdf = {http://www.springer.com/us/book/9783319325507} } - Robert Lieck, and Marc Toussaint. Neurocomputing, 192, p. 49-60, 2016. [bibtex]
@article{16-lieck-Neurocomputing, title = {Temporally extended features in model-based reinforcement learning with partial observability}, author = {Lieck, Robert and Toussaint, Marc}, journal = {Neurocomputing}, year = {2016}, pages = {49-60}, volume = {192} } - Jens Schreiter, Duy Nguyen-Tuong, and Marc Toussaint. Neurocomputing, 192, p. 29-37 , 2016. [bibtex]
@article{16-schreiter-Neurocomputing, title = {Efficient sparsification for Gaussian process regression}, author = {Schreiter, Jens and Nguyen-Tuong, Duy and Toussaint, Marc}, journal = {Neurocomputing}, year = {2016}, pages = { 29-37 }, volume = {192} }
2015
- Johannes Kulick, Robert Lieck, and Marc Toussaint. e-Print arXiv: 1409.7552v2, 2015. [arxiv] [bibtex]
@misc{15-kulick-MaxCE, author = {Kulick, Johannes and Lieck, Robert and Toussaint, Marc}, year = {2015}, title = {{{The Advantage of Cross-Entropy over Entropy in Iterative Information Gathering}}}, arxiv = {1409.7552v2} } - Yoan Mollard, Thibaut Munzer, Andrea Baisero, Marc Toussaint, and Manuel Lopes. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [video] [video] [bibtex]
@inproceedings{15-mollard-IROS, author = {Mollard, Yoan and Munzer, Thibaut and Baisero, Andrea and Toussaint, Marc and Lopes, Manuel}, title = {Robot programming from demonstration, feedback and transfer}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2015}, vimeo = {120726868}, vimeo2 = {109165300}, youtube = {xags2An65go}, youtube2 = {cK-X5FCPwKs} } - Ngo Anh Vien, and Marc Toussaint. In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2015. [video] [bibtex]
@inproceedings{15-vien-Humanoids, author = {Vien, Ngo Anh and Toussaint, Marc}, title = {Touch Based {POMDP} Manipulation via Sequential Submodular Optimization}, booktitle = {Proc{.} of the IEEE-RAS Int{.} Conf{.} on Humanoid Robots (Humanoids)}, year = {2015}, youtube = {OBjv7Q95vX4} } - Jens Schreiter, Duy Nguyen-Tuong, Mona Eberts, Bastian Bischoff, Heiner Markert, and Marc Toussaint. In Proc. of the European Conf. on Machine Learning (ECML), 2015. [bibtex]
@inproceedings{15-schreiter-ECML, title = {Safe Exploration for Active Learning with Gaussian Processes}, author = {Schreiter, Jens and Nguyen-Tuong, Duy and Eberts, Mona and Bischoff, Bastian and Markert, Heiner and Toussaint, Marc}, year = {2015}, booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML)} } - Andrea Baisero, Yoan Mollard, Manuel Lopes, Marc Toussaint, and Ingo Luetkebohle. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [bibtex]
@inproceedings{15-baisero-IROS, author = {Baisero, Andrea and Mollard, Yoan and Lopes, Manuel and Toussaint, Marc and Luetkebohle, Ingo}, title = {Temporal Segmentation of Pair-Wise Interaction Phases in Sequential Manipulation Demonstrations}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2015} } - Nathan Ratliff, Marc Toussaint, and Stefan Schaal. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015. [bibtex]
@inproceedings{15-ratliff-ICRA, title = {Understanding the geometry of workspace obstacles in motion optimization}, author = {Ratliff, Nathan and Toussaint, Marc and Schaal, Stefan}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2015} } - Andreas Doerr, Nathan Ratliff, Jeannette Bohg, Marc Toussaint, and Stefan Schaal. In Proc. of Robotics: Science and Systems (R:SS), 2015. [bibtex]
@inproceedings{15-doerr-RSS, title = {Direct loss minimization inverse optimal control}, author = {Doerr, Andreas and Ratliff, Nathan and Bohg, Jeannette and Toussaint, Marc and Schaal, Stefan}, booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)}, year = {2015} } - Peter Englert, and Marc Toussaint. In Proc. of the Int. Symposium of Robotics Research (ISRR), 2015. [video] [bibtex]
@inproceedings{15-englert-ISRR, title = {Inverse {KKT} -- Learning Cost Functions of Manipulation Tasks from Demonstrations}, author = {Englert, Peter and Toussaint, Marc}, booktitle = {Proc.{} of the Int.{} Symposium of Robotics Research (ISRR)}, year = {2015}, youtube = {pO6XNiyJqNw} } - Robert Lieck, and Marc Toussaint. In 23th European Symposium on Artificial Neural Networks (ESANN), 2015. [bibtex]
@inproceedings{15-lieck-ESANN, title = {Discovering temporally extended features for reinforcement learning in domains with delayed causalities}, author = {Lieck, Robert and Toussaint, Marc}, booktitle = {23th European Symposium on Artificial Neural Networks (ESANN)}, year = {2015} } - Ngo Anh Vien, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [video] [bibtex]
@inproceedings{15-vien-IROS, author = {Vien, Ngo Anh and Toussaint, Marc}, title = {{POMDP} Manipulation via Trajectory Optimization}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2015}, youtube = {FCzM_jaIwhk} } - Kim Peter Wabersich, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [bibtex]
@inproceedings{15-wabersich-IROS, author = {Wabersich, Kim Peter and Toussaint, Marc}, title = {Automatic Testing and MiniMax Optimization of System Parameters for Best Worst-Case Performance}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2015} } - Marc Toussaint, Helge Ritter, and Oliver Brock. Künstliche Intelligenz, 29, p. 379-388, 2015. [journal] [bibtex]
@article{15-toussaint-KI, author = {Toussaint, Marc and Ritter, Helge and Brock, Oliver}, title = {The Optimization Route to Robotics---and Alternatives}, journal = {K{\"u}nstliche Intelligenz}, year = {2015}, volume = {29}, pages = {379-388}, journal_url = {http://link.springer.com/article/10.1007/s13218-015-0379-7} } - Barbara Hammer, and Marc Toussaint. Künstliche Intelligenz, 29, p. 323-327, 2015. [journal] [bibtex]
@incollection{15-hammer-KIeditorial, author = {Hammer, Barbara and Toussaint, Marc}, title = {{(Eds.) Special Issue on Autonomous Learning}}, journal = {K{\"u}nstliche Intelligenz}, year = {2015}, volume = {29}, pages = {323-327}, journal_url = {https://link.springer.com/article/10.1007/s13218-015-0392-x} } - Marc Toussaint, In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2015. [video] [bibtex]
