Stefan Schaal
186 publications
19 venues
H Index 69
Affiliation
University of Southern California, Los Angeles, USAMax-Planck Institute Intelligent Systems, T bingen, Germany
Links
| Name | Venue | Year | citations |
|---|---|---|---|
Efficient Online Learning of Contact Force Models for Connector Insertion.
|
ICRA | 2025 | 0 |
| A Comparison of Imitation Learning Algorithms for Bimanual Manipulation.
|
IEEE Robotics and Automation Letters | 2024 | 21 |
| Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration.
|
ICRA | 2024 | 281 |
| RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches.
|
CoRL | 2024 | 42 |
| GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks.
|
IROS | 2024 | 12 |
| SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning.
|
ICRA | 2024 | 115 |
| Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning.
|
ICRA | 2023 | 0 |
| Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks.
|
ICRA | 2022 | 12 |
| Deformable One-Dimensional Object Detection for Routing and Manipulation.
|
IEEE Robotics and Automation Letters | 2022 | 34 |
| You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration.
|
RSS | 2022 | 129 |
| A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies.
|
IROS | 2022 | 39 |
| Robotic Cable Routing with Spatial Representation.
|
IEEE Robotics and Automation Letters | 2022 | 48 |
| Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation.
|
ICLR | 2022 | 0 |
| Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation.
|
IROS | 2022 | 15 |
| 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 |
| 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 | 30 |
| Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study.
|
RSS | 2021 | 70 |
| 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 | 8 |
| Learning and Adaptation of Inverse Dynamics Models: A Comparison.
|
Humanoids | 2019 | 16 |
| A Robustness Analysis of Inverse Optimal Control of Bipedal Walking.
|
IEEE Robotics and Automation Letters | 2019 | 11 |
| Learning Task-Specific Dynamics to Improve Whole-Body Control.
|
Humanoids | 2018 | 3 |
| Learning Manipulation Graphs from Demonstrations Using Multimodal Sensory Signals.
|
ICRA | 2018 | 31 |
| Probabilistic Recurrent State-Space Models.
|
ICML | 2018 | 139 |
| 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 |
| On the relevance of grasp metrics for predicting grasp success.
|
IROS | 2017 | 26 |
| A new data source for inverse dynamics learning.
|
IROS | 2017 | 21 |
| Model-based policy search for automatic tuning of multivariate PID controllers.
|
ICRA | 2017 | 33 |
| Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning.
|
ICML | 2017 | 163 |
| Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets.
|
NIPS/NeurIPS | 2017 | 161 |
| Optimizing Long-term Predictions for Model-based Policy Search.
|
CoRL | 2017 | 38 |
| Virtual vs. real: Trading off simulations and physical experiments in reinforcement learning with Bayesian optimization.
|
ICRA | 2017 | 136 |
| 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 |
| Optimizing for what matters: The top grasp hypothesis.
|
ICRA | 2016 | 7 |
| Automatic LQR tuning based on Gaussian process global optimization.
|
ICRA | 2016 | 177 |
| Robot arm pose estimation by pixel-wise regression of joint angles.
|
ICRA | 2016 | 42 |
| Learning where to search using visual attention.
|
IROS | 2016 | 7 |
| Balancing and walking using full dynamics LQR control with contact constraints.
|
Humanoids | 2016 | 40 |
| Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks.
|
IROS | 2016 | 18 |
| Self-supervised regrasping using spatio-temporal tactile features and reinforcement learning.
|
IROS | 2016 | 84 |
| Depth-based object tracking using a Robust Gaussian Filter.
|
ICRA | 2016 | 85 |
| Exemplar-based prediction of global object shape from local shape similarity.
|
ICRA | 2016 | 1 |
| Structured contact force optimization for kino-dynamic motion generation.
|
IROS | 2016 | 85 |
| A convex model of humanoid momentum dynamics for multi-contact motion generation.
|
Humanoids | 2016 | 74 |
| Inertial sensor-based humanoid joint state estimation.
|
ICRA | 2016 | 26 |
| Drifting Gaussian processes with varying neighborhood sizes for online model learning.
|
ICRA | 2016 | 34 |
| Towards robust online inverse dynamics learning.
