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Journal papers
. Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative Learning. IEEE Robotics and Automation Letters, 9(1):255–262, 2024.
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. Using Robot Technology to Analyze Forces and Torques in Tooth Removal. Advances in Oral and Maxillofacial Surgery, 9:100400, 2023.
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. Analysis of Movements in Tooth Removal Procedures Using Robot Technology. PLOS ONE, 18:1–12, 2023.
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. Stable Motion Primitives via Imitation and Contrastive Learning. IEEE Transactions on Robotics, 39(5):3909–3928, 2023.
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. Forces and Movements During Tooth Extraction: A Scoping Review. Advances in Oral and Maxillofacial Surgery, 9:100391, 2023.
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. Benchmarking Behavior Prediction Models in Gap Acceptance Scenarios. IEEE Transactions on Intelligent Vehicles, 8(3):2580–2591, 2023.
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. Editorial journal inauguration=npj Robotics. npj Robotics, Nature Publishing Group UK London, 1(1):5, 2023.
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. Interactive Imitation Learning of Bimanual Movement Primitives. IEEE/ASME Transactions on Mechatronics, ():1–13, 2023.
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. Knowledge- and Ambiguity-Aware Robot Learning from Corrective and Evaluative Feedback. Neural Computing and Applications, 35(23):16821–16839, 2023.
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. An Incremental Inverse Reinforcement Learning Approach for Motion Planning with Separated Path and Velocity Preferences. Robotics, 12(2):61, 2023.
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. A Multiclass Classification Model for Tooth Removal Procedures. Journal of Dental Research, 101(11):1357–1362, 2022.
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. Visually-Guided Motion Planning for Autonomous Driving from Interactive Demonstrations. Engineering Applications of Artificial Intelligence, 116:105277, 2022.
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. Learning Assembly Tasks in a Few Minutes by Combining Impedance Control and Residual Recurrent Reinforcement Learning. Advanced Intelligent Systems, 4(1):2100095, 2022.
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. Learning Task-Parameterized Skills from Few Demonstrations. IEEE Robotics and Automation Letters, 7(2):4063–4070, 2022. The contents of this paper were also selected by ICRA'22 Program Committee for presentation at the Conference.
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. Challenges and Outlook in Robotic Manipulation of Deformable Objects. IEEE Robotics & Automation Magazine, 29(3):67–77, 2022.
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. Interactive Imitation Learning in Robotics: A Survey. Foundations and Trends® in Robotics, 10(1–2):1–197, 2022.
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. Learning to Pick at Non-Zero-Velocity From Interactive Demonstrations. IEEE Robotics and Automation Letters, 7(3):6052–6059, 2022.
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. Robot Technology in Dentistry, Part Two of a Systematic Review: An Overview of Initiatives. Dental Materials, 37(8):1227–1236, 2021.
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. Robot Technology in Dentistry, Part One of a Systematic Review: Literature Characteristics. Dental Materials, 37(8):1217–1226, 2021.
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. GEM: Glare or Gloom, I Can Still See You – End-to-End Multimodal Object Detector. IEEE Robotics and Automation Letters, 6(4):6321–6328, 2021. The contents of this paper were also selected by IROS'21 Program Committee for presentation at the Conference.
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. Guest Editorial: Focused Section on Inaugural Edition of TMECH/AIM Emerging Topics. IEEE/ASME Transactions on Mechatronics, 25(4):1695–1697, 2020.
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. Learning Sequential Force Interaction Skills. Robotics, 9(2):45, 2020.
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. Interactive Learning of Temporal Features for Control: Shaping Policies and State Representations From Human Feedback. IEEE Robotics & Automation Magazine, 27(2):46–54, 2020.
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. Deep Learning and Machine Learning in Robotics [From the Guest Editors]. IEEE Robotics & Automation Magazine, 27(2):20–21, 2020.
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. Reinforcement Learning Based Compensation Methods for Robot Manipulators. Engineering Applications of Artificial Intelligence, 78:236–247, 2019.
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. A Fast Hybrid Reinforcement Learning Framework with Human Corrective Feedback. Autonomous Robots, 43(5):1173–1186, 2019.
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. Reinforcement Learning of Motor Skills using Policy Search and Human Corrective Advice. International Journal of Robotics Research, 38(14):1560–1580, 2019.
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. Experience Selection in Deep Reinforcement Learning for Control. Journal of Machine Learning Research, 19(9):1–56, 2018.