@inproceedings{15-toussaint-IJCAI, title = {Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning}, author = {Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial Intelligence (IJCAI)}, year = {2015}, youtube = {B2s85xfo2uE} } - Jens Schreiter, Duy Nguyen-Tuong, Heiner Markert, Michael Hanselmann, and Marc Toussaint. In Proc. of the European Symposium on Artificial Neural Networks (ESANN), 2015. [bibtex]
@inproceedings{15-schreiter-ESANN, author = {Schreiter, Jens and Nguyen-Tuong, Duy and Markert, Heiner and Hanselmann, Michael and Toussaint, Marc}, title = {Fast Greedy Insertion and Deletion in Sparse Gaussian Process Regression}, booktitle = {Proc{.} of the European Symposium on Artificial Neural Networks (ESANN)}, year = {2015} } - Jens Schreiter, Peter Englert, Duy Nguyen-Tuong, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015. [bibtex]
@inproceedings{15-schreiter-ICRA, author = {Schreiter, Jens and Englert, Peter and Nguyen-Tuong, Duy and Toussaint, Marc}, title = {Sparse Gaussian Process Regression for Compliant, Real-Time Robot Control}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2015} } - Akshat Kumar, Shlomo Zilberstein, and Marc Toussaint. Journal of Artificial Intelligence Research, 53, p. 223-270, 2015. [bibtex]
@article{15-kumar-JAIR, title = {Probabilistic Inference Techniques for Scalable Multiagent Decision Making}, author = {Kumar, Akshat and Zilberstein, Shlomo and Toussaint, Marc}, journal = {Journal of Artificial Intelligence Research}, volume = {53}, pages = {223-270}, year = {2015} } - Johannes Kulick, Stefan Otte, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015. [video] [bibtex]
@inproceedings{15-kulick-ICRA, author = {Kulick, Johannes and Otte, Stefan and Toussaint, Marc}, title = {Active Exploration of Joint Dependency Structures}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2015}, youtube = {6JBF-53iDOM} } - Ngo Anh Vien, and Marc Toussaint. In Proc. of The Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI 15), 2015. [bibtex]
@inproceedings{15-vien-AAAI, author = {Vien, Ngo Anh and Toussaint, Marc}, title = {Hierarchical {Monte-Carlo} Planning}, booktitle = {Proc{.} of The Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI 15)}, year = {2015} } - Johannes Kulick, Stefan Otte, and Marc Toussaint. RSS Workshop on Combining AI Reasoning and Cognitive Science, 2015. [bibtex]
@misc{15-kulick-RSSws, author = {Kulick, Johannes and Otte, Stefan and Toussaint, Marc}, title = {Robots Solving Serial Means-Means-End Problems}, howpublished = {RSS Workshop on Combining AI Reasoning and Cognitive Science}, year = {2015} }
2014
- Johannes Kulick, Robert Lieck, and Marc Toussaint. e-Print arXiv: 1409.7552, 2014. [arxiv] [bibtex]
@misc{14-kulick-MaxCE, author = {Kulick, Johannes and Lieck, Robert and Toussaint, Marc}, year = {2014}, title = {Active Learning of Hyperparameters: {A}n Expected Cross Entropy Criterion for Active Model Selection}, arxiv = {1409.7552} } - Marc Toussaint, Nathan Ratliff, Jeannette Bohg, Ludovic Righetti, Peter Englert, and Stefan Schaal. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2014. [video] [bibtex]
@inproceedings{14-toussaint-IROS, author = {Toussaint, Marc and Ratliff, Nathan and Bohg, Jeannette and Righetti, Ludovic and Englert, Peter and Schaal, Stefan}, title = {Dual Execution of Optimized Contact Interaction Trajectories}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, youtube = {u0mIG4UWUC4}, year = {2014} } - Stefan Otte, Johannes Kulick, Marc Toussaint, and Oliver Brock. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2014. [bibtex]
@inproceedings{14-otte-IROS, author = {Otte, Stefan and Kulick, Johannes and Toussaint, Marc and Brock, Oliver}, title = {Entropy Based Strategies for Physical Exploration of the Environment's Degrees of Freedom}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2014} } - Peter Englert, and Marc Toussaint. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2014. [bibtex]
@inproceedings{14-englert-IROS, author = {Englert, Peter and Toussaint, Marc}, title = {Reactive Phase and Task Space Adaptation for Robust Motion Execution}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2014} } - Ngo Anh Vien, and Marc Toussaint. In Proc. of the Int. Conf. on Machine Learning (ICML), 2014. [bibtex]
@inproceedings{14-vien-ICML, author = {Vien, Ngo Anh and Toussaint, Marc}, title = {Model-Based Relational RL When Object Existence is Partially Observable}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}, year = {2014} } - Nikolay Jetchev, and Marc Toussaint. Autonomous Robots, 37, p. 169-189, 2014. [bibtex]
@article{14-jetchev-AuRo, title = {Discovering relevant task spaces using inverse feedback control}, author = {Jetchev, Nikolay and Toussaint, Marc}, year = {2014}, volume = {37}, pages = {169-189}, journal = {Autonomous Robots} }
2013
- Ngo Anh Vien, and Marc Toussaint. AAAI Technical Report FS-13-02, 2013. [bibtex]
@misc{13-vien-AAAIws, year = {2013}, title = {Reasoning with Uncertainties Over Existence Of Objects}, author = {Vien, Ngo Anh and Toussaint, Marc}, howpublished = {AAAI Technical Report FS-13-02} } - Dmitry Zarubin, Florian T. Pokorny, Marc Toussaint, and Danica Kragic. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2013. [bibtex]
@inproceedings{13-zarubin-IROS, author = {Zarubin, Dmitry and Pokorny, Florian T. and Toussaint, Marc and Kragic, Danica}, title = {Caging Complex Objects with Geodesic Balls}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2013} } - Dmitry Zarubin, Florian T. Pokorny, Dan Song, Marc Toussaint, and Danica Kragic. ICRA Workshop on Hand Synergies – how to tame the complexity of grapsing, 2013. [bibtex]
@misc{13-zarubin-ICRAws, year = {2013}, author = {Zarubin, Dmitry and Pokorny, Florian T. and Song, Dan and Toussaint, Marc and Kragic, Danica}, title = {Topological Synergies for Grasp Transfer}, howpublished = {ICRA Workshop on Hand Synergies -- how to tame the complexity of grapsing} } - Konrad Rawlik, Marc Toussaint, and Sethu Vijayakumar. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2013. [bibtex]
