S. Schaal

发表

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

Evaluation of Policy Gradient Methods and Variants on the Cart-Pole Benchmark

Martin A. Riedmiller, S. Schaal, J. Peters, 2007, 2007 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning.

Dynamic Movement Primitives -A Framework for Motor Control in Humans and Humanoid Robotics

S. Schaal, 2006 .

Locally Weighted Learning

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

Competitive-Cooperative-Concurrent Reinforcement Learning with Importance Sampling

S. Vijayakumar, S. Schaal, A. Ijspeert, 2004 .

Locally Weighted Learning for Control

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

Policy Gradient Methods for Robotics

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

Reinforcement Learning for Humanoid Robotics

Stefan Schaal, Sethu Vijayakumar, Jan Peters, 2003 .

Evolving a neurocontroller through a process of embryogeny

S. Vijayakumar, S. Schaal, A. Ijspeert, 2004 .

Reinforcement learning by reward-weighted regression for operational space control

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

A Generalized Path Integral Control Approach to Reinforcement Learning

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

Time-Contrastive Networks: Self-Supervised Learning from Video

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

Time-Contrastive Networks : Self-Supervised Learning from Pixels

S. Levine, Pierre Sermanet, Eric Jang, 2017 .

Path integral guided policy search

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

Drifting Gaussian processes with varying neighborhood sizes for online model learning

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

Movement imitation with nonlinear dynamical systems in humanoid robots

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

Learning and generalization of motor skills by learning from demonstration

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

Combining dynamic movement primitives and potential fields for online obstacle avoidance

S. Schaal, Heiko Hoffmann, Dae-Hyung Park, 2008 .

Leveraging big data for grasp planning

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

Programmable Pattern Generators

S. Schaal, D. Sternad, 1998 .

Learning rhythmic movements by demonstration using nonlinear oscillators

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

Learning Attractor Landscapes for Learning Motor Primitives

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

Robot Learning From Demonstration

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

The Computational Neurobiology of Reaching and Pointing — A Foundation for Motor Learning by Reza Shadmehr and Steven P. Wise

S. Schaal, 2007 .

A unifying methodology for the control of robotic systems

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

Comparative experiments on task space control with redundancy resolution

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

Evolving Walking: The Anatomy of an Evolutionary Search

S. Vijayakumar, S. Schaal, A. Ijspeert, 2004 .

Learning objective functions for manipulation

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

Inverse Reinforcement Learning with PI 2

Evangelos A. Theodorou, S. Schaal, E. Theodorou, 2010 .

A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics

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

Computational approaches to motor learning by imitation.

Stefan Schaal, Aude Billard, Auke Ijspeert, 2003, Philosophical transactions of the Royal Society of London. Series B, Biological sciences.

Model-Free Reinforcement Learning of Impedance Control in Stochastic Environments

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

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

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

Learning Policy Improvements with Path Integrals

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

Learning force control policies for compliant manipulation

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

Robot juggling: implementation of memory-based learning

S. Schaal, C.G. Atkeson, S. Schaal, 1994, IEEE Control Systems.

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

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

Constructive Incremental Learning from Only Local Information

Christopher G. Atkeson, Stefan Schaal, S. Schaal, 1998, Neural Computation.

Policy Gradient Methods for Robot Control

Stefan Schaal, Sethu Vijayakumar, Jan Peters, 2003 .

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

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

Natural Actor-Critic

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

Learning from Demonstration

Stefan Schaal, S. Schaal, 1996, NIPS.

Robot learning by nonparametric regression

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

Learning Movement Primitives

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

One-Handed Juggling: A Dynamical Approach to a Rhythmic Movement Task.

S. Schaal, C. Atkeson, D. Sternad, 1996, Journal of motor behavior.

Learning tasks from a single demonstration

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

Reinforcement Learning for Parameterized Motor Primitives

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

Forward models in visuomotor control.

Stefan Schaal, Biren Mehta, S. Schaal, 2002, Journal of neurophysiology.

Skill learning and task outcome prediction for manipulation

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

Learning to Control in Operational Space

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

Learning locomotion over rough terrain using terrain templates

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

Learning from demonstration and adaptation of biped locomotion

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

Memory-based robot learning

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

Using Humanoid Robots to Study Human Behavior

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

Robot Programming by Demonstration

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

Reinforcement Learning With Sequences of Motion Primitives for Robust Manipulation

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

STOMP: Stochastic trajectory optimization for motion planning

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

Is imitation learning the route to humanoid robots?

