Stefan Schaal

180 publications

19 venues

h-Index 63

Google's h-Index 86

Affiliation

University of Southern California, Los Angeles, USA
Max-Planck Institute Intelligent Systems, T bingen, Germany

Links

Additional Information

Achievements
2014 - IEEE FellowFor contributions to robot learning and modular motion planning
Google Citations
28193
Name Venue Year citations
Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning. ICRA 2023 0
A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies. IROS 2022 0
Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks. ICRA 2022 1
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation. IROS 2022 2
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration. RSS 2022 9
Deformable One-Dimensional Object Detection for Routing and Manipulation. IEEE Robotics and Automation Letters 2022 4
Robotic Cable Routing with Spatial Representation. IEEE Robotics and Automation Letters 2022 3
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation. ICRA 2022 0
Multi-Task Learning with Sequence-Conditioned Transporter Networks. ICRA 2022 0
Offline Meta-Reinforcement Learning for Industrial Insertion. ICRA 2022 0
Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation. ICLR 2022 0
Residual Learning From Demonstration: Adapting DMPs for Contact-Rich Manipulation. IEEE Robotics and Automation Letters 2022 0
Combining learned and analytical models for predicting action effects from sensory data. IJRR 2022 0
Supervised learning and reinforcement learning of feedback models for reactive behaviors: Tactile feedback testbed. IJRR 2022 0
Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks. IROS 2021 11
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study. RSS 2021 17
Learning Dense Rewards for Contact-Rich Manipulation Tasks. ICRA 2021 0
Scaling simulation-to-real transfer by learning a latent space of robot skills. IJRR 2020 5
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking. IEEE Robotics and Automation Letters 2019 6
Learning and Adaptation of Inverse Dynamics Models: A Comparison. Humanoids 2019 10
Learning Manipulation Graphs from Demonstrations Using Multimodal Sensory Signals. ICRA 2018 20
Probabilistic Recurrent State-Space Models. ICML 2018 91
Learning Task-Specific Dynamics to Improve Whole-Body Control. Humanoids 2018 3
An MPC Walking Framework with External Contact Forces. ICRA 2018 0
Unsupervised Contact Learning for Humanoid Estimation and Control. ICRA 2018 0
Online Learning of a Memory for Learning Rates. ICRA 2018 0
Time-Contrastive Networks: Self-Supervised Learning from Video. ICRA 2018 0
Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks. ICRA 2018 0
On Time Optimization of Centroidal Momentum Dynamics. ICRA 2018 0
Real-Time Perception Meets Reactive Motion Generation. IEEE Robotics and Automation Letters 2018 0
Model-based policy search for automatic tuning of multivariate PID controllers. ICRA 2017 26
On the relevance of grasp metrics for predicting grasp success. IROS 2017 17
A new data source for inverse dynamics learning. IROS 2017 15
Optimizing Long-term Predictions for Model-based Policy Search. CoRL 2017 32
Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning. ICML 2017 138
Virtual vs. real: Trading off simulations and physical experiments in reinforcement learning with Bayesian optimization. ICRA 2017 91
Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets. NIPS/NeurIPS 2017 110
Learning feedback terms for reactive planning and control. ICRA 2017 0
Path integral guided policy search. ICRA 2017 0
Probabilistic Articulated Real-Time Tracking for Robot Manipulation. IEEE Robotics and Automation Letters 2017 0
Exemplar-based prediction of global object shape from local shape similarity. ICRA 2016 1
Robot arm pose estimation by pixel-wise regression of joint angles. ICRA 2016 29
Inertial sensor-based humanoid joint state estimation. ICRA 2016 24
A convex model of humanoid momentum dynamics for multi-contact motion generation. Humanoids 2016 63
Towards robust online inverse dynamics learning. IROS 2016 31
Depth-based object tracking using a Robust Gaussian Filter. ICRA 2016 47
Self-supervised regrasping using spatio-temporal tactile features and reinforcement learning. IROS 2016 69
Learning where to search using visual attention. IROS 2016 7
Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks. IROS 2016 16
Optimizing for what matters: The top grasp hypothesis. ICRA 2016 8
Drifting Gaussian processes with varying neighborhood sizes for online model learning. ICRA 2016 27
Automatic LQR tuning based on Gaussian process global optimization. ICRA 2016 121
Balancing and walking using full dynamics LQR control with contact constraints. Humanoids 2016 28
Structured contact force optimization for kino-dynamic motion generation. IROS 2016 68
A new perspective and extension of the Gaussian Filter. IJRR 2016 0
Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid. Autonomous Robots 2016 0
Humanoid momentum estimation using sensed contact wrenches. Humanoids 2015 31
Leveraging big data for grasp planning. ICRA 2015 236
Data-Driven Online Decision Making for Autonomous Manipulation. RSS 2015 57
Trajectory generation for multi-contact momentum control. Humanoids 2015 92
A New Perspective and Extension of the Gaussian Filter. RSS 2015 19
Force estimation and slip detection/classification for grip control using a biomimetic tactile sensor. Humanoids 2015 144
Understanding the geometry of workspace obstacles in Motion Optimization. ICRA 2015 52
The Coordinate Particle Filter - a novel Particle Filter for high dimensional systems. ICRA 2015 9
Direct Loss Minimization Inverse Optimal Control. RSS 2015 43
Robot arm pose estimation through pixel-wise part classification. ICRA 2014 52
State estimation for a humanoid robot. IROS 2014 88
Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting. Humanoids 2014 41
Dual execution of optimized contact interaction trajectories. IROS 2014 17
Efficient Bayesian local model learning for control. IROS 2014 18
Incremental Local Gaussian Regression. NIPS/NeurIPS 2014 51
Learning of grasp selection based on shape-templates. Autonomous Robots 2014 116
Learning coupling terms for obstacle avoidance. Humanoids 2014 37
An autonomous manipulation system based on force control and optimization. Autonomous Robots 2014 81
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. IROS 2014 0
Learning task error models for manipulation. ICRA 2013 31
From dynamic movement primitives to associative skill memories. Robotics and Autonomous Systems 2013 70
Probabilistic object tracking using a range camera. IROS 2013 63
Optimal distribution of contact forces with inverse-dynamics control. IJRR 2013 198
Learning objective functions for manipulation. ICRA 2013 133
Movement Segmentation and Recognition for Imitation Learning. AISTATS 2012 35
Probabilistic depth image registration incorporating nonvisual information. ICRA 2012 3
Template-based learning of grasp selection. ICRA 2012 95
Encoding of periodic and their transient motions by a single dynamic movement primitive. Humanoids 2012 42
Quadratic programming for inverse dynamics with optimal distribution of contact forces. Humanoids 2012 40
Towards Associative Skill Memories. Humanoids 2012 110
Learning Force Control Policies for Compliant Robotic Manipulation. ICML 2012 19
Online movement adaptation based on previous sensor experiences. IROS 2011 231
Learning, planning, and control for quadruped locomotion over challenging terrain. IJRR 2011 292
Learning force control policies for compliant manipulation. IROS 2011 162
STOMP: Stochastic trajectory optimization for motion planning. ICRA 2011 702
Inverse dynamics control of floating-base robots with external constraints: A unified view. ICRA 2011 144
Learning motion primitive goals for robust manipulation. IROS 2011 41
Control of legged robots with optimal distribution of contact forces. Humanoids 2011 39
Movement segmentation using a primitive library. IROS 2011 82
Hierarchical reinforcement learning with movement primitives. Humanoids 2011 78
Learning variable impedance control. IJRR 2011 300
Learning to grasp under uncertainty. ICRA 2011 93
Skill learning and task outcome prediction for manipulation. ICRA 2011 229
Variable Impedance Control - A Reinforcement Learning Approach. RSS 2010 76
Inverse dynamics control of floating base systems using orthogonal decomposition. ICRA 2010 237
Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. Humanoids 2010 5
Learning Policy Improvements with Path Integrals. AISTATS 2010 59
A Generalized Path Integral Control Approach to Reinforcement Learning. JMLR 2010 575
Fast, robust quadruped locomotion over challenging terrain. ICRA 2010 150
Reinforcement learning of full-body humanoid motor skills. Humanoids 2010 53
Reinforcement learning of motor skills in high dimensions: A path integral approach. ICRA 2010 286
Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance. ICRA 2009 221
Learning and generalization of motor skills by learning from demonstration. ICRA 2009 708
Compact models of motor primitive variations for predictable reaching and obstacle avoidance. Humanoids 2009 30
Learning locomotion over rough terrain using terrain templates. IROS 2009 100
Inertial parameter estimation of floating base humanoid systems using partial force sensing. Humanoids 2009 46
Compliant quadruped locomotion over rough terrain. IROS 2009 170
On-line learning and modulation of periodic movements with nonlinear dynamical systems. Autonomous Robots 2009 0
Bayesian Kernel Shaping for Learning Control. NIPS/NeurIPS 2008 20
Learning to Control in Operational Space. IJRR 2008 183
Editorial: Special Issue on Machine Learning in Robotics. IJRR 2008 3