@inproceedings{13-rawlik-IJCAI, title = {Path Integral Control by Reproducing Kernel Hilbert Space Embedding}, author = {Rawlik, Konrad and Toussaint, Marc and Vijayakumar, Sethu}, booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial Intelligence (IJCAI)}, year = {2013} } - Andreas Orthey, Marc Toussaint, and Nikolay Jetchev. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2013. [bibtex]
@inproceedings{13-orthey-ICRA, author = {Orthey, Andreas and Toussaint, Marc and Jetchev, Nikolay}, title = {Optimizing Motion Primitives to Make Symbolic Models More Predictive}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2013} } - Johannes Kulick, Marc Toussaint, Tobias Lang, and Manuel Lopes. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2013. [bibtex]
@inproceedings{13-kulick-IJCAI, year = {2013}, title = {Active Learning for Teaching a Robot Grounded Relational Symbols}, author = {Kulick, Johannes and Toussaint, Marc and Lang, Tobias and Lopes, Manuel}, booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial Intelligence (IJCAI)} } - Nikolay Jetchev, Tobias Lang, and Marc Toussaint. ICRA Workshop on Autonomous Learning, 2013. [bibtex]
@misc{13-jetchev-ICRAws, year = {2013}, title = {Learning Grounded Relational Symbols from Continuous Data for Abstract Reasoning}, author = {Jetchev, Nikolay and Lang, Tobias and Toussaint, Marc}, howpublished = {ICRA Workshop on Autonomous Learning} } - Nikolay Jetchev, and Marc Toussaint. Autonomous Robots, 34, p. 111-127, 2013. [bibtex]
@article{13-jetchev-AuRo, title = {Fast Motion Planning from Experience: Trajectory Prediction for Speeding up Movement Generation}, author = {Jetchev, Nikolay and Toussaint, Marc}, year = {2013}, volume = {34}, pages = {111-127}, journal = {Autonomous Robots} } - Vladimir Ivan, Dmitry Zarubin, Marc Toussaint, Taku Komura, and Sethu Vijayakumar. International Journal of Robotics Research, 32, p. 1151-1163, 2013. [bibtex]
@article{13-ivan-IJRR, author = {Ivan, Vladimir and Zarubin, Dmitry and Toussaint, Marc and Komura, Taku and Vijayakumar, Sethu}, title = {Topology-based Representations for Motion Planning and Generalisation in Dynamic Environments with Interactions}, journal = {International Journal of Robotics Research}, volume = {32}, year = {2013}, pages = {1151-1163} } - Stanimir Dragiev, Marc Toussaint, and Michael Gienger. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2013. [bibtex]
@inproceedings{13-dragiev-ICRA, author = {Dragiev, Stanimir and Toussaint, Marc and Gienger, Michael}, title = {Uncertainty Aware Grasping and Tactile Exploration}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2013} } - Elmar Rückert, Gerhard Neumann, Marc Toussaint, and Wolfgang Maass. Frontiers in Computational Neuroscience, 6, 2013. [bibtex]
@article{13-ruckert-CompNeu, author = {R{\"u}ckert, Elmar and Neumann, Gerhard and Toussaint, Marc and Maass, Wolfgang}, title = {Learned graphical models for probabilistic planning provide a new class of movement primitives}, journal = {Frontiers in Computational Neuroscience}, year = {2013}, volume = {6}, issue = {97} } - Marc Toussaint, Tobias Lang, and Nikolay Jetchev. Automatisierungstechnik, 61, p. 259-268, 2013. [bibtex]
@article{13-toussaint-AT, author = {Toussaint, Marc and Lang, Tobias and Jetchev, Nikolay}, title = {{Kognitive Robotik -- Herausforderungen an unser Verst{\"a}ndnis nat{\"u}rlicher Umgebungen}}, journal = {Automatisierungstechnik}, year = {2013}, volume = {61}, pages = {259-268} }
2012
- Dmitry Zarubin, Vladimir Ivan, Marc Toussaint, and Sethu Vijayakumar. In Proc. of Robotics: Science and Systems (R:SS), 2012. [bibtex]
@inproceedings{12-zarubin-RSS, author = {Zarubin, Dmitry and Ivan, Vladimir and Toussaint, Marc and Vijayakumar, Sethu}, title = {Hierarchical Motion Planning in Topological Representations}, booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)}, year = {2012} } - Marc Toussaint, In Theory and Principled Methods for Designing Metaheuristics, Springer, 2012. [bibtex]
@incollection{12-toussaint-BayesSearch, author = {Toussaint, Marc}, title = {The {B}ayesian Search Game}, year = {2012}, booktitle = {Theory and Principled Methods for Designing Metaheuristics}, editor = {Borenstein, Yossi and Moraglio, Alberto}, publisher = {Springer} } - Konrad Rawlik, Marc Toussaint, and Sethu Vijayakumar. In Proc. of Robotics: Science and Systems (R:SS), Runner Up Best Paper Award, 2012. [bibtex]
@inproceedings{12-rawlik-RSS, author = {Rawlik, Konrad and Toussaint, Marc and Vijayakumar, Sethu}, title = {On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference}, booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)}, note = {\emph{Runner Up Best Paper Award}}, year = {2012} } - Manuel Lopes, Tobias Lang, and Marc Toussaint. In Advances in Neural Information Processing Systems (NIPS), 2012. [bibtex]
@inproceedings{12-lopes-NIPS, author = {Lopes, Manuel and Lang, Tobias and Toussaint, Marc}, title = {Exploration in Model-based Reinforcement Learning by Empirically Estimating Learning Progress}, booktitle = {Advances in Neural Information Processing Systems (NIPS)}, year = {2012} } - Tobias Lang, Marc Toussaint, and Kristian Kersting. Journal of Machine Learning Research, 13, p. 3691-3734, 2012. [bibtex]
@article{12-lang-JMLR, title = {Exploration in Relational Domains for Model-based Reinforcement Learning}, author = {Lang, Tobias and Toussaint, Marc and Kersting, Kristian}, journal = {Journal of Machine Learning Research}, year = {2012}, volume = {13}, pages = {3691-3734} } - Akshat Kumar, Shlomo Zilberstein, and Marc Toussaint. In Int. Conf. on Artificial Intelligence and Statistics (AISTATS), p. 656-664, 2012. [bibtex]
@inproceedings{12-kumar-AISTATS, author = {Kumar, Akshat and Zilberstein, Shlomo and Toussaint, Marc}, year = {2012}, title = {Message Passing Algorithms for {MAP} Estimation Using {DC} Programming}, booktitle = {Int{.} Conf{.} on Artificial Intelligence and Statistics (AISTATS)}, pages = {656-664} } - Matthew Botvinick, and Marc Toussaint. Trends in Cognitive Sciences, 16, p. 485-488, 2012. [bibtex]
@article{12-botvinick-TICS, author = {Botvinick, Matthew and Toussaint, Marc}, title = {Planning as Inference}, journal = {Trends in Cognitive Sciences}, volume = {16}, pages = {485-488}, year = {2012} }
2011