Stefan Schaal, S. Schaal, 1999, Trends in Cognitive Sciences.

Memory-based neural networks for robot learning

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

Rapid synchronization and accurate phase-locking of rhythmic motor primitives

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

An autonomous manipulation system based on force control and optimization

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

Learning composite adaptive control for a class of nonlinear systems

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

Nonlinear dynamical systems for imitation with humanoid robots

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

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

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

Learning to grasp under uncertainty

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

Robotics and Neuroscience

S. Schaal, A. Ijspeert, D. Floreano, 2014, Current Biology.

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

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

Interactive Perception: Leveraging Action in Perception and Perception in Action

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

Fast, robust quadruped locomotion over challenging terrain

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

On the design of LQR kernels for efficient controller learning

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

Optimizing for what matters: The top grasp hypothesis

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

Encyclopedia of Machine Learning

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

Hamelin: A model for collective adaptation based on internal stimuli

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Quadratic programming for inverse dynamics with optimal distribution of contact forces

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

From dynamic movement primitives to associative skill memories

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

Feedback error learning and nonlinear adaptive control

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

Generalizing Regrasping with Supervised Policy Learning

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

Data-Driven Online Decision Making for Autonomous Manipulation

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

On Ashby's homeostat: A formal model of adaptive regulation

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Stepping stabilization using a combination of DCM tracking and step adjustment

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

Online Learning of a Memory for Learning Rates

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

Understanding the geometry of workspace obstacles in Motion Optimization

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

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

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

Path integral reinforcement learning

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

An iterative path integral stochastic optimal control approach for learning robotic tasks

Evangelos A. Theodorou, S. Schaal, E. Theodorou, 2011 .

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

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

Trajectory generation for multi-contact momentum control

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

Planning the Sequencing of Movement Primitives

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Rhythmic arm movement is not discrete

S. Schaal, M. Kawato, D. Sternad, 2004, Nature Neuroscience.

Nonparametric Regression for Learning Nonlinear Transformations

Stefan Schaal, S. Schaal, 2000 .

Compliant quadruped locomotion over rough terrain

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

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

Alexander Herzog, Stefan Schaal, Ludovic Righetti, 2013 .

Inverse Dynamics Control with Floating Base and Constraints

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

On the relevance of grasp metrics for predicting grasp success

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

Learning variable impedance control

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

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

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

Action Selection and Mental Transformation Based on a Chain of Forward Models

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

A simulation model of the locomotion controllers for the nematode Caenorhabditis elegans

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Learning Operational Space Control

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

Adaptive locomotion in a complex environment: simulation of stick insect gap crossing behaviour

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Probabilistic object tracking using a range camera

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

ICML '00 Proceedings of the Seventeenth International Conference on Machine Learning

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

Dual execution of optimized contact interaction trajectories

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

A locally weighted learning composite adaptive controller with structure adaptation

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

State estimation for a humanoid robot

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

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

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

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

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

Understanding haptics by evolving mechatronic systems.

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

Robust Gaussian filtering using a pseudo measurement

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

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

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

Open loop stable control strategies for robot juggling

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

Submitted to: IEEE International Conference on Humanoid Robotics Nonlinear Dynamical Systems as Movement Primitives

Shinya Kotosaka, Stefan Schaal, Dagmar Sternad, 2022 .

Synchronized Robot Drumming by Neural Oscillator

Shinya Kotosaka, Stefan Schaal, S. Schaal, 2001 .

