Marc Toussaint
149 publications
24 venues
H Index 41
Affiliation
TU Berlin, GermanyUniversity of Edinburgh, UK
Links
DBLPGoogle Scholar
ORCID
Twitter- https://www.user.tu-berlin.de/mtoussai/
- https://openreview.net/profile?id=~Marc_Toussaint3
- https://dl.acm.org/profile/81331505904
- https://zbmath.org/authors/?q=ai:toussaint.marc
- https://mathscinet.ams.org/mathscinet/MRAuthorID/665538
- https://mathgenealogy.org/id.php?id=264601
- https://github.com/MarcToussaint
- https://www.wikidata.org/entity/Q107103591
- https://www.wikidata.org/entity/Q102111501
- https://id.loc.gov/authorities/names/n2014043793
- https://d-nb.info/gnd/122904869
- https://ieeexplore.ieee.org/author/37528418600
| Name | Venue | Year | citations |
|---|---|---|---|
SVN-ICP: Uncertainty Estimation of ICP-Based LiDAR Odometry Using Stein Variational Newton.
|
IEEE Robotics and Automation Letters | 2025 | 0 |
| Regrasp Maps for Sequential Manipulation Planning.
|
IROS | 2025 | 0 |
| Stein Variational Evolution Strategies.
|
UAI | 2025 | 0 |
| GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System.
|
IROS | 2024 | 1 |
| Solving Sequential Manipulation Puzzles by Finding Easier Subproblems.
|
ICRA | 2024 | 7 |
| Effort Level Search in Infinite Completion Trees with Application to Task-and-Motion Planning.
|
ICRA | 2024 | 1 |
| Camera-Based Belief Space Planning in Discrete Partially-Observable Domains.
|
IROS | 2024 | 0 |
| iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization.
|
IROS | 2024 | 13 |
| db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning.
|
ICRA | 2024 | 0 |
| Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments.
|
IROS | 2024 | 0 |
| Multilevel motion planning: A fiber bundle formulation.
|
IJRR | 2024 | 0 |
| Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation.
|
IROS | 2023 | 0 |
| Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort.
|
IROS | 2023 | 2 |
| Stabilizing deep Q-learning with Q-graph-based bounds.
|
IJRR | 2023 | 1 |
| PaLM-E: An Embodied Multimodal Language Model.
|
ICML | 2023 | 2389 |
| Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning.
|
ICRA | 2023 | 0 |
| Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| Conflict-Directed Diverse Planning for Logic-Geometric Programming.
|
ICAPS | 2022 | 9 |
| Learning Multi-Object Dynamics with Compositional Neural Radiance Fields.
|
CoRL | 2022 | 94 |
| Learning Robotic Manipulation of Natural Materials With Variable Properties for Construction Tasks.
|
IEEE Robotics and Automation Letters | 2022 | 12 |
| Reinforcement Learning with Neural Radiance Fields.
|
NIPS/NeurIPS | 2022 | 67 |
| db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning.
|
IROS | 2022 | 15 |
| Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort.
|
ISRR | 2022 | 12 |
| Path-Tree Optimization in Discrete Partially Observable Environments Using Rapidly-Exploring Belief-Space Graphs.
|
IEEE Robotics and Automation Letters | 2022 | 5 |
| ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time.
|
ICRA | 2022 | 42 |
| A Conflict-Driven Interface Between Symbolic Planning and Nonlinear Constraint Solving.
|
IEEE Robotics and Automation Letters | 2022 | 10 |
| BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning.
|
IROS | 2022 | 16 |
| Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation.
|
IROS | 2022 | 36 |
| 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 |
| Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input.
|
ICRA | 2021 | 46 |
| Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies.
|
IROS | 2021 | 8 |
| Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping.
|
ICRA | 2021 | 14 |
| Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks.
|
ICLR | 2021 | 8 |
| Control-Tree Optimization: an approach to MPC under discrete Partial Observability.
|
ICRA | 2021 | 10 |
| Active Learning in Gaussian Process State Space Model.
|
ECML/PKDD | 2021 | 5 |
| Structured deep generative models for sampling on constraint manifolds in sequential manipulation.
|
CoRL | 2021 | 27 |
| Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning.
|
CoRL | 2021 | 70 |
| Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics.
|
NIPS/NeurIPS | 2021 | 1 |
| Learning to solve sequential physical reasoning problems from a scene image.
|
IJRR | 2021 | 24 |
| Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning.
|
ICRA | 2021 | 25 |
| 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 |
| A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty.
|
ICRA | 2020 | 0 |
| Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG.
|
IROS | 2020 | 13 |
| Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning.
|
IROS | 2020 | 43 |
| Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image.
|
RSS | 2020 | 114 |
| Describing Physics For Physical Reasoning: Force-Based Sequential Manipulation Planning.
|
IEEE Robotics and Automation Letters | 2020 | 47 |
| Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning.
|
ICRA | 2020 | 67 |
| Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning.
|
CoRL | 2020 | 13 |
| 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 |
| Active Inverse Model Learning with Error and Reachable Set Estimates.