- Marc Toussaint, Amos Storkey, and Stefan Harmeling. In Bayesian Time Series Models, p. 388-413, Cambridge University Press, 2011. [bibtex]
@incollection{11-toussaint-EM, author = {Toussaint, Marc and Storkey, Amos and Harmeling, Stefan}, title = {Expectation-Maximization methods for solving {(PO)MDPs}}, editor = {David Barber, A Taylan Cemgil, Silvia Chiappa}, booktitle = {Bayesian Time Series Models}, publisher = {Cambridge University Press}, year = {2011}, pages = {388-413} } - Pascal Poupart, Marc Toussaint, and Tobias Lang. In Proc. of the European Conf. on Machine Learning (ECML), 2011. [bibtex]
@inproceedings{11-poupart-ECML, author = {Poupart, Pascal and Toussaint, Marc and Lang, Tobias}, year = {2011}, title = {Analyzing and Escaping Local Optima in Planning as Inference for Partially Observable Domains}, booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML)} } - Pascal Poupart, Marc Toussaint, and Tobias Lang. In 10th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), 2011. [bibtex]
@inproceedings{11-poupart-AAMAS, title = {Escaping Local Optima in {POMDP} Planning as Inference}, author = {Poupart, Pascal and Toussaint, Marc and Lang, Tobias}, year = {2011}, booktitle = {10th Int{.} Conf{.} on Autonomous Agents and Multiagent Systems (AAMAS)} } - Akshat Kumar, Shlomo Zilberstein, and Marc Toussaint. In Proc. of the 22nd Int. Joint Conf. on Artificial Intelligence (IJCAI), 2011. [bibtex]
@inproceedings{11-kumar-IJCAI, title = {Scalable Multiagent Planning Using Probabilistic Inference}, author = {Kumar, Akshat and Zilberstein, Shlomo and Toussaint, Marc}, year = {2011}, booktitle = {Proc{.} of the 22nd Int{.} Joint Conf{.} on Artificial Intelligence (IJCAI)} } - Nikolay Jetchev, and Marc Toussaint. In Proc. of the Int. Conf. on Machine Learning (ICML), 2011. [bibtex]
@inproceedings{11-jetchev-ICML, title = {Task Space Retrieval Using Inverse Feedback Control}, author = {Jetchev, Nikolay and Toussaint, Marc}, year = {2011}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)} } - Stanimir Dragiev, Marc Toussaint, and Michael Gienger. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2011. [bibtex]
@inproceedings{11-dragiev-ICRA, author = {Dragiev, Stanimir and Toussaint, Marc and Gienger, Michael}, title = {Gaussian Process Implicit Surfaces for Shape Estimation and Grasping}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2011} }
2010
- Marc Toussaint, Nils Plath, Tobias Lang, and Nikolay Jetchev. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2010. [bibtex]
@inproceedings{10-toussaint-ICRA, author = {Toussaint, Marc and Plath, Nils and Lang, Tobias and Jetchev, Nikolay}, title = {Integrated motor control, planning, grasping and high-level reasoning in a blocks world using probabilistic inference}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2010} } - Marc Toussaint, and Christian Goerick. In From motor to interaction learning in robots, Springer, 2010. [bibtex]
@incollection{10-toussaint-BayesianControl, author = {Toussaint, Marc and Goerick, Christian}, title = {A {B}ayesian view on motor control and planning}, booktitle = {From motor to interaction learning in robots}, publisher = {Springer}, editor = {Sigaud, Olivier and Peters, Jan}, year = {2010} } - Konrad Rawlik, Marc Toussaint, and Sethu Vijayakumar. In Advances in Neural Information Processing Systems (NIPS), 2010. [bibtex]
@inproceedings{10-rawlik-NIPS, author = {Rawlik, Konrad and Toussaint, Marc and Vijayakumar, Sethu}, year = {2010}, title = {An Approximate Inference Approach to Temporal Optimization in Optimal Control}, booktitle = {Advances in Neural Information Processing Systems (NIPS)} } - Jun Morimoto, Chad Jenkins, and Marc Toussaint. IEEE Robotics and Automation Magazine, 17, p. 17-18, 2010. [bibtex]
@incollection{10-morimoto-RAM, author = {Morimoto, Jun and Jenkins, Chad and Toussaint, Marc}, title = {{(Eds.) Special Issue {``Robot Learning in Practice''}}}, journal = {IEEE Robotics and Automation Magazine}, year = {2010}, volume = {17}, issue = {2}, pages = {17-18}, pdf = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5480273} } - Tobias Lang, and Marc Toussaint. Journal of Artificial Intelligence Research, 39, p. 1-49, 2010. [bibtex]
@article{10-lang-JAIR, author = {Lang, Tobias and Toussaint, Marc}, title = {Planning with Noisy Probabilistic Relational Rules}, journal = {Journal of Artificial Intelligence Research}, year = {2010}, volume = {39}, pages = {1-49} } - Tobias Lang, and Marc Toussaint. In Proc. of the Int. Conf. on Machine Learning (ICML), 2010. [bibtex]
@inproceedings{10-lang-ICML, author = {Lang, Tobias and Toussaint, Marc}, year = {2010}, title = {Probabilistic backward and forward reasoning in stochastic relational worlds}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)} } - Tobias Lang, Marc Toussaint, and Kristian Kersting. In Proc. of the European Conf. on Machine Learning (ECML), 2010. [bibtex]
@inproceedings{10-lang-ECML, author = {Lang, Tobias and Toussaint, Marc and Kersting, Kristian}, year = {2010}, title = {Exploration in Relational Worlds}, booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML)} } - Nikolay Jetchev, and Marc Toussaint. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2010. [bibtex]
@inproceedings{10-jetchev-ICRA, author = {Jetchev, Nikolay and Toussaint, Marc}, title = {Trajectory Prediction in Cluttered Voxel Environments}, booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and Automation (ICRA)}, year = {2010} } - Michael Gienger, Marc Toussaint, and Christian Goerick. In Motion Planning for Humanoid Robots, p. 67-98, Springer, 2010. [bibtex]
@incollection{10-gienger-WholeBody, title = {Whole-body Motion Planning -- Building Blocks for Intelligent}, author = {Gienger, Michael and Toussaint, Marc and Goerick, Christian}, booktitle = {Motion Planning for Humanoid Robots}, editor = {Harada, Kensuke and Yoshida, Eiichi and Yokoi, Kazuhito}, pages = {67-98}, year = {2010}, publisher = {Springer}, isbn = {978-1-84996-219-3} }
2009
- Nikos Vlassis, and Marc Toussaint. In Proc. of the Int. Conf. on Machine Learning (ICML), p. 1081-1088, 2009. [bibtex]