Computational motor control in humans and robots

S. Schaal, N. Schweighofer, 2005, Current Opinion in Neurobiology.

Synchronized Robot Drumming with Neural Oscillators

S. Schaal, S. Kotosaka, 2000 .

A unifying framework for robot control with redundant DOFs

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

Local Dimensionality Reduction

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

Local Dimensionality Reduction for Non-Parametric Regression

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

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

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

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

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

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

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

Human movement generation based on convergent flow fields : a computational model and a behavioral experiment

S. Schaal, Heiko Hoffmann, 2007 .

Approximate nearest neighbor regression in very high dimensions

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

Origins and violations of the 2/3 power law in rhythmic three-dimensional arm movements

S. Schaal, D. Sternad, 2000, Experimental Brain Research.

Local Adaptive Subspace Regression

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

Variable Impedance Control - A Reinforcement Learning Approach

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

Discovering optimal imitation strategies

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

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

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

Scalable Techniques from Nonparametric Statistics for Real Time Robot Learning

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

Incremental Online Learning in High Dimensions

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

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

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

Robotics: Science and Systems XV

Wolfram Burgard, Dieter Fox, Gaurav S. Sukhatme, 2010 .

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

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

Assessing the Quality of Learned Local Models

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

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

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

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

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

Operational Space Control: A Theoretical and Empirical Comparison

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

Trajectory formation for imitation with nonlinear dynamical systems

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

Movement Planning and Imitation by Shaping Nonlinear Attractors

S. Schaal, 2003 .

Inverse kinematics for humanoid robots

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

Towards Associative Skill Memories

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

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

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

Momentum-based Balance Control for Torque-controlled Humanoids pdf

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

A framework for learning biped locomotion with dynamical movement primitives

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

Learning inverse kinematics

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

Bouncing a ball: tuning into dynamic stability.

S. Schaal, D. Sternad, M. Duarte, 2001, Journal of experimental psychology. Human perception and performance.

Local dimensionality reduction for locally weighted learning

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

Learning Control in Robotics

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

Dynamics of a bouncing ball in human performance.

D Sternad, M Duarte, H Katsumata, 2000, Physical review. E, Statistical, nonlinear, and soft matter physics.

Segmentation of endpoint trajectories does not imply segmented control

S. Schaal, D. Sternad, S. Schaal, 1999, Experimental Brain Research.

Optimal control of reaching includes kinematic constraints.

Mitsuo Kawato, Evangelos Theodorou, Stefan Schaal, 2013, Journal of neurophysiology.

Robot Program 59. Robot Programming by Demonstration

Stefan Schaal, Aude Billard, Rüdiger Dillmann, 2008 .

Imitation of coordinated arm movements

S. Schaal, A. Billard, J. Gordon, 2002 .

Proceedings of the twenty-first international conference on Machine learning

Sethu Vijayakumar, Aaron D'Souza, Stefan Schaal, 2004 .

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

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

Path integral-based stochastic optimal control for rigid body dynamics

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

Arm and Hand Movement Control

Stefan Schaal, S. Schaal, 2002 .

Fast and efficient incremental learning for high-dimensional movement systems

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

A Simple, Adaptive Locomotion Toy-System

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Fast learning of biomimetic oculomotor control with nonparametric regression networks

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

Automatic LQR tuning based on Gaussian process global optimization

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

Navigation and Cognitive Map Formation Using Aperiodic Neurodynamics

Stefan Schaal, Aude Billard, Sethu Vijayakumar, 2004 .

Task space control with prioritization for balance and locomotion

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

Reinforcement learning of full-body humanoid motor skills

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

Origins and Violations of the 2/3 Power Law in Rhythmic 3D Arm Movements

Dagmar Sternad, Stefan Schaal, S. Schaal, 2001 .

A Library for Locally Weighted Projection Regression

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

A New Methodology for Robot Controller Design

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

Memory-Based Learning for ControlA

S. Schaal, C. Atkeson, W. Moore, 1995 .

A Unifying Framework for the Control of Robotic Systems

Jun Nakanishi, Stefan Schaal, Jan Peters, 2005 .

Toward biomimetic oculomotor control

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

Morphology and Learning - A Case Study on Whiskers

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Optimal and Non-Optimal Compromise Strategies in Action Selection

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Composite adaptive control with locally weighted statistical learning

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

The Role of Measurement Uncertainty in Optimal Control for Contact Interactions

Stefan Schaal, Ludovic Righetti, Brahayam Ponton, 2016 .

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

Stefan Schaal, Aude Billard, Sethu Vijayakumar, 2004 .

An exoskeleton robot for human arm movement study

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

A Kalman filter for robust outlier detection

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

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

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

Probabilistic Articulated Real-Time Tracking for Robot Manipulation

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

Interlocking Perception-Action Loops at Multiple Time Scales A System Proposal for Manipulation in Uncertain and Dynamic Environments

Nathan D. Ratliff, S. Schaal, Franziska Meier, 2016 .