|
IROS | 2019 | 6 |
| Trajectory-Based Off-Policy Deep Reinforcement Learning.
|
ICML | 2019 | 3 |
| Active Multi-Contact Continuous Tactile Exploration with Gaussian Process Differential Entropy.
|
ICRA | 2019 | 27 |
| Planning Approximate Exploration Trajectories for Model-Free Reinforcement Learning in Contact-Rich Manipulation.
|
IEEE Robotics and Automation Letters | 2019 | 24 |
| Rapidly-Exploring Quotient-Space Trees: Motion Planning Using Sequential Simplifications.
|
ISRR | 2019 | 21 |
| Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach.
|
ICRA | 2019 | 30 |
| An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem.
|
IROS | 2019 | 28 |
| Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning - Extended Abtract.
|
IJCAI | 2019 | 0 |
| Learning to Control Redundant Musculoskeletal Systems with Neural Networks and SQP: Exploiting Muscle Properties.
|
ICRA | 2018 | 28 |
| Bayesian Functional Optimization.
|
AAAI | 2018 | 17 |
| Learning manipulation skills from a single demonstration.
|
IJRR | 2018 | 52 |
| Kinematic Morphing Networks for Manipulation Skill Transfer.
|
IROS | 2018 | 5 |
| Towards Combining Motion Optimization and Data Driven Dynamical Models for Human Motion Prediction.
|
Humanoids | 2018 | 11 |
| Planning Ergonomic Sequences of Actions in Human-Robot Interaction.
|
ICRA | 2018 | 43 |
| Probabilistic Recurrent State-Space Models.
|
ICML | 2018 | 139 |
| Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning.
|
RSS | 2018 | 364 |
| Efficient behavior learning in human-robot collaboration.
|
Autonomous Robots | 2018 | 0 |
| Active learning with query paths for tactile object shape exploration.
|
IROS | 2017 | 63 |
| Constrained Bayesian optimization of combined interaction force/task space controllers for manipulations.
|
ICRA | 2017 | 40 |
| Preference learning on the execution of collaborative human-robot tasks.
|
ICRA | 2017 | 37 |
| Physical problem solving: Joint planning with symbolic, geometric, and dynamic constraints.
|
Cognitive Science | 2017 | 23 |
| Multi-bound tree search for logic-geometric programming in cooperative manipulation domains.
|
ICRA | 2017 | 83 |
| Opening a lockbox through physical exploration.
|
Humanoids | 2017 | 23 |
| Optimizing Long-term Predictions for Model-based Policy Search.
|
CoRL | 2017 | 38 |
| Inverse KKT: Learning cost functions of manipulation tasks from demonstrations.
|
IJRR | 2017 | 0 |
| Combined Optimization and Reinforcement Learning for Manipulation Skills.
|
RSS | 2016 | 36 |
| Relational activity processes for modeling concurrent cooperation.
|
ICRA | 2016 | 32 |
| Policy Search in Reproducing Kernel Hilbert Space.
|
IJCAI | 2016 | 19 |
| Temporal segmentation of pair-wise interaction phases in sequential manipulation demonstrations.
|
IROS | 2015 | 22 |
| Probabilistic Inference Techniques for Scalable Multiagent Decision Making.
|
JAIR | 2015 | 41 |
| Hierarchical Monte-Carlo Planning.
|
AAAI | 2015 | 47 |
| Fast greedy insertion and deletion in sparse Gaussian process regression.
|
ESANN | 2015 | 4 |
| An Approximate Inference Approach to Temporal Optimization for Robotics.
|
ISRR | 2015 | 3 |
| Safe Exploration for Active Learning with Gaussian Processes.
|
ECML/PKDD | 2015 | 111 |
| Direct Loss Minimization Inverse Optimal Control.
|
RSS | 2015 | 44 |
| Robot programming from demonstration, feedback and transfer.
|
IROS | 2015 | 42 |
| Automatic testing and minimax optimization of system parameters for best worst-case performance.
|
IROS | 2015 | 4 |
| Touch based POMDP manipulation via sequential submodular optimization.
|
Humanoids | 2015 | 9 |
| Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning.
|
IJCAI | 2015 | 355 |
| Discovering temporally extended features for reinforcement learning in domains with delayed causalities.
|
ESANN | 2015 | 1 |
| Active exploration of joint dependency structures.
|
ICRA | 2015 | 19 |
| Understanding the geometry of workspace obstacles in Motion Optimization.
|
ICRA | 2015 | 66 |
| POMDP manipulation via trajectory optimization.
|
IROS | 2015 | 14 |
| Sparse Gaussian process regression for compliant, real-time robot control.
|
ICRA | 2015 | 22 |
| Inverse KKT - Learning Cost Functions of Manipulation Tasks from Demonstrations.
|
ISRR | 2015 | 0 |
| Dual execution of optimized contact interaction trajectories.
|
IROS | 2014 | 19 |
| Model-Based Relational RL When Object Existence is Partially Observable.
|
ICML | 2014 | 7 |
| Entropy-based strategies for physical exploration of the environment's degrees of freedom.