@inproceedings{09-vlassis-ICML, title = {Model-Free Reinforcement Learning as Mixture Learning}, author = {Vlassis, Nikos and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}, year = {2009}, pages = {1081-1088}, isbn = {978-1-60558-516-1} } - Nikos Vlassis, Marc Toussaint, Georgios Kontes, and Savas Piperidis. Autonomous Robots, special issue on Robot Learning, 27, p. 123-130, 2009. [bibtex]
@article{09-vlassis-AuRo, title = {Learning model-free robot control by a {Monte Carlo EM} algorithm}, author = {Vlassis, Nikos and Toussaint, Marc and Kontes, Georgios and Piperidis, Savas}, journal = {Autonomous Robots, special issue on Robot Learning}, year = {2009}, volume = {27}, pages = {123-130} } - Sethu Vijayakumar, Marc Toussaint, Giorgios Petkos, and Matthew Howard. In Creating Brain-Like Intelligence – From Basic Principles to Complex Intelligent Systems, 5436/2009, p. 151-191, Springer, 2009. [bibtex]
@incollection{09-vijayakumar-MotionSurvey, author = {Vijayakumar, Sethu and Toussaint, Marc and Petkos, Giorgios and Howard, Matthew}, year = {2009}, title = {Planning and Moving in Dynamic Environments -- A Statistical Machine Learning Approach}, booktitle = {Creating Brain-Like Intelligence -- From Basic Principles to Complex Intelligent Systems}, series = {Lecture Notes in Computer Science}, volume = {5436/2009}, publisher = {Springer}, pages = {151-191} } - Marc Toussaint, Personal Lecture Note, 2009. [bibtex]
@misc{09-toussaint-b, author = {Toussaint, Marc}, title = {Lecture Note: Influence Diagrams}, howpublished = {Personal Lecture Note}, year = {2009}, pdf = {../notes/influence-diagrams.pdf} } - Marc Toussaint, Personal Lecture Note, 2009. [bibtex]
@misc{09-toussaint-a, author = {Toussaint, Marc}, title = {Lecture Notes: Stochastic Optimal Control}, howpublished = {Personal Lecture Note}, year = {2009}, pdf = {../notes/soc.pdf} } - Marc Toussaint, NIPS Workshop on Probabilistic Approaches for Robotics and Control, 2009. [bibtex]
@misc{09-toussaint-NIPSws, title = {Pros and Cons of truncated {G}aussian {EP} in the context of {Approximate Inference Control}}, author = {Toussaint, Marc}, howpublished = {NIPS Workshop on Probabilistic Approaches for Robotics and Control}, editor = {Deisenroth, Marc Peter and Kappen, Bert and Todorov, Emanuel and Nguyen-Tuong, Duy and Rasmussen, Carl Edward and Peterset, Jan}, year = {2009} } - Marc Toussaint, Künstliche Intelligenz, 3/09, p. 23-29, 2009. [bibtex]
@article{09-toussaint-KI, author = {Toussaint, Marc}, title = {Probabilistic inference as a model of planned behavior}, journal = {K{\"u}nstliche Intelligenz}, volume = {3/09}, year = {2009}, pages = {23-29}, issn = {0933-1875} } - Marc Toussaint, In Proc. of the Int. Conf. on Machine Learning (ICML), p. 1049-1056, ACM, 2009. [bibtex]
@inproceedings{09-toussaint-ICML, title = {Robot Trajectory Optimization using Approximate Inference}, author = {Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}, publisher = {ACM}, year = {2009}, pages = {1049-1056}, isbn = {978-1-60558-516-1} } - Nils Plath, and Marc Toussaint. In Proc. of the Int. Conf. on Machine Learning (ICML), p. 817-824, ACM, 2009. [bibtex]
@inproceedings{09-plath-ICML, title = {Multi-class image segmentation using Conditional Random Fields and Global Classification}, author = {Plath, Nils and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}, publisher = {ACM}, year = {2009}, pages = {817-824}, isbn = {978-1-60558-516-1} } - Tobias Lang, and Marc Toussaint. In Proc. of the Int. Conf. on Machine Learning (ICML), p. 585-592, ACM, 2009. [bibtex]
@inproceedings{09-lang-ICML, title = {Approximate Inference for Planning in Stochastic Relational Worlds}, author = {Lang, Tobias and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}, publisher = {ACM}, year = {2009}, pages = {585-592}, isbn = {978-1-60558-516-1} } - Tobias Lang, and Marc Toussaint. In Proc. of the European Conf. on Machine Learning (ECML), 5781/2009, p. 736-751, Springer, 2009. [bibtex]
@inproceedings{09-lang-ECML, title = {Relevance Grounding for Planning in Relational Domains}, author = {Lang, Tobias and Toussaint, Marc}, booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML)}, publisher = {Springer}, series = {Lecture Notes in Computer Science}, volume = {5781/2009}, year = {2009}, pages = {736-751}, isbn = {978-3-642-04179-2} } - Nikolay Jetchev, and Marc Toussaint. In Proc. of the Int. Conf. on Machine Learning (ICML), p. 449-456, ACM, 2009. [bibtex]
@inproceedings{09-jetchev-ICML, title = {Trajectory Prediction: Learning to Map Situations to Robot Trajectories}, author = {Jetchev, Nikolay and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}, publisher = {ACM}, year = {2009}, pages = {449-456}, isbn = {978-1-60558-516-1} }
2008
- Volker Willert, Julian Eggert, Marc Toussaint, and Edgar Körner. In The seventh Int. Conf. on Machine Learning and Applications (ICMLA), p. 259-266, ACM, 2008. [bibtex]
@inproceedings{08-willert-ICMLA, author = {Willert, Volker and Eggert, Julian and Toussaint, Marc and K{\"o}rner, Edgar}, title = {Probabilistic Exploitation of the Lucas and Kanade Smoothness Constraint}, booktitle = {The seventh Int{.} Conf{.} on Machine Learning and Applications (ICMLA)}, publisher = {ACM}, year = {2008}, pages = {259-266}, isbn = {978-0-7695-3495-4} } - Marc Toussaint, Laurent Charlin, and Pascal Poupart. In Uncertainty in Artificial Intelligence (UAI), p. 562-570, AUAI Press, Runner Up Best Paper Award, 2008. [bibtex]
@inproceedings{08-toussaint-UAI, author = {Toussaint, Marc and Charlin, Laurent and Poupart, Pascal}, title = {Hierarchical {POMDP} Controller Optimization by Likelihood Maximization}, booktitle = {Uncertainty in Artificial Intelligence (UAI)}, publisher = {AUAI Press}, year = {2008}, pages = {562-570}, isbn = {0-9749039-4-9}, note = {\emph{Runner Up Best Paper Award}} } - Marc Toussaint, Laurent Charlin, and Pascal Poupart. In AAAI Workshop on Advancements in POMDP Solvers, 2008. [bibtex]
@misc{08-toussaint-AAAIws, author = {Toussaint, Marc and Charlin, Laurent and Poupart, Pascal}, title = {Hierarchical {POMDP} Controller Optimization by Likelihood Maximization}, booktitle = {AAAI Workshop on Advancements in POMDP Solvers}, year = {2008} } - Michael Gienger, Marc Toussaint, and Christian Goerick. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), p. 2758-2764, 2008. [bibtex]