Surface tilt perception with a biomimetic tactile sensor

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

The New Robotics—towards Human-centered Machines

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

The Sensorimotor Bases of Linguistic Structure: Experiments with Grounded Adaptive Agents

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Risk sensitive nonlinear optimal control with measurement uncertainty pdf

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

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

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

Hebbian reinforcement learning in a modular dynamic network

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Local Gaussian Regression pdf

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

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

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

Biomimetic Gaze Stabilization

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

Special Issue on The Brain Mechanisms of Imitation Learning

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

Kernel Carpentry for Online Regression Using Randomly Varying Coefficient Model

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

An MPC Walking Framework with External Contact Forces

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

From Animals to Animats

Aude Billard, Sethu Vijayakumar, John Hallam, 2004 .

Using Hormonal Feedback to Modulate Action Selection in a Competitive Scenario

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

May We Have Your Attention: Analysis of a Selective Attention Task

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

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

Alexander Herzog, Nicholas Rotella, Stefan Schaal, 2015 .

Multi-Contact Interaction with Hierarchical Inverse Dynamics and Momentum Trajectory Generation

S. Schaal, L. Righetti, Alexander Herzog, 2015 .

From Bat Pinnae to Sonar Antennae: Augmented Obliquely Truncated Horns as a Novel Parametric Shape Model

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Inertial sensor-based humanoid joint state estimation

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

Path integral control and bounded rationality

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

On-line Learning for Humanoid Robot Systems

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

Learning an Outlier-Robust Kalman Filter

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

Depth-based object tracking using a Robust Gaussian Filter

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

Bayesian robot system identification with input and output noise

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

Graph matching vs mutual information maximization for object detection

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

Drifting Gaussian Process Regression for Inverse Dynamics Learning

S. Schaal, Franziska Meier, 2015 .

Evolving Functional Self-Assembling in a Swarm of Autonomous Robots

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

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

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

Formalization of recognition, affordances and learning in isolated or interacting animats

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Overt visual attention for a humanoid robot

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

Toward a Dynamical Systems Analysis of Neuromodulation

Stefan Schaal, Aude Billard, Sethu Vijayakumar, 2004 .

Learning where to search using visual attention

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

Biomimetic Oculomotor Control

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

Locally Weighted Regression for Control

Stefan Schaal, Franziska Meier, Sethu Vijayakumar, 2010 .

Variational Bayesian least squares: An application to brain-machine interface data

Stefan Schaal, Jo-Anne Ting, Kenji Yamamoto, 2008, Neural Networks.

A new perspective and extension of the Gaussian Filter

Stefan Schaal, Manuel Wüthrich, Daniel Kappler, 2015, Int. J. Robotics Res..

Statistical Learning for Humanoid Robots

Stefan Schaal, Sethu Vijayakumar, Jörg Conradt, 2002, Auton. Robots.

Efficient Learning and Feature Selection in High-Dimensional Regression

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

Bouncing a ball: tuning into dynamic stability.

S. Schaal, D. Sternad, M. Duarte, 2001, Journal of experimental psychology. Human perception and performance.

Trajectory-based Optimal Control Techniques the Basics of Learning Control

S. Schaal, C. Atkeson, 2022 .

Acknowledgements. I Wish to Thank

S. Schaal, C. Malsburg, 2022 .

Exemplar-based Prediction of Object Properties from Local Shape Similarity

S. Schaal, Jeannette Bohg, Daniel Kappler, 2015 .

Full Dynamics LQR Control With Multi Contact Phases For Bipedal Walking

S. Schaal, L. Righetti, Sean Mason, 2015 .

Momentum trajectory generation and control for multi-contact interaction

S. Schaal, L. Righetti, Alexander Herzog, 2015 .

Towards Full System Linear Quadratic Regulators for Humanoid Control

S. Schaal, L. Righetti, Sean Mason, 2014 .

Towards tractable parameter-free statistical learning

S. Schaal, Aaron D'Souza, 2004 .

Bayesian backfitting for high dimensional regression

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

Number : TR-CLMC-20071 Learning an Outlier-Robust Kalman Filter

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

Learning Variable Impedance Control Learning Variable Impedance Control

Evangelos A. Theodorou, S. Schaal, E. Theodorou, 2011 .