|
IROS | 2016 | 41 |
| 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 |
| The Coordinate Particle Filter - a novel Particle Filter for high dimensional systems.
|
ICRA | 2015 | 9 |
| Trajectory generation for multi-contact momentum control.
|
Humanoids | 2015 | 98 |
| Direct Loss Minimization Inverse Optimal Control.
|
RSS | 2015 | 44 |
| Leveraging big data for grasp planning.
|
ICRA | 2015 | 303 |
| Force estimation and slip detection/classification for grip control using a biomimetic tactile sensor.
|
Humanoids | 2015 | 205 |
| A New Perspective and Extension of the Gaussian Filter.
|
RSS | 2015 | 27 |
| Humanoid momentum estimation using sensed contact wrenches.
|
Humanoids | 2015 | 39 |
| Understanding the geometry of workspace obstacles in Motion Optimization.
|
ICRA | 2015 | 66 |
| Data-Driven Online Decision Making for Autonomous Manipulation.
|
RSS | 2015 | 64 |
| Dual execution of optimized contact interaction trajectories.
|
IROS | 2014 | 19 |
| Efficient Bayesian local model learning for control.
|
IROS | 2014 | 17 |
| Incremental Local Gaussian Regression.
|
NIPS/NeurIPS | 2014 | 59 |
| Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting.
|
Humanoids | 2014 | 47 |
| Robot arm pose estimation through pixel-wise part classification.
|
ICRA | 2014 | 69 |
| State estimation for a humanoid robot.
|
IROS | 2014 | 119 |
| Learning coupling terms for obstacle avoidance.
|
Humanoids | 2014 | 52 |
| Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics.
|
IROS | 2014 | 0 |
| An autonomous manipulation system based on force control and optimization.
|
Autonomous Robots | 2014 | 0 |
| Learning of grasp selection based on shape-templates.
|
Autonomous Robots | 2014 | 0 |
| Learning objective functions for manipulation.
|
ICRA | 2013 | 154 |
| Learning task error models for manipulation.
|
ICRA | 2013 | 35 |
| Optimal distribution of contact forces with inverse-dynamics control.
|
IJRR | 2013 | 219 |
| From dynamic movement primitives to associative skill memories.
|
Robotics and Autonomous Systems | 2013 | 86 |
| Probabilistic object tracking using a range camera.
|
IROS | 2013 | 88 |
| Probabilistic depth image registration incorporating nonvisual information.
|
ICRA | 2012 | 3 |
| Movement Segmentation and Recognition for Imitation Learning.
|
AISTATS | 2012 | 37 |
| Encoding of periodic and their transient motions by a single dynamic movement primitive.
|
Humanoids | 2012 | 47 |
| Quadratic programming for inverse dynamics with optimal distribution of contact forces.
|
Humanoids | 2012 | 44 |
| Learning Force Control Policies for Compliant Robotic Manipulation.
|
ICML | 2012 | 18 |
| Towards Associative Skill Memories.
|
Humanoids | 2012 | 116 |
| Template-based learning of grasp selection.
|
ICRA | 2012 | 106 |
| Learning to grasp under uncertainty.
|
ICRA | 2011 | 97 |
| Movement segmentation using a primitive library.
|
IROS | 2011 | 94 |
| Hierarchical reinforcement learning with movement primitives.
|
Humanoids | 2011 | 88 |
| Online movement adaptation based on previous sensor experiences.
|
IROS | 2011 | 246 |
| Inverse dynamics control of floating-base robots with external constraints: A unified view.
|
ICRA | 2011 | 160 |
| Control of legged robots with optimal distribution of contact forces.
|
Humanoids | 2011 | 43 |
| Learning force control policies for compliant manipulation.
|
IROS | 2011 | 172 |
| Learning motion primitive goals for robust manipulation.
|
IROS | 2011 | 49 |
| Learning, planning, and control for quadruped locomotion over challenging terrain.
|
IJRR | 2011 | 337 |
| Learning variable impedance control.
|
IJRR | 2011 | 390 |
| STOMP: Stochastic trajectory optimization for motion planning.
|
ICRA | 2011 | 965 |
| Skill learning and task outcome prediction for manipulation.