@inproceedings{08-gienger-IROS, author = {Gienger, Michael and Toussaint, Marc and Goerick, Christian}, title = {Task Maps in Humanoid Robot Manipulation}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, year = {2008}, pages = {2758-2764} } - Michael Gienger, Marc Toussaint, Nikolay Jetchev, Achim Bendig, and Christian Goerick. In 8th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), p. 111-117, 2008. [bibtex]
@inproceedings{08-gienger-Humanoids, author = {Gienger, Michael and Toussaint, Marc and Jetchev, Nikolay and Bendig, Achim and Goerick, Christian}, year = {2008}, title = {Optimization of fluent approach and grasp motions}, booktitle = {8th IEEE-RAS Int{.} Conf{.} on Humanoid Robots (Humanoids)}, pages = {111-117} }
2007
- Ben Williams, Marc Toussaint, and Amos Storkey. In Advances in Neural Information Processing Systems (NIPS), MIT Press, 2007. [bibtex]
@inproceedings{07-williams-NIPS, author = {Williams, Ben and Toussaint, Marc and Storkey, Amos}, title = {Modelling motion primitives and their timing in biologically executed movements}, booktitle = {Advances in Neural Information Processing Systems (NIPS)}, publisher = {MIT Press}, year = {2007} } - Ben Williams, Marc Toussaint, and Amos Storkey. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2007. [bibtex]
@inproceedings{07-williams-IJCAI, author = {Williams, Ben and Toussaint, Marc and Storkey, Amos}, year = {2007}, title = {A primitive based generative model to infer timing information in unpartitioned handwriting data}, booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial Intelligence (IJCAI)} } - Volker Willert, Marc Toussaint, Julian Eggert, and Edgar Körner. In Sixth Int Conf on Machine Learning and Applications (ICMLA), p. 450-457, ACM, 2007. [bibtex]
@inproceedings{07-willert-ICMLA, author = {Willert, Volker and Toussaint, Marc and Eggert, Julian and K{\"o}rner, Edgar}, title = {Uncertainty Optimization for Robust Dynamic Optical Flow Estimation}, booktitle = {Sixth Int Conf on Machine Learning and Applications (ICMLA)}, publisher = {ACM}, year = {2007}, pages = {450-457}, isbn = {0-7695-3069-9} } - Marc Toussaint, and Christian Goerick. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), p. 3068-3073, 2007. [bibtex]
@inproceedings{07-toussaint-IROS, author = {Toussaint, Marc and Goerick, Christian}, year = {2007}, pages = {3068-3073}, title = {Probabilistic inference for structured planning in robotics}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)} } - Marc Toussaint, Michael Gienger, and Christian Goerick. In 7th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2007. [bibtex]
@inproceedings{07-toussaint-Humanoids, author = {Toussaint, Marc and Gienger, Michael and Goerick, Christian}, year = {2007}, title = {Optimization of sequential attractor-based movement for compact behaviour generation}, booktitle = {7th IEEE-RAS Int{.} Conf{.} on Humanoid Robots (Humanoids)} } - Marc Toussaint, and Werner Seelen. BioSystems, 90, p. 769-782, 2007. [bibtex]
@article{07-toussaint-BioSystems, author = {Toussaint, Marc and von Seelen, Werner}, year = {2007}, title = {Complex adaptation and system structure}, journal = {BioSystems}, volume = {90}, pages = {769-782} } - Marc Toussaint, Volker Willert, Julian Eggert, and Edgar Körner. In British Machine Vision Conf. (BMVC), 2007. [bibtex]
@inproceedings{07-toussaint-BMVC, author = {Toussaint, Marc and Willert, Volker and Eggert, Julian and K{\"o}rner, Edgar}, year = {2007}, title = {Motion Segmentation Using Inference in Dynamic Bayesian Networks}, booktitle = {British Machine Vision Conf{.} (BMVC)} } - Marc Toussaint, Technical Report 2007-22, ISSN 1436-9915, Technical University Berlin, 2007. [bibtex]
@misc{07-toussaint-BMCtr, author = {Toussaint, Marc}, title = {Bayesian inference for motion control and planning}, howpublished = {Technical Report 2007-22, ISSN 1436-9915, Technical University Berlin}, year = {2007} } - Christopher R. Stephens, Marc Toussaint, David Whitler, and Peter F. Stadler (Eds.). Springer, Lecture Notes in Computer Science, Vol. 4436, Springer, ISBN: 978-3-540-73479-6, 2007. [bibtex]
@book{07-stephens-FOGA, author = {Stephens, Christopher R. and Toussaint, Marc and Whitler, David and (Eds.), Peter F. Stadler}, title = {Foundations of Genetic Algorithms (FOGA)}, publisher = {Springer, Lecture Notes in Computer Science, Vol. 4436, Springer, ISBN: 978-3-540-73479-6}, year = {2007}, pdf = {http://link.springer.com/book/10.1007/978-3-540-73482-6/page/1} } - Phillip Robbel, Sethu Vijayakumar, and Marc Toussaint. NIPS Workshop on Robotics Challenges for Machine Learning, 2007. [bibtex]
@misc{07-robbel-NIPSws, author = {Robbel, Phillip and Vijayakumar, Sethu and Toussaint, Marc}, year = {2007}, title = {Active Learning in Motor Control}, howpublished = {NIPS Workshop on Robotics Challenges for Machine Learning} } - Stefan Harmeling, and Marc Toussaint (2007). Technical Report EDI-INF-RR-1189, University of Edinburgh, School of Informatics, 2007. [bibtex]
@misc{07-harmeling-tr, author = {Harmeling, Stefan and (2007), Marc Toussaint}, title = {Bayesian Estimators for {Robins-Ritov's} Problem}, howpublished = {Technical Report EDI-INF-RR-1189, University of Edinburgh, School of Informatics}, year = {2007} }
2006
- Ben H. Williams, Marc Toussaint, and Amos J. Storkey. In Int. Conf. on Artificial Neural Networks (ICANN), 2006. [bibtex]
@inproceedings{06-williams-ICANN, title = {Extracting Motion Primitives from Natural Handwriting Data}, year = {2006}, author = {Williams, Ben H. and Toussaint, Marc and Storkey, Amos J.}, booktitle = {Int{.} Conf{.} on Artificial Neural Networks (ICANN)} } - Marc Toussaint, Theoretical Computer Science, 361, p. 57-71, Elsevier, 2006. [bibtex]
@article{06-toussaint-TCS, year = {2006}, author = {Toussaint, Marc}, title = {Compact representations as a search strategy: {Compression EDAs}}, journal = {Theoretical Computer Science}, publisher = {Elsevier}, volume = {361}, pages = {57-71} } - Marc Toussaint, Neural Computation, 18, p. 1132-1155, MIT Press, 2006. [bibtex]