Modularizing Human Motion into Actions and Behaviors

S. Schaal, O. Jenkins, C. Winstein, 2002 .

Simulating Whisker Sensors — on the Role of Material Properties for Morphology, Behavior and Evolution

S. Vijayakumar, S. Schaal, A. Ijspeert, 2004 .

Adaptive Behavior

S. Vijayakumar, S. Schaal, T. Shibata, 2003 .

Humanoid Oculomotor Control Based on Concepts of Computational Neuroscience

S. Schaal, T. Shibata, 2001 .

Reinforcement Learning for Operational Space Control

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

Hierarchical reinforcement learning with movement primitives

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

Offline Meta-Reinforcement Learning for Industrial Insertion pdf

Oleg O. Sushkov, Sergey Levine, Stefan Schaal, 2021, ArXiv.

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

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

Biologically Inspired Adaptive Dynamic Walking of a Quadruped Robot

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Intelligent Systems Research

S. Schaal, J. Spatz, 2014 .

Learning Coupling Terms for Obstacle Avoidance Submitted by Akshara

S. Schaal, 2014 .

Supervised Policy Fusion with Application to Regrasping

S. Schaal, Karol Hausman, Yevgen Chebotar, 2016 .

A Kendama Learning Robot Based on Bi-directional Theory

S. Schaal, M. Kawato, H. Miyamoto, 1996, Neural Networks.

Editorial: Special Issue on Machine Learning in Robotics

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

Learning from Labeled and Unlabeled Data

Lise Getoor, Stefan Wrobel, Stefan Schaal, 2010, Encyclopedia of Machine Learning.

Movement generation by learning from demonstration and generalization to new targets

S. Schaal, P. Pastor, Heiko Hoffmann, 2008 .

Reinforcement Learning for Humanoid Robots - Policy Gradients and Beyond

Jan Peters, S. Vijayakumar, S. Schaal, 2004 .

Special issue on robotics and neuroscience

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

Explorer Bayesian Kernel Shaping for Learning Control

S. Vijayakumar, S. Schaal, Mrinal Kalakrishnan, 2009 .

IntentionGAN: MultiModal Imitation Learningfrom Unstructured Demonstrations

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

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

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

Imitation is not enough for lexicon learning

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Robot Learning

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

Real-Time Statistical Learning for Oculomotor Control and Visuomotor Coordination

Sethu Vijayakumar, Stefan Schaal, K. Obermayer, 2002, NIPS 2002.

constraintscontrol of reaching includes kinematic

Mitsuo Kawato, Luciano Fadiga, Charalambos Papaxanthis, 2015 .

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

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

Applied adaptive behavior

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Title: Optimal Control of Reaching Includes Kinematic Constraints Running Head: Optimal Control of Reaching Includes Kinematic Constraints

S. Schaal, E. Theodorou, M. Kawato, 2013 .

A Unifying Methodology for Robot Control with Redundant DOFs

Jun Nakanishi, Stefan Schaal, Jan Peters, 2008 .

Estimating Future Reward in Reinforcement Learning Animats using Associative Learning

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Reinforcement learning for optimal control of arm movements

Jan Peters, Stefan Schaal, Evangelos Theodorou, 2007 .

Recurrent neural networks from learning attractor dynamics

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

Scaling Reinforcement Learning Paradigms for Motor Learning

Sethu Vijayakumar, Jan Peters, Stefan Schaal, 2003 .

Learning Control in Reobotics: Trajectory-Based Optimal Control Techniques

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

Coordination and Behaviour Integration in Cooperating Simulated Robots

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration

Kostas E. Bekris, S. Schaal, Wenzhao Lian, 2022, Robotics: Science and Systems.

Slip Detection and Classification for Grip Control using Multiple Sensory Modalities on a Biomimetic Tactile Sensor

Yevgen Chebotar, Artem Molchanov, Karol Hausman, 2015 .

Constructing an animat mind using 505 sub-minds from 234 different authors

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Learning and Adaptation of Biped Locomotion with Dynamical Movement Primitives

Jun Morimoto, Gen Endo, Jun Nakanishi, 2004 .