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. Integrating State Representation Learning into Deep Reinforcement Learning. IEEE Robotics and Automation Letters, 3(3):1394–1401, 2018. The contents of this paper were also selected by ICRA'18 Program Committee for presentation at the Conference.
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. Mixture of Attractors: A Novel Movement Primitive Representation for Learning Motor Skills From Demonstrations. IEEE Robotics and Automation Letters, 3(2):926–933, 2018.
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. Reinforcement Learning for Control: Performance, Stability, and Deep Approximators. Annual Reviews in Control, 46:8–28, 2018.
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. Robottechnologie, is er een toekomst voor in de tandheelkunde? Quality Practice Tandheelkunde 12(5):30–35, 2017.
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. Learning Movement Primitive Attractor Goals and Sequential Skills from Kinesthetic Demonstrations. Robotics and Autonomous Systems, 74(Part A):97–107, 2015.
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. Learning Motor Skills: From Algorithms to Robot Experiments. it - Information Technology, 56(3):141–146, 2014.
. Learning to Select and Generalize Striking Movements in Robot Table Tennis. International Journal of Robotics Research, 32(3):263–279, 2013.
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. Reinforcement Learning in Robotics: A Survey. International Journal of Robotics Research, 32(11):1238–1274, 2013.
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. Reinforcement Learning to Adjust Parametrized Motor Primitives to New Situations. Autonomous Robots, 33(4):361–379, 2012.
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. A Biomimetic Approach to Robot Table Tennis. Adaptive Behavior, 19(5):359–376, 2011.
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. Policy Search for Motor Primitives in Robotics. Machine Learning, 84(1-2):171–203, 2011.
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. Imitation and Reinforcement Learning - Practical Algorithms for Motor Primitive Learning in Robotics. IEEE Robotics & Automation Magazine, 17(2):55–62, 2010.
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. Policy Learning Algorithmis for Motor Learning (Algorithmen zum automatischen Erlernen von Motorfähigkigkeiten). at - Automatisierungstechnik, 58(12):688–694, 2010.
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. Reinforcement Learning für Motor-Primitive. Künstliche Intelligenz, 9(3):38–40, 2009.
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Conference and workshop papers
. Value Function Learning via Prolonged Backward Heuristic Search. In ICAPS 2023 Workshop: PRL Workshop Series – Bridging the Gap Between AI Planning and Reinforcement Learning, 2023.
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. Learning from Demonstrations of Critical Driving Behaviours Using Driver's Risk Field. In 22nd IFAC World Congress, pp. 2774–2779, 2023.
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. Robotic Fabric Flattening with Wrinkle Direction Detection. In 18th International Symposium on Experimental Robotics (ISER), 2023.
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. Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments. In IEEE International Conference on Robotics and Automation (ICRA), pp. 3628–3634, 2023.
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. Using Models Based on Cognitive Theory to Predict Human Behavior in Traffic: A Case Study. In IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), 2023.
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. Learning from Few Demonstrations with Frame-Weighted Motion Generation. In 18th International Symposium on Experimental Robotics (ISER), 2023.
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. Robotic Packaging Optimization with Reinforcement Learning. In IEEE 19th International Conference on Automation Science and Engineering (CASE), pp. 1-7, 2023.
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. Prioritizing States with Action Sensitive Return in Experience Replay. In Sixteenth European Workshop on Reinforcement Learning (EWRL), 2023.
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. OpenDR: An Open Toolkit for Enabling High Performance, Low Footprint Deep Learning for Robotics. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 12479–12484, 2022.
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. Development and Testing of a Prototype of a Dental Extraction Trainer with Real-Time Feedback on Forces, Torques, and Angular Velocity. In 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 3285–3290, 2022.
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. Disagreement-Aware Variable Impedance Control for Online Learning of Physical Human-Robot Cooperation Tasks. In ICRA 2022 full day workshop - Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust, 2022.
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. PARTNR: Pick and place Ambiguity Resolving by Trustworthy iNteractive leaRning. In NeurIPS 2022 - 5th Robot Learning Workshop: Trustworthy Robotics, 2022.
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. Automatic Tuning and Selection of Whole-Body Controllers. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 12935–12941, 2022.
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. Smooth Exploration for Robotic Reinforcement Learning. In 5th Conference on Robot Learning (CoRL) (Aleksandra Faust, David Hsu, Gerhard Neumann, eds.), PMLR, vol. 164 of Proceedings of Machine Learning Research, pp. 1634–1644, 2022.