Operational Space Control: A Theoretical and Empirical Comparison. IJRR 2008 353
A Library for Locally Weighted Projection Regression. JMLR 2008 94
CB: Exploring neuroscience with a humanoid research platform. ICRA 2008 23
Inverse kinematics with floating base and constraints for full body humanoid robot control. Humanoids 2008 72
Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields. Humanoids 2008 236
A Bayesian approach to empirical local linearization for robotics. ICRA 2008 19
A unifying framework for robot control with redundant DOFs. Autonomous Robots 2008 0
Learning an Outlier-Robust Kalman Filter. ECML/PKDD 2007 57
A Kalman filter for robust outlier detection. IROS 2007 131
Reinforcement Learning for Operational Space Control. ICRA 2007 28
Applying the Episodic Natural Actor-Critic Architecture to Motor Primitive Learning. ESANN 2007 28
Towards compliant humanoids-an experimental assessment of suitable task space position/orientation controllers. IROS 2007 5
Kernel Carpentry for Online Regression Using Randomly Varying Coefficient Model. IJCAI 2007 10
Inverse Dynamics Control with Floating Base and Constraints. ICRA 2007 44
A Robust Quadruped Walking Gait for Traversing Rough Terrain. ICRA 2007 111
Automatic Outlier Detection: A Bayesian Approach. ICRA 2007 48
Task space control with prioritization for balance and locomotion. IROS 2007 31
Reinforcement learning by reward-weighted regression for operational space control. ICML 2007 197
Policy Gradient Methods for Robotics. IROS 2006 559
Reinforcement Learning for Parameterized Motor Primitives. IJCNN 2006 30
Learning Operational Space Control. RSS 2006 22
Bayesian regression with input noise for high dimensional data. ICML 2006 15
A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics. RSS 2006 63
A unifying methodology for the control of robotic systems. IROS 2005 42
Predicting EMG Data from M1 Neurons with Variational Bayesian Least Squares. NIPS/NeurIPS 2005 15
An exoskeleton robot for human arm movement study. IROS 2005 36
Rapid synchronization and accurate phase-locking of rhythmic motor primitives. IROS 2005 56
Comparative experiments on task space control with redundancy resolution. IROS 2005 82
Natural Actor-Critic. ECML/PKDD 2005 0
An empirical exploration of phase resetting for robust biped locomotion with dynamical movement primitives. IROS 2004 16
Discovering optimal imitation strategies. Robotics and Autonomous Systems 2004 202
Learning Composite Adaptive Control for a Class of Nonlinear Systems. ICRA 2004 9
Learning from demonstration and adaptation of biped locomotion. Robotics and Autonomous Systems 2004 488
The Bayesian backfitting relevance vector machine. ICML 2004 30
A framework for learning biped locomotion with dynamical movement primitives. Humanoids 2004 45
Discovering imitation strategies through categorization of multi-dimensional data. IROS 2003 25
Learning Movement Primitives. ISRR 2003 0
Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots. ICRA 2002 869
Statistical Learning for Humanoid Robots. Autonomous Robots 2002 107
Learning Attractor Landscapes for Learning Motor Primitives. NIPS/NeurIPS 2002 712
Learning rhythmic movements by demonstration using nonlinear oscillators. IROS 2002 201
A locally weighted learning composite adaptive controller with structure adaptation. IROS 2002 37
Robust learning of arm trajectories through human demonstration. IROS 2001 28
Biomimetic smooth pursuit based on fast learning of the target dynamics. IROS 2001 11
Learning inverse kinematics. IROS 2001 308
Trajectory formation for imitation with nonlinear dynamical systems. IROS 2001 190
Overt visual attention for a humanoid robot. IROS 2001 113
Fast Learning of Biomimetic Oculomotor Control with Nonparametric Regression Networks. ICRA 2000 7
Fast and Efficient Incremental Learning for High-Dimensional Movement Systems. ICRA 2000 40
On-line Learning for Humanoid Robot Systems. ICML 2000 12
Locally Weighted Projection Regression: Incremental Real Time Learning in High Dimensional Space. ICML 2000 119
Real-Time Robot Learning with Locally Weighted Statistical Learning. ICRA 2000 109
Inverse Kinematics for Humanoid Robots. ICRA 2000 151
Toward biomimetic oculomotor control. IROS 1998 5
Local Dimensionality Reduction. NIPS/NeurIPS 1997 53
Robot Learning From Demonstration. ICML 1997 784
Learning tasks from a single demonstration. ICRA 1997 155
Learning from Demonstration. NIPS/NeurIPS 1996 0
From Isolation to Cooperation: An Alternative View of a System of Experts. NIPS/NeurIPS 1995 56
Robot learning by nonparametric regression. IROS 1994 34
Memory-Based Robot Learning. ICRA 1994 40
Open Loop Stable Control Strategies for Robot Juggling. ICRA 1993 187
Assessing the Quality of Learned Local Models. NIPS/NeurIPS 1993 57
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