A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies

S. Schaal, H. B. Amor, Simon Stepputtis, 2022, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

COMPLIANT ZMP CONTROL FOR QUADRUPEDAL WALKING OVER ROUGH TERRAIN

Stefan Schaal, Jonas Buchli, Michael Mistry, 2010 .

Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation

S. Schaal, Azarakhsh Keipour, Maryam Bandari, 2022, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

IntentionGAN: MultiTask Imitation Learningfrom Unstructured Demonstrations

Yevgen Chebotar, Karol Hausman, Joseph J. Lim, 2017 .

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

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

Detection and Physical Interaction with Deformable Linear Objects

S. Schaal, S. Scherer, Azarakhsh Keipour, 2022, ArXiv.

Learning human-like Movement Behavior for Computer Games

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Adaptive behavior in language and communication

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

The animat approach to adaptive behavior

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

What should be learned

Christopher G. Atkeson, Stefan Schaal, Sherif M. Botros, 1992 .

Template-Based Exploration of Grasp Selection

S. Schaal, P. Pastor, L. Righetti, 2012 .

A new perspective and extension of the Gaussian Filter

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

Wrong and Useful: Metrics to Assess Simple Walking Models

Ludovic Righetti, Stefan Schaal, John R. Rebula, 2015 .

An autonomous manipulation system based on force control and optimization

S. Schaal, P. Pastor, L. Righetti, 2013, Autonomous Robots.

Supervised learning and reinforcement learning of feedback models for reactive behaviors: Tactile feedback testbed

S. Schaal, Yevgen Chebotar, Franziska Meier, 2020, Int. J. Robotics Res..

BASC, a bottom-up approach to automated design of spatial coordination

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

The Force Model: Concept, Behavior, Interpretation

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Towards a theory of how bats navigate through foliage

Stefan Schaal, Aude Billard, Sethu Vijayakumar, 2004 .

Evolving Adaptive, High-Dimensional, Camera-Based Speed Sensors

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Comparative cognitive robotics: Using autonomous robots as empirical models of animal learning

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Action selection and behavioral sequences

Aude Billard, Sethu Vijayakumar, Auke Jan Ijspeert, 2004 .

Deformable One-Dimensional Object Detection for Routing and Manipulation

S. Schaal, Azarakhsh Keipour, Maryam Bandari, 2022, IEEE Robotics and Automation Letters.

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

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

IntentionGAN : Multi-Modal Imitation Learning from Unstructured Demonstrations

S. Schaal, Karol Hausman, Yevgen Chebotar, 2017 .

A Probabilistic Representation for Dynamic Movement Primitives pdf

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

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

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

Movement Segmentation and Recognition for Imitation Learning

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

Movement segmentation using a primitive library

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

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

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

Learning Movement Primitives for Imitation Learning in Humanoid Robots

Jun Nakanishi, Gordon Cheng, Auke Jan Ijspeert, 2004 .

Discovering imitation strategies through categorization of multi-dimensional data

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

Learning Robot Control

Stefan Schaal, S. Schaal, 2002 .

Robust learning of arm trajectories through human demonstration

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

Humanoid robot “DB”

Stefan Schaal, Shinya Kotosaka, Tomohiro Shibata, 2001 .

Real-time robot learning with locally weighted statistical learning

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

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

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

A Model of Smooth Pursuit based on Learning of the Target Dynamics Using Only Retinal Signals

Stefan Schaal, Mitsuo Kawato, Tomohiro Shibata, 2001 .

From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence pdf

Oliver Brock, Marc Toussaint, Stefan Schaal, 2021, ArXiv.

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

Stefan Schaal, Ludovic Righetti, Jonas Buchli, 2010 .

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

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

A Robust Quadruped Walking Gait for Traversing Rough Terrain

Stefan Schaal, Michael Mistry, Dimitris Pongas, 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

Receptive Field Weighted Regression

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

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

Stefan Schaal, Jan Peters, Jan Peters, 2008 .

Nonparametric Regression for Learning

Stefan Schaal, S. Schaal, 1994 .

Interaction of rhythmic and discrete pattern generators in single-joint movements

Stefan Schaal, Dagmar Sternad, William J. Dean, 2000 .