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. Interactive Imitation Learning in State-Space. In 2020 Conference on Robot Learning (CoRL) (Jens Kober, Fabio Ramos, Claire Tomlin, eds.), PMLR, vol. 155 of Proceedings of Machine Learning Research, pp. 682–692, 2021.
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. Imitation Learning with Inconsistent Demonstrations through Uncertainty-based Data Manipulation. In IEEE International Conference on Robotics and Automation (ICRA), pp. 3655–3661, 2021.
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. Tactile-based Self-supervised Pose Estimation for Robust Grasping. In 17th International Symposium on Experimental Robotics (ISER) (Bruno Siciliano, Cecilia Laschi, Oussama Khatib, eds.), Springer International Publishing, Cham, pp. 277–284, 2021.
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. Learning Interactively to Resolve Ambiguity in Reference Frame Selection. In 2020 Conference on Robot Learning (CoRL) (Jens Kober, Fabio Ramos, Claire Tomlin, eds.), PMLR, vol. 155 of Proceedings of Machine Learning Research, pp. 1298–1311, 2021.
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. ILoSA: Interactive Learning of Stiffness and Attractors. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7778–7785, 2021.
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. Learning Task Controllers on a Humanoid Robot using Multi-objective Optimization. In ICRA 2021: 5th Full-Day Workshop on Legged Robots (Virtual), 2021.
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. Uncertainties Based Queries for Interactive Policy Learning with Evaluations and Corrections. In Companion Publication of the 2021 International Conference on Multimodal Interaction, pp. 192–193, 2021.
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. DeepKoCo: Efficient Latent Planning with an Invariant Koopman Representation. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 183–189, 2021.
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. Interactive Learning of Sensor Policy Fusion. In 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), pp. 665–670, 2021.
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. Robot Technology in Analyzing Tooth Removal – a Proof of Concept. In 42nd Annual International Conferences of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 4721–4727, 2020.
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. Fine-tuning Deep RL with Gradient-Free Optimization. In 21th IFAC World Congress, pp. 8049–8056, 2020.
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. Predicting and Optimizing Ergonomics in Physical Human-Robot Cooperation Tasks. In IEEE International Conference on Robotics and Automation (ICRA), pp. 1799–1805, 2020.
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. Continuous Control for High-Dimensional State Spaces: An Interactive Learning Approach. In IEEE International Conference on Robotics and Automation (ICRA), pp. 7611–7617, 2019.
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. A Practical Bayesian Optimization Approach for the Optimal Estimation of the Rotor Effective Wind Speed. In American Control Conference (ACC), pp. 4179–4185, 2019.
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. Deep Reinforcement Learning with Feedback-based Exploration. In IEEE Conference on Decision and Control (CDC), pp. 803–808, 2019.
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. Simultaneous Learning of Objective Function and Policy from Interactive Teaching with Corrective Feedback. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 726–732, 2019.
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. Head-tracked off-axis perspective projection improves gaze readability of 3D virtual avatars. In SIGGRAPH Asia Technical Briefs, pp. 1–4, 2018.
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. Interactive Learning with Corrective Feedback for Policies based on Deep Neural Networks. In International Symposium on Experimental Robotics (ISER) (Jing Xiao, Torsten Kröger, Oussama Khatib, eds.), Springer International Publishing, pp. 353–363, 2018.
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. Human-Robot Cooperative Object Manipulation with Contact Changes. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1354–1360, 2018.
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. Sample-efficient Reinforcement Learning via Difference Models. In Third Machine Learning in Planning and Control of Robot Motion Workshop at IEEE International Conference on Robotics and Automation (ICRA), 2018.
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. Human Corrective Advice in the Policy Search Loop. In Workshop Human-in-the-loop Robotic Manipulation: On the Influence of the Human Role, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
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. Op zoek naar toepassingen van robottechnologie in de MKA-chirurgie. In Annual Scientific Meeting of the Dutch Association of Oral and Maxillofacial Surgery, 2016.
. Off Policy Experience Retention for Deep Actor Critic Learning. In Deep Reinforcement Learning Workshop, Advances in Neural Information Processing Systems (NIPS), 2016.
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. Improved Deep Reinforcement Learning for Robotics Through Distribution-based Experience Retention. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3947–3952, 2016.
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. Probabilistic Decomposition of Sequential Force Interaction Tasks into Movement Primitives. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3920–3927, 2016.