|
ICRA | 2011 | 235 |
| Inverse dynamics control of floating base systems using orthogonal decomposition.
|
ICRA | 2010 | 265 |
| Reinforcement learning of motor skills in high dimensions: A path integral approach.
|
ICRA | 2010 | 302 |
| Fast, robust quadruped locomotion over challenging terrain.
|
ICRA | 2010 | 185 |
| Reinforcement learning of full-body humanoid motor skills.
|
Humanoids | 2010 | 57 |
| A Generalized Path Integral Control Approach to Reinforcement Learning.
|
JMLR | 2010 | 681 |
| Variable Impedance Control - A Reinforcement Learning Approach.
|
RSS | 2010 | 87 |
| Learning Policy Improvements with Path Integrals.
|
AISTATS | 2010 | 69 |
| Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion.
|
Humanoids | 2010 | 6 |
| Learning and generalization of motor skills by learning from demonstration.
|
ICRA | 2009 | 817 |
| Compliant quadruped locomotion over rough terrain.
|
IROS | 2009 | 183 |
| Learning locomotion over rough terrain using terrain templates.
|
IROS | 2009 | 105 |
| Compact models of motor primitive variations for predictable reaching and obstacle avoidance.
|
Humanoids | 2009 | 31 |
| Inertial parameter estimation of floating base humanoid systems using partial force sensing.
|
Humanoids | 2009 | 53 |
| Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance.
|
ICRA | 2009 | 300 |
| On-line learning and modulation of periodic movements with nonlinear dynamical systems.
|
Autonomous Robots | 2009 | 0 |
| Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields.
|
Humanoids | 2008 | 292 |
| Learning to Control in Operational Space.
|
IJRR | 2008 | 194 |
| Operational Space Control: A Theoretical and Empirical Comparison.
|
IJRR | 2008 | 399 |
| A Library for Locally Weighted Projection Regression.
|
JMLR | 2008 | 98 |
| A Bayesian approach to empirical local linearization for robotics.
|
ICRA | 2008 | 20 |
| Editorial: Special Issue on Machine Learning in Robotics.
|
IJRR | 2008 | 4 |
| Inverse kinematics with floating base and constraints for full body humanoid robot control.
|
Humanoids | 2008 | 74 |
| Bayesian Kernel Shaping for Learning Control.
|
NIPS/NeurIPS | 2008 | 20 |
| CB: Exploring neuroscience with a humanoid research platform.
|
ICRA | 2008 | 24 |
| A unifying framework for robot control with redundant DOFs.
|
Autonomous Robots | 2008 | 0 |
| Reinforcement Learning for Operational Space Control.
|
ICRA | 2007 | 21 |
| Inverse Dynamics Control with Floating Base and Constraints.
|
ICRA | 2007 | 45 |
| A Robust Quadruped Walking Gait for Traversing Rough Terrain.
|
ICRA | 2007 | 114 |
| Towards compliant humanoids-an experimental assessment of suitable task space position/orientation controllers.
|
IROS | 2007 | 5 |
| Reinforcement learning by reward-weighted regression for operational space control.
|
ICML | 2007 | 417 |
| Automatic Outlier Detection: A Bayesian Approach.
|
ICRA | 2007 | 53 |
| Kernel Carpentry for Online Regression Using Randomly Varying Coefficient Model.
|
IJCAI | 2007 | 10 |
| A Kalman filter for robust outlier detection.
|
IROS | 2007 | 146 |
| Applying the Episodic Natural Actor-Critic Architecture to Motor Primitive Learning.
|
ESANN | 2007 | 30 |
| Task space control with prioritization for balance and locomotion.
|
IROS | 2007 | 29 |
| Learning an Outlier-Robust Kalman Filter.
|
ECML/PKDD | 2007 | 63 |
| A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics.
|
RSS | 2006 | 71 |
| Bayesian regression with input noise for high dimensional data.
|
ICML | 2006 | 14 |
| Learning Operational Space Control.
|
RSS | 2006 | 27 |
| Policy Gradient Methods for Robotics.
|
IROS | 2006 | 618 |
| Reinforcement Learning for Parameterized Motor Primitives.