A Kendama learning robot based on a dynamic optimization theory

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

Reciprocal excitation between biological and robotic research

Rieko Osu, Shinya Kotosaka, Dagmar Sternad, 2000, SPIE Optics East.

Biomimetic smooth pursuit based on fast learning of the target dynamics

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

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

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

Action planning and control under uncertainty emerge through a desirability-driven competition between parallel encoding motor plans

S. Schaal, P. Schrater, V. Christopoulos, 2021, PLoS Comput. Biol..

Posters Charles Lenay , Olivier Gapenne , and John Stewart : The constitution of spatiality in relation to the lived body : a study based on prosthetic perception

Stefan Schaal, Giorgio Metta, Rolf Pfeifer, 2001 .

Learning and Adaptation of Inverse Dynamics Models: A Comparison

Stefan Schaal, Tamim Asfour, Franziska Meier, 2019, 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids).

Offline Meta-Reinforcement Learning for Industrial Insertion

Oleg O. Sushkov, S. Levine, S. Schaal, 2021, 2022 International Conference on Robotics and Automation (ICRA).

Real-Time Perception Meets Reactive Motion Generation

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

Probabilistic Recurrent State-Space Models

Duy Nguyen-Tuong, Stefan Schaal, Christian Daniel, 2018, ICML.

Learning motion primitive goals for robust manipulation

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

Learning Dense Rewards for Contact-Rich Manipulation Tasks pdf

Masayoshi Tomizuka, Stefan Schaal, Wenzhao Lian, 2020, 2021 IEEE International Conference on Robotics and Automation (ICRA).

Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study pdf

Oleg O. Sushkov, Stefan Schaal, Wenzhao Lian, 2021, Robotics: Science and Systems.

Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks

Stefan Schaal, Wenzhao Lian, Dirk Holz, 2021, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning

S. Schaal, M. Tomizuka, Wenzhao Lian, 2022, ArXiv.

Residual Learning from Demonstration: Adapting DMPs for Contact-rich Manipulation

S. Schaal, S. Ramamoorthy, Franziska Meier, 2020, IEEE Robotics and Automation Letters.

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

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

DOOMED: Direct Online Optimization of Modeling Errors in Dynamics

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

Optimal distribution of contact forces with inverse-dynamics control

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

Control of legged robots with optimal distribution of contact forces

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

Real-time statistical learning for robotics and human augmentation

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

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

S. Schaal, L. Righetti, Alexander Herzog, 2014, Auton. Robots.

Locally Weighted Regression for Control

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

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

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

On Time Optimization of Centroidal Momentum Dynamics

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

Multi-Task Learning with Sequence-Conditioned Transporter Networks pdf

Stefan Schaal, Aleksandra Faust, Andy Zeng, 2021, 2022 International Conference on Robotics and Automation (ICRA).

Towards Machine Learning of Motor Skills

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

Policy Learning for Motor Skills

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

Inverse dynamics control of floating base systems using orthogonal decomposition

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

Robot arm pose estimation through pixel-wise part classification

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

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

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

Whole-body motor strategies for balancing on a beam when changing the number of available degrees of freedom

Stefan Schaal, Meghan E. Huber, Enrico Chiovetto, 2015 .

CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation

Kostas E. Bekris, S. Schaal, Wenzhao Lian, 2021, 2022 International Conference on Robotics and Automation (ICRA).

An Interior Point Method Solving Motion Planning Problems with Narrow Passages

Nathan Ratliff, Stefan Schaal, Nathan D. Ratliff, 2020, 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).

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

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

Template-based learning of grasp selection

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

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

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

Arm movement experiments with joint space force fields using an exoskeleton robot

M. Mistry, P. Mohajerian, S. Schaal, 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

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

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

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

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

Learning task error models for manipulation

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

A new data source for inverse dynamics learning

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

Learning Manipulation Graphs from Demonstrations Using Multimodal Sensory Signals

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

Learning feedback terms for reactive planning and control

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

The Bayesian backfitting relevance vector machine

Stefan Schaal, Sethu Vijayakumar, Aaron D'Souza, 2004, ICML.

Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation

Oleg O. Sushkov, S. Schaal, Markus Wulfmeier, 2021, ICLR.

What if you are not certain? A common computation underlying action selection, reaction time and confidence judgment

Paul R. Schrater, Stefan Schaal, Vassilios N. Christopoulos, 2017, bioRxiv.