@article{06-toussaint-NC, year = {2006}, author = {Toussaint, Marc}, title = {A sensorimotor map: {M}odulating lateral interactions for anticipation and planning}, journal = {Neural Computation}, publisher = {MIT Press}, volume = {18}, pages = {1132-1155} } - Marc Toussaint, and Amos Storkey. In Proc. of the Int. Conf. on Machine Learning (ICML), p. 945-952, 2006. [bibtex]
@inproceedings{06-toussaint-ICML, title = {Probabilistic inference for solving discrete and continuous state {Markov Decision Processes}}, author = {Toussaint, Marc and Storkey, Amos}, pages = {945-952}, year = {2006}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)} } - Marc Toussaint, Stefan Harmeling, and Amos Storkey. Technical Report EDI-INF-RR-0934, University of Edinburgh, School of Informatics, 2006. [bibtex]
@misc{06-toussaint-tr, author = {Toussaint, Marc and Harmeling, Stefan and Storkey, Amos}, year = {2006}, title = {Probabilistic inference for solving {(PO)MDPs}}, howpublished = {Technical Report EDI-INF-RR-0934, University of Edinburgh, School of Informatics} } - Georgios Petkos, Marc Toussaint, and Sethu Vijayakumar. In Int. Conf. on Artificial Neural Networks (ICANN), 2006. [bibtex]
@inproceedings{06-petkos-ICANN, year = {2006}, title = {Learning Multiple Models of Non-Linear Dynamics for Control under Varying Contexts}, author = {Petkos, Georgios and Toussaint, Marc and Vijayakumar, Sethu}, booktitle = {Int{.} Conf{.} on Artificial Neural Networks (ICANN)} } - Felix V. Agakov, Edwin V. Bonilla, John Cavazos, Björn Franke, Grigori Fursin, Michael F. P. O’Boyle, John Thomson, Marc Toussaint, and Christopher K. I. Williams. In Int. Symposium on Code Generation and Optimization (CGO), p. 295-305, 2006. [bibtex]
@inproceedings{06-agakov, author = {Agakov, Felix V. and Bonilla, Edwin V. and Cavazos, John and Franke, Bj{\"o}rn and Fursin, Grigori and O'Boyle, Michael F. P. and Thomson, John and Toussaint, Marc and Williams, Christopher K. I.}, year = {2006}, title = {Using Machine Learning to Focus Iterative Optimization}, booktitle = {Int{.} Symposium on Code Generation and Optimization (CGO)}, pages = {295-305} }
2005
- Marc Toussaint, and Amos Storkey. In NIPS Workshop on Game Theory, Machine Learning and Reasoning under Uncertainty, 2005. [bibtex]
@misc{05-toussaint-NIPSws, author = {Toussaint, Marc and Storkey, Amos}, title = {Probabilistic inference for computing optimal policies in {MDPs}}, year = {2005}, booktitle = {NIPS Workshop on Game Theory, Machine Learning and Reasoning under Uncertainty} } - Marc Toussaint, and Sethu Vijayakumar. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), p. 1744-1745, 2005. [bibtex]
@inproceedings{05-toussaint-IJCAI, author = {Toussaint, Marc and Vijayakumar, Sethu}, title = {Learning discontinuities for switching between local models}, year = {2005}, booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial Intelligence (IJCAI)}, pages = {1744-1745} } - Marc Toussaint, and Sethu Vijayakumar. In Proc. of the Int. Conf. on Machine Learning (ICML), 2005. [bibtex]
@inproceedings{05-toussaint-ICML, author = {Toussaint, Marc and Vijayakumar, Sethu}, title = {Learning discontinuities with {Product-of-Sigmoids} for switching between local models}, year = {2005}, booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)} } - Marc Toussaint, In GECCO Workshop on Theory of Representations, p. 339-345, ACM Press, 2005. [bibtex]
@misc{05-toussaint-GECCOws, author = {Toussaint, Marc}, title = {Factorial Representations to Generate Arbitrary Search Distributions}, booktitle = {GECCO Workshop on Theory of Representations}, year = {2005}, publisher = {ACM Press}, address = {Washington, D.C., USA}, pages = {339-345} } - Marc Toussaint, In Foundations of Genetic Algorithms 8 (FOGA), 3469, p. 75-94, 2005. [bibtex]
@inproceedings{05-toussaint-FOGA, author = {Toussaint, Marc}, title = {Compact Genetic Codes as a Search Strategy of Evolutionary Processes}, year = {2005}, series = {LNCS}, pages = {75-94}, booktitle = {Foundations of Genetic Algorithms 8 (FOGA)}, volume = {3469}, optisbn = {3-540-27237-2} } - Christian Igel, Marc Toussaint, and Wan Weishui. In Trends and Applications in Constructive Approximation. Int. Series of Numerical Mathematics, 151, p. 259-272, Birkhäuser Verlag, Germany., 2005. [bibtex]
@incollection{05-igel-Rprop, author = {Igel, Christian and Toussaint, Marc and Weishui, Wan}, title = {Rprop Using the Natural Gradient compared to {L}evenberg-{M}arquardt Optimization}, booktitle = {Trends and Applications in Constructive Approximation. Int{.} Series of Numerical Mathematics}, volume = {151}, year = {2005}, pages = {259-272}, publisher = {Birkh{\"a}user Verlag, Germany.} } - Andrey V. Bogdanov, Marc Toussaint, and Stein Sandven. In Image and Signal Processing for Remote Sensing XI, 5982, 2005. [bibtex]
@inproceedings{05-bogdanov, author = {Bogdanov, Andrey V. and Toussaint, Marc and Sandven, Stein}, title = {Recurrent modular network architecture for sea ice classification in the {M}arginal {I}ce {Z}one using {ERS SAR} images}, booktitle = {Image and Signal Processing for Remote Sensing XI}, series = {Proc{.} of SPIE}, volume = {5982}, year = {2005} }
2004
- Christian Igel, and Marc Toussaint. Journal of Mathematical Modelling and Algorithms, 3, p. 313-322, 2004. [bibtex]
@article{04-igel-NFL, author = {Igel, Christian and Toussaint, Marc}, title = {A {No-Free-Lunch} Theorem for Non-Uniform Distributions of Target Functions}, journal = {Journal of Mathematical Modelling and Algorithms}, year = {2004}, volume = {3}, pages = {313-322} }
2003
- Marc Toussaint, In Advances in Neural Information Processing Systems 16 (NIPS), p. 929-936, MIT Press, Cambridge, 2003. [bibtex]
@inproceedings{03-toussaint-NIPS, author = {Toussaint, Marc}, title = {Learning a world model and planning with a self-organizing, dynamic neural system}, booktitle = {Advances in Neural Information Processing Systems 16 (NIPS)}, pages = {929-936}, year = {2003}, publisher = {MIT Press, Cambridge} } - Marc Toussaint, PhD thesis, Institut für Neuroinformatik, Ruhr-Universiät-Bochum, Germany. Published with the Logos Verlag Berlin (2004), ISBN 3-8325-0579-2, 173 pages., 2003. [bibtex]
