Marc Toussaint

139 publications

24 venues

H Index 35

Affiliation

TU Berlin, Germany
University of Edinburgh, UK

Links

Name Venue Year citations
Multilevel motion planning: A fiber bundle formulation. IJRR 2024 0
PaLM-E: An Embodied Multimodal Language Model. ICML 2023 0
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning. ICRA 2023 0
Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort. IROS 2023 0
Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation. IROS 2023 0
Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces. IEEE Robotics and Automation Letters 2023 0
Stabilizing deep Q-learning with Q-graph-based bounds. IJRR 2023 0
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation. IROS 2022 2
A Conflict-Driven Interface Between Symbolic Planning and Nonlinear Constraint Solving. IEEE Robotics and Automation Letters 2022 2
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning. IROS 2022 0
Learning Robotic Manipulation of Natural Materials With Variable Properties for Construction Tasks. IEEE Robotics and Automation Letters 2022 1
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time. ICRA 2022 5
Conflict-Directed Diverse Planning for Logic-Geometric Programming. ICAPS 2022 3
Path-Tree Optimization in Discrete Partially Observable Environments Using Rapidly-Exploring Belief-Space Graphs. IEEE Robotics and Automation Letters 2022 0
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. IROS 2022 1
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields. CoRL 2022 0
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort. ISRR 2022 0
Reinforcement Learning with Neural Radiance Fields. NIPS/NeurIPS 2022 0
FC IROS 2022 0
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning. IROS 2022 0
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets. IEEE Robotics and Automation Letters 2022 0
Deep Visual Constraints: Neural Implicit Models for Manipulation Planning From Visual Input. IEEE Robotics and Automation Letters 2022 0
Active Learning in Gaussian Process State Space Model. ECML/PKDD 2021 1
Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks. ICLR 2021 2
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning. CoRL 2021 17
Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning. ICRA 2021 3
Control-Tree Optimization: an approach to MPC under discrete Partial Observability. ICRA 2021 3
Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input. ICRA 2021 19
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies. IROS 2021 1
Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics. NIPS/NeurIPS 2021 1
Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping. ICRA 2021 4
Learning to solve sequential physical reasoning problems from a scene image. IJRR 2021 7
Structured deep generative models for sampling on constraint manifolds in sequential manipulation. CoRL 2021 10
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation. ICRA 2021 0
Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning. ICRA 2021 0
MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze. IEEE Robotics and Automation Letters 2021 0
Describing Physics For Physical Reasoning: Force-Based Sequential Manipulation Planning. IEEE Robotics and Automation Letters 2020 28
Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning. CoRL 2020 6
A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty. ICRA 2020 12
Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning. ICRA 2020 30
Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG. IROS 2020 5
Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning. IROS 2020 22
Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image. RSS 2020 54
Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks. ICRA 2020 0
Motion Planning Explorer: Visualizing Local Minima Using a Local-Minima Tree. IEEE Robotics and Automation Letters 2020 0
Trajectory-Based Off-Policy Deep Reinforcement Learning. ICML 2019 1
Active Multi-Contact Continuous Tactile Exploration with Gaussian Process Differential Entropy. ICRA 2019 13
Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach. ICRA 2019 22
Active Inverse Model Learning with Error and Reachable Set Estimates. IROS 2019 5
An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem. IROS 2019 11
Planning Approximate Exploration Trajectories for Model-Free Reinforcement Learning in Contact-Rich Manipulation. IEEE Robotics and Automation Letters 2019 14
Rapidly-Exploring Quotient-Space Trees: Motion Planning Using Sequential Simplifications. ISRR 2019 14
Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning - Extended Abtract. IJCAI 2019 0
Learning manipulation skills from a single demonstration. IJRR 2018 29
Towards Combining Motion Optimization and Data Driven Dynamical Models for Human Motion Prediction. Humanoids 2018 11
Learning to Control Redundant Musculoskeletal Systems with Neural Networks and SQP: Exploiting Muscle Properties. ICRA 2018 15
Planning Ergonomic Sequences of Actions in Human-Robot Interaction. ICRA 2018 28
Bayesian Functional Optimization. AAAI 2018 11
Probabilistic Recurrent State-Space Models. ICML 2018 91
Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning. RSS 2018 233
Kinematic Morphing Networks for Manipulation Skill Transfer. IROS 2018 4
Efficient behavior learning in human-robot collaboration. Autonomous Robots 2018 0
Preference learning on the execution of collaborative human-robot tasks. ICRA 2017 24
Active learning with query paths for tactile object shape exploration. IROS 2017 34
Optimizing Long-term Predictions for Model-based Policy Search. CoRL 2017 32
Constrained Bayesian optimization of combined interaction force/task space controllers for manipulations. ICRA 2017 31
Physical problem solving: Joint planning with symbolic, geometric, and dynamic constraints. Cognitive Science 2017 18
Opening a lockbox through physical exploration. Humanoids 2017 14
Inverse KKT: Learning cost functions of manipulation tasks from demonstrations. IJRR 2017 84