Title What if you are not certain ? A common computation 1 underlying action selection , reaction time and confidence

S. Schaal, Paul Schrater, V. Christopoulos, 2017 .

Optimizing Long-term Predictions for Model-based Policy Search

Duy Nguyen-Tuong, Stefan Schaal, Christian Daniel, 2017, CoRL.

Supplementary Material for Probabilistic Recurrent State-Space Models

S. Schaal, Christian Daniel, Marc Toussaint, 2018 .

Multi-Stage Cable Routing through Hierarchical Imitation Learning

S. Levine, S. Schaal, Jianlan Luo, 2023, ArXiv.

Detection and Physical Interaction with Deformable Linear Objects

S. Schaal, S. Scherer, Azarakhsh Keipour, 2022, ArXiv.

Robot learning by nonparametric regression

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

Loop Stable Control Strategies for Robot Juggling

S. Schaal, C. Atkeson, 1997 .

A Bayesian approach to empirical local linearization for robotics

Stefan Schaal, Sethu Vijayakumar, Jo-Anne Ting, 2008, 2008 IEEE International Conference on Robotics and Automation.

Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks

S. Schaal, Wenzhao Lian, Toki Migimatsu, 2022, 2022 International Conference on Robotics and Automation (ICRA).

Computational approaches to motor learning by imitation.

S. Schaal, A. Ijspeert, A. Billard, 2003, Philosophical transactions of the Royal Society of London. Series B, Biological sciences.

Learning of grasp selection based on shape-templates

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

Force Estimation and Slip Detection for Grip Control using a Biomimetic Tactile Sensor

Gaurav S. Sukhatme, Yevgen Chebotar, Artem Molchanov, 2015 .

Learning passive motor control strategies with genetic algorithms

Stefan Schaal, S. Schaal, 1993 .

Regrasping Using Tactile Perception and Supervised Policy Learning

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

Learning to Switch Between Sensorimotor Primitives Using Multimodal Haptic Signals

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

Incremental Local Gaussian Regression

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

Robotic Cable Routing with Spatial Representation

S. Schaal, M. Tomizuka, Wenzhao Lian, 2022, IEEE Robotics and Automation Letters.

Structured contact force optimization for kino-dynamic motion generation

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

BiGS: BioTac Grasp Stability Dataset

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

Reinforcement learning of impedance control in stochastic force fields

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

Bayesian Kernel Shaping for Learning Control

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

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

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

Historical Perspective of Humanoid Robot Research in the Americas

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

Bayesian regression with input noise for high dimensional data

Stefan Schaal, Jo-Anne Ting, Aaron D'Souza, 2006, ICML.

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

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

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Pannag R. Sanketi, Norman Di Palo, Lawrence Yunliang Chen, 2023, ArXiv.

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Pannag R. Sanketi, Norman Di Palo, Lawrence Yunliang Chen, 2023 .

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Pannag R. Sanketi, Norman Di Palo, Lawrence Yunliang Chen, 2023 .

Online movement adaptation based on previous sensor experiences

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

Energy Cost in Arm Movements The Central Nervous System Does Not Minimize

Stefan Schaal, Mitsuo Kawato, Luciano Fadiga, 2015 .

The new robotics—towards human‐centered machines

S. Schaal, 2007, HFSP journal.

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

S. Schaal, A. Ijspeert, P. Pastor, 2013, Neural Computation.

Residual Learning from Demonstration pdf

Stefan Schaal, Todor Davchev, Michael Burke, 2020, ArXiv.

Learning Task-Specific Dynamics to Improve Whole-Body Control

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

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

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

Robotics and Neuroscience

S. Schaal, A. Ijspeert, D. Floreano, 2014, Current Biology.

Reinforcement learning of motor skills with policy gradients

Jan Peters, S. Schaal, 2008, Neural Networks.

Learning coupling terms for obstacle avoidance

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

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

S. Levine, S. Schaal, Karol Hausman, 2017, ICML.

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

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

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

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

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

S. Schaal, C. Atkeson, 1995, NIPS.

Reinforcement learning of motor skills with policy gradients

Jan Peters, S. Schaal, 2008, Neural Networks.

Balancing and walking using full dynamics LQR control with contact constraints

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