|
IJCNN | 2006 | 29 |
| Rapid synchronization and accurate phase-locking of rhythmic motor primitives.
|
IROS | 2005 | 52 |
| Comparative experiments on task space control with redundancy resolution.
|
IROS | 2005 | 85 |
| Predicting EMG Data from M1 Neurons with Variational Bayesian Least Squares.
|
NIPS/NeurIPS | 2005 | 16 |
| An exoskeleton robot for human arm movement study.
|
IROS | 2005 | 40 |
| A unifying methodology for the control of robotic systems.
|
IROS | 2005 | 44 |
| Natural Actor-Critic.
|
ECML/PKDD | 2005 | 0 |
| A framework for learning biped locomotion with dynamical movement primitives.
|
Humanoids | 2004 | 44 |
| Learning Composite Adaptive Control for a Class of Nonlinear Systems.
|
ICRA | 2004 | 9 |
| Discovering optimal imitation strategies.
|
Robotics and Autonomous Systems | 2004 | 201 |
| Learning from demonstration and adaptation of biped locomotion.
|
Robotics and Autonomous Systems | 2004 | 487 |
| An empirical exploration of phase resetting for robust biped locomotion with dynamical movement primitives.
|
IROS | 2004 | 16 |
| The Bayesian backfitting relevance vector machine.
|
ICML | 2004 | 201 |
| Discovering imitation strategies through categorization of multi-dimensional data.
|
IROS | 2003 | 26 |
| Learning Movement Primitives.
|
ISRR | 2003 | 0 |
| Learning Attractor Landscapes for Learning Motor Primitives.
|
NIPS/NeurIPS | 2002 | 741 |
| A locally weighted learning composite adaptive controller with structure adaptation.
|
IROS | 2002 | 43 |
| Learning rhythmic movements by demonstration using nonlinear oscillators.
|
IROS | 2002 | 224 |
| Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots.
|
ICRA | 2002 | 990 |
| Statistical Learning for Humanoid Robots.
|
Autonomous Robots | 2002 | 0 |
| Biomimetic smooth pursuit based on fast learning of the target dynamics.
|
IROS | 2001 | 11 |
| Trajectory formation for imitation with nonlinear dynamical systems.
|
IROS | 2001 | 210 |
| Overt visual attention for a humanoid robot.
|
IROS | 2001 | 108 |
| Robust learning of arm trajectories through human demonstration.
|
IROS | 2001 | 30 |
| Learning inverse kinematics.
|
IROS | 2001 | 337 |
| Locally Weighted Projection Regression: Incremental Real Time Learning in High Dimensional Space.
|
ICML | 2000 | 118 |
| On-line Learning for Humanoid Robot Systems.
|
ICML | 2000 | 11 |
| Fast and Efficient Incremental Learning for High-Dimensional Movement Systems.
|
ICRA | 2000 | 38 |
| Inverse Kinematics for Humanoid Robots.
|
ICRA | 2000 | 156 |
| Fast Learning of Biomimetic Oculomotor Control with Nonparametric Regression Networks.
|
ICRA | 2000 | 7 |
| Real-Time Robot Learning with Locally Weighted Statistical Learning.
|
ICRA | 2000 | 104 |
| Toward biomimetic oculomotor control.
|
IROS | 1998 | 5 |
| Learning tasks from a single demonstration.
|
ICRA | 1997 | 160 |
| Local Dimensionality Reduction.
|
NIPS/NeurIPS | 1997 | 50 |
| Robot Learning From Demonstration.
|
ICML | 1997 | 111 |
| Learning from Demonstration.
|
NIPS/NeurIPS | 1996 | 803 |
| From Isolation to Cooperation: An Alternative View of a System of Experts.
|
NIPS/NeurIPS | 1995 | 57 |
| Robot learning by nonparametric regression.
|
IROS | 1994 | 33 |
| Memory-Based Robot Learning.
|
ICRA | 1994 | 30 |
| Assessing the Quality of Learned Local Models.
|
NIPS/NeurIPS | 1993 | 56 |
| Open Loop Stable Control Strategies for Robot Juggling.
|
ICRA | 1993 | 64 |