Multi-bound tree search for logic-geometric programming in cooperative manipulation domains. ICRA 2017 53
Combined Optimization and Reinforcement Learning for Manipulation Skills. RSS 2016 30
Policy Search in Reproducing Kernel Hilbert Space. IJCAI 2016 20
Relational activity processes for modeling concurrent cooperation. ICRA 2016 28
Automatic testing and minimax optimization of system parameters for best worst-case performance. IROS 2015 4
Fast greedy insertion and deletion in sparse Gaussian process regression. ESANN 2015 3
An Approximate Inference Approach to Temporal Optimization for Robotics. ISRR 2015 3
Active exploration of joint dependency structures. ICRA 2015 19
Robot programming from demonstration, feedback and transfer. IROS 2015 39
Temporal segmentation of pair-wise interaction phases in sequential manipulation demonstrations. IROS 2015 20
Understanding the geometry of workspace obstacles in Motion Optimization. ICRA 2015 52
Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning. IJCAI 2015 209
Safe Exploration for Active Learning with Gaussian Processes. ECML/PKDD 2015 74
Hierarchical Monte-Carlo Planning. AAAI 2015 46
Sparse Gaussian process regression for compliant, real-time robot control. ICRA 2015 17
Touch based POMDP manipulation via sequential submodular optimization. Humanoids 2015 8
POMDP manipulation via trajectory optimization. IROS 2015 13
Discovering temporally extended features for reinforcement learning in domains with delayed causalities. ESANN 2015 1
Probabilistic Inference Techniques for Scalable Multiagent Decision Making. JAIR 2015 35
Direct Loss Minimization Inverse Optimal Control. RSS 2015 43
Inverse KKT - Learning Cost Functions of Manipulation Tasks from Demonstrations. ISRR 2015 0
Model-Based Relational RL When Object Existence is Partially Observable. ICML 2014 7
Reactive phase and task space adaptation for robust motion execution. IROS 2014 12
Discovering relevant task spaces using inverse feedback control. Autonomous Robots 2014 0
Entropy-based strategies for physical exploration of the environment's degrees of freedom. IROS 2014 29
Dual execution of optimized contact interaction trajectories. IROS 2014 17
Topology-based representations for motion planning and generalization in dynamic environments with interactions. IJRR 2013 41
Fast motion planning from experience: trajectory prediction for speeding up movement generation. Autonomous Robots 2013 81
Optimizing motion primitives to make symbolic models more predictive. ICRA 2013 7
Caging complex objects with geodesic balls. IROS 2013 17
Active Learning for Teaching a Robot Grounded Relational Symbols. IJCAI 2013 88
On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference (Extended Abstract). IJCAI 2013 17
Uncertainty aware grasping and tactile exploration. ICRA 2013 71
Path Integral Control by Reproducing Kernel Hilbert Space Embedding. IJCAI 2013 0
Exploration in relational domains for model-based reinforcement learning. JMLR 2012 0
Message-Passing Algorithms for MAP Estimation Using DC Programming. AISTATS 2012 7
On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference. RSS 2012 235
Exploration in Model-based Reinforcement Learning by Empirically Estimating Learning Progress. NIPS/NeurIPS 2012 167
Hierarchical Motion Planning in Topological Representations. RSS 2012 16
Analyzing and Escaping Local Optima in Planning as Inference for Partially Observable Domains. ECML/PKDD 2011 11
Gaussian process implicit surfaces for shape estimation and grasping. ICRA 2011 149
Escaping local optima in POMDP planning as inference. AAMAS 2011 2
Scalable Multiagent Planning Using Probabilistic Inference. IJCAI 2011 63
Task Space Retrieval Using Inverse Feedback Control. ICML 2011 26
Exploration in Relational Worlds. ECML/PKDD 2010 17
Integrated motor control, planning, grasping and high-level reasoning in a blocks world using probabilistic inference. ICRA 2010 56
Trajectory prediction in cluttered voxel environments. ICRA 2010 37
Probabilistic Backward and Forward Reasoning in Stochastic Relational Worlds. ICML 2010 4
An Approximate Inference Approach to Temporal Optimization in Optimal Control. NIPS/NeurIPS 2010 38
Planning with Noisy Probabilistic Relational Rules. JAIR 2010 90
Model-free reinforcement learning as mixture learning. ICML 2009 50
Approximate inference for planning in stochastic relational worlds. ICML 2009 22
Learning model-free robot control by a Monte Carlo EM algorithm. Autonomous Robots 2009 83
Relevance Grounding for Planning in Relational Domains. ECML/PKDD 2009 22
Trajectory prediction: learning to map situations to robot trajectories. ICML 2009 64
Multi-class image segmentation using conditional random fields and global classification. ICML 2009 129
Robot trajectory optimization using approximate inference. ICML 2009 344
Hierarchical POMDP Controller Optimization by Likelihood Maximization. UAI 2008 92
Task maps in humanoid robot manipulation. IROS 2008 50
Optimization of fluent approach and grasp motions. Humanoids 2008 30
Probabilistic inference for structured planning in robotics. IROS 2007 34
A Primitive Based Generative Model to Infer Timing Information in Unpartitioned Handwriting Data. IJCAI 2007 18
Optimization of sequential attractor-based movement for compact behaviour generation. Humanoids 2007 59
Modelling motion primitives and their timing in biologically executed movements. NIPS/NeurIPS 2007 59
Learning Multiple Models of Non-linear Dynamics for Control Under Varying Contexts. ICANN 2006 26
Extracting Motion Primitives from Natural Handwriting Data. ICANN 2006 250
Probabilistic inference for solving discrete and continuous state Markov Decision Processes. ICML 2006 512
Learning discontinuities for switching between local models. IJCAI 2005 2
Learning discontinuities with products-of-sigmoids for switching between local models. ICML 2005 28
Learning a World Model and Planning with a Self-Organizing, Dynamic Neural System. NIPS/NeurIPS 2003 31
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