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. Learning State Representation for Deep Actor-Critic Control. In IEEE Conference on Decision and Control (CDC), pp. 4667–4673, 2016.
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. Reinforcement Learning of Potential Fields to achieve Limit-Cycle Walking. In IFAC International Workshop on Periodic Control Systems (PSYCO), pp. 113–118, 2016. IFAC-PapersOnLine.
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. The Importance of Experience Replay Database Composition in Deep Reinforcement Learning. In Deep Reinforcement Learning Workshop, Advances in Neural Information Processing Systems (NIPS), 2015.
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. Probabilistic Progress Prediction and Sequencing of Concurrent Movement Primitives. In IEEE/RSJ International Conference on Robot Systems (IROS), pp. 449–455, 2015.
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. Learning Movement Primitives for Force Interaction Tasks. In IEEE International Conference on Robotics and Automation (ICRA), pp. 3192–3199, 2015.
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. Learning to Unscrew a Light Bulb from Demonstrations. In 41st International Symposium on Robotics (ISR/ROBOTIK), pp. 264–270, 2014.
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. Learning to Sequence Movement Primitives from Demonstrations. In IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), pp. 4414–4421, 2014.
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. Lernen Motorischer Fähigkeiten: Von Algorithmen zu Roboter-Experimenten. In Ausgezeichnete Informatikdissertationen 2012 (Steffen Hölldobler, et al., eds.), Gesellschaft für Informatik e.V. (GI), pp. 181–190, 2013.
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. Towards Robot Skill Learning: From Simple Skills to Table Tennis. In European Conference on Machine Learning (ECML), Nectar Track, pp. 627–631, 2013.
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. Learning Skills with Motor Primitives. In 16th Yale Learning Workshop, 2013.
. Learning to Select and Generalize Striking Movements in Robot Table Tennis. In AAAI Fall Symposium on Robots that Learn Interactively from Human Teachers, pp. 263–279, 2012.
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. Playing Catch and Juggling with a Humanoid Robot. In IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), pp. 875–881, 2012.
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. Learning Throwing and Catching Skills. In IEEE/RSJ International Conference on Robot Systems (IROS), Video Track, pp. 5167–5168, 2012.
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. Robot Skill Learning. In European Conference on Artificial Intelligence (ECAI), pp. 40–45, 2012.
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. Reinforcement Learning to adjust Robot Movements to New Situations. In International Joint Conference on Artificial Intelligence (IJCAI), Best Paper Track, pp. 2650–2655, 2011.
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. Learning Elementary Movements Jointly with a Higher Level Task. In IEEE/RSJ International Conference on Intelligent Robot Systems (IROS), pp. 338–343, 2011.
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. Relative Entropy Inverse Reinforcement Learning. In 14th International Conference on Artificial Intelligence and Statistics (AISTATS) (Geoffrey Gordon, David Dunson, Miroslav Dudík, eds.), PMLR, vol. 15 of Proceedings of Machine Learning Research, Fort Lauderdale, FL, USA, pp. 182–189, 2011.
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. A Biomimetic Approach to Robot Table Tennis. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1921–1926, 2010.
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. Simulating Human Table Tennis with a Biomimetic Robot Setup. In From Animals to Animats 11, International Conference on the Simulation of Adaptive Behavior (SAB), pp. 273–282, 2010.
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. Learning Table Tennis with a Mixture of Motor Primitives. In 10th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), pp. 411–416, 2010.
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. Movement Templates for Learning of Hitting and Batting. In IEEE International Conference on Robotics and Automation (ICRA), pp. 69–82, 2010.
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. Reinforcement Learning to adjust Robot Movements to New Situations. In Robotics: Science and Systems (R:SS), 2010.
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. Experiments with Motor Primitives in Table Tennis. In 12th International Symposium on Experimental Robotics (ISER) (Oussama Khatib, Vijay Kumar, Gaurav Sukhatme, eds.), pp. 347–359, 2010.
. Using Bayesian Dynamical Systems for Motion Template Libraries. In Advances in Neural Information Processing Systems 21 (NIPS 2008) (D. Koller, D. Schuurmans, Y. Bengio, L. Bottou, eds.), Curran Associates, Inc., pp. 297–304, 2009.
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. Denoising Photographs Using Dark Frames Optimized by Quadratic Programming. In 1st IEEE International Conference on Computational Photography (ICCP), pp. 1–9, 2009.
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. Policy Search for Motor Primitives in Robotics. In