|
IROS | 2014 | 28 |
| Reactive phase and task space adaptation for robust motion execution.
|
IROS | 2014 | 13 |
| Discovering relevant task spaces using inverse feedback control.
|
Autonomous Robots | 2014 | 7 |
| Caging complex objects with geodesic balls.
|
IROS | 2013 | 19 |
| Topology-based representations for motion planning and generalization in dynamic environments with interactions.
|
IJRR | 2013 | 49 |
| Optimizing motion primitives to make symbolic models more predictive.
|
ICRA | 2013 | 7 |
| Uncertainty aware grasping and tactile exploration.
|
ICRA | 2013 | 87 |
| Path Integral Control by Reproducing Kernel Hilbert Space Embedding.
|
IJCAI | 2013 | 0 |
| Active Learning for Teaching a Robot Grounded Relational Symbols.
|
IJCAI | 2013 | 0 |
| On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference (Extended Abstract).
|
IJCAI | 2013 | 0 |
| Fast motion planning from experience: trajectory prediction for speeding up movement generation.
|
Autonomous Robots | 2013 | 0 |
| Hierarchical Motion Planning in Topological Representations.
|
RSS | 2012 | 22 |
| Exploration in relational domains for model-based reinforcement learning.
|
JMLR | 2012 | 64 |
| Exploration in Model-based Reinforcement Learning by Empirically Estimating Learning Progress.
|
NIPS/NeurIPS | 2012 | 207 |
| Message-Passing Algorithms for MAP Estimation Using DC Programming.
|
AISTATS | 2012 | 8 |
| On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference.
|
RSS | 2012 | 0 |
| Analyzing and Escaping Local Optima in Planning as Inference for Partially Observable Domains.
|
ECML/PKDD | 2011 | 12 |
| Scalable Multiagent Planning Using Probabilistic Inference.
|
IJCAI | 2011 | 41 |
| Task Space Retrieval Using Inverse Feedback Control.
|
ICML | 2011 | 25 |
| Gaussian process implicit surfaces for shape estimation and grasping.
|
ICRA | 2011 | 199 |
| Escaping local optima in POMDP planning as inference.
|
AAMAS | 2011 | 2 |
| An Approximate Inference Approach to Temporal Optimization in Optimal Control.
|
NIPS/NeurIPS | 2010 | 42 |
| Exploration in Relational Worlds.
|
ECML/PKDD | 2010 | 17 |
| Planning with Noisy Probabilistic Relational Rules.
|
JAIR | 2010 | 87 |
| Trajectory prediction in cluttered voxel environments.
|
ICRA | 2010 | 37 |
| Probabilistic Backward and Forward Reasoning in Stochastic Relational Worlds.
|
ICML | 2010 | 4 |
| Integrated motor control, planning, grasping and high-level reasoning in a blocks world using probabilistic inference.
|
ICRA | 2010 | 56 |
| Relevance Grounding for Planning in Relational Domains.
|
ECML/PKDD | 2009 | 23 |
| Approximate inference for planning in stochastic relational worlds.
|
ICML | 2009 | 21 |
| Trajectory prediction: learning to map situations to robot trajectories.
|
ICML | 2009 | 66 |
| Multi-class image segmentation using conditional random fields and global classification.
|
ICML | 2009 | 163 |
| Model-free reinforcement learning as mixture learning.
|
ICML | 2009 | 50 |
| Robot trajectory optimization using approximate inference.
|
ICML | 2009 | 447 |
| Learning model-free robot control by a Monte Carlo EM algorithm.
|
Autonomous Robots | 2009 | 85 |
| Hierarchical POMDP Controller Optimization by Likelihood Maximization.
|
UAI | 2008 | 92 |
| Optimization of fluent approach and grasp motions.
|
Humanoids | 2008 | 26 |
| Task maps in humanoid robot manipulation.
|
IROS | 2008 | 51 |
| Probabilistic inference for structured planning in robotics.
|
IROS | 2007 | 34 |
| Optimization of sequential attractor-based movement for compact behaviour generation.
|
Humanoids | 2007 | 58 |
| Modelling motion primitives and their timing in biologically executed movements.
|
NIPS/NeurIPS | 2007 | 64 |
| A Primitive Based Generative Model to Infer Timing Information in Unpartitioned Handwriting Data.
|
IJCAI | 2007 | 18 |
| Extracting Motion Primitives from Natural Handwriting Data.
|
ICANN | 2006 | 258 |
| Probabilistic inference for solving discrete and continuous state Markov Decision Processes.
|
ICML | 2006 | 549 |
| Learning Multiple Models of Non-linear Dynamics for Control Under Varying Contexts.
|
ICANN | 2006 | 28 |
| Learning discontinuities for switching between local models.
|
IJCAI | 2005 | 0 |
| Learning discontinuities with products-of-sigmoids for switching between local models.
|
ICML | 2005 | 30 |
| Learning a World Model and Planning with a Self-Organizing, Dynamic Neural System.
|
NIPS/NeurIPS | 2003 | 25 |