@misc{03-toussaint-phd, author = {Toussaint, Marc}, title = {The evolution of genetic representations and modular adaptation}, year = {2003}, month = apr, howpublished = {PhD thesis, Institut f{\"u}r Neuroinformatik, Ruhr-Universi{\"a}t-Bochum, Germany. Published with the Logos Verlag Berlin (2004), ISBN 3-8325-0579-2, 173 pages.} } - Marc Toussaint, In Genetic and Evolutionary Computation Conf. (GECCO), p. 86-97, 2003. [bibtex]
@inproceedings{03-toussaint-GECCOb, author = {Toussaint, Marc}, title = {Demonstrating the Evolution of Complex Genetic Representations: {A}n Evolution of Artificial Plants}, booktitle = {Genetic and Evolutionary Computation Conf{.} (GECCO)}, year = {2003}, pages = {86-97} } - Marc Toussaint, In Genetic and Evolutionary Computation Conf. (GECCO), p. 1444-1456, 2003. [bibtex]
@inproceedings{03-toussaint-GECCOa, author = {Toussaint, Marc}, title = {The structure of evolutionary exploration: {O}n crossover, buildings blocks, and {E}stimation-{O}f-{D}istribution Algorithms}, booktitle = {Genetic and Evolutionary Computation Conf{.} (GECCO)}, year = {2003}, pages = {1444-1456}, nonote = {See also nlin.AO/0212030} } - Marc Toussaint, In Foundations of Genetic Algorithms 7 (FOGA), p. 169-182, Morgan Kaufmann, 2003. [bibtex]
@inproceedings{03-toussaint-FOGA, author = {Toussaint, Marc}, title = {{O}n the evolution of phenotypic exploration distributions}, year = {2003}, booktitle = {Foundations of Genetic Algorithms 7 (FOGA)}, publisher = {Morgan Kaufmann}, pages = {169-182} } - Christian Igel, and Marc Toussaint. Natural Computation, 2, p. 117-132, 2003. [bibtex]
@article{03-igel-NatComp, author = {Igel, Christian and Toussaint, Marc}, title = {Neutrality and {S}elf-adaptation}, year = {2003}, journal = {Natural Computation}, volume = {2}, pages = {117-132} } - Christian Igel, and Marc Toussaint. Information Processing Letters, 86, p. 317-321, 2003. [bibtex]
@article{03-igel-NFL, author = {Igel, Christian and Toussaint, Marc}, title = {On Classes of Functions for which {No Free Lunch} Results Hold}, journal = {Information Processing Letters}, year = {2003}, volume = {86}, pages = {317-321}, nnote = {See also Los Alamos Preprint cs.NE/0108011} }
2002
- Marc Toussaint, In Proc. of Int. Joint Conf. on Neural Networks (IJCNN), p. 245-250, 2002. [bibtex]
@inproceedings{02-toussaint-IJCNNb, author = {Toussaint, Marc}, title = {On model selection and the disability of neural networks to decompose tasks}, year = {2002}, booktitle = {Proc{.} of Int{.} Joint Conf{.} on Neural Networks (IJCNN)}, pages = {245-250} } - Marc Toussaint, In Proc. of Int. Joint Conf. on Neural Networks (IJCNN), p. 2755-2760, 2002. [bibtex]
@inproceedings{02-toussaint-IJCNNa, author = {Toussaint, Marc}, title = {A neural model for multi-expert architectures}, year = {2002}, booktitle = {Proc{.} of Int{.} Joint Conf{.} on Neural Networks (IJCNN)}, pages = {2755-2760} } - Marc Toussaint, and Christian Igel. In Proc. of IEEE Congress on Evolutionary Computation (CEC), p. 1354-1359, 2002. [bibtex]
@inproceedings{02-toussaint-CEC, author = {Toussaint, Marc and Igel, Christian}, title = {Neutrality: {A} Necessity for Self-Adaptation}, year = {2002}, booktitle = {Proc{.} of IEEE Congress on Evolutionary Computation (CEC)}, pages = {1354-1359} } - Michael Hüsken, Christian Igel, and Marc Toussaint. Connection Science, 14, p. 219-229, 2002. [bibtex]
@article{02-husken-ConSci, author = {H{\"u}sken, Michael and Igel, Christian and Toussaint, Marc}, title = {Task-Dependent Evolution of Modularity in Neural Networks}, year = {2002}, journal = {Connection Science}, volume = {14}, pages = {219-229} }
2001
- Marc Toussaint, Technical Report IRINI-2001-05, Institut für Neuroinformatik, Ruhr-Universität Bochum, Germany, 2001. [bibtex]
@misc{01-toussaint-tr, author = {Toussaint, Marc}, title = {Self-adaptive exploration in evolutionary search}, year = {2001}, howpublished = {Technical Report IRINI-2001-05, Institut f{\"u}r Neuroinformatik, Ruhr-Universit{\"a}t Bochum, Germany} } - Michael Hüsken, Christian Igel, and Marc Toussaint. In Genetic and Evolutionary Computation Conf. (GECCO), p. 187-193, 2001. [bibtex]
@inproceedings{01-husken-GECCO, author = {H{\"u}sken, Michael and Igel, Christian and Toussaint, Marc}, title = {Task-Dependent Evolution of Modularity in Neural Networks -- A Quantitative Case Study}, booktitle = {Genetic and Evolutionary Computation Conf{.} (GECCO)}, year = {2001}, pages = {187-193} }
2000
- Marc Toussaint, e-Print arXiv: gr-qc/9910042, General Relativity and Gravitation, 32, p. 1689-1709, 2000. [arxiv] [bibtex]
@article{00-toussaint-proca, author = {Toussaint, Marc}, title = {A numeric solution for metric-affine gravity and {E}instein's gravitational theory with {P}roca matter}, journal = {General Relativity and Gravitation}, year = {2000}, volume = {32}, pages = {1689-1709}, arxiv = {gr-qc/9910042} } - Marc Toussaint, e-Print arXiv: gr-qc/9907024, General Relativity and Gravitation, 32, p. 885-896, 2000. [arxiv] [bibtex]
@article{00-toussaint-gauge, author = {Toussaint, Marc}, title = {A gauge theoretical view of the charge concept in {E}instein gravity}, journal = {General Relativity and Gravitation}, year = {2000}, volume = {32}, pages = {885-896}, arxiv = {gr-qc/9907024} } - Friedrich W. Hehl, and Marc Toussaint. MNU (Der mathematische und naturwissenschaftliche Unterricht), 6, p. 327-333, 2000. [bibtex]
@article{00-hehl-MNU, author = {Hehl, Friedrich W{.} and Toussaint, Marc}, title = {Schwarze {L\"ocher}}, journal = {MNU (Der mathematische und naturwissenschaftliche Unterricht)}, volume = {6}, pages = {327-333}, year = {2000} }
1999
- Marc Toussaint, Diploma thesis, Institute for Theoretical Physics, Cologne, 1999. [bibtex]
@misc{99-toussaint-diploma, author = {Toussaint, Marc}, title = {Gauge Theory of Gravity: Foundations, the charge concept, and a numeric solution}, year = {1999}, howpublished = {Diploma thesis, Institute for Theoretical Physics, Cologne} } - Marc Toussaint, arXiv:cs.SC/0105033, 1999. [bibtex]
@misc{99-toussaint-mexico, author = {Toussaint, Marc}, title = {Lectures on {R}educe and {M}aple at {UAM I} - {M}exico}, year = {1999}, howpublished = {arXiv:cs.SC/0105033}, pdf = {https://arxiv.org/pdf/cs.sc/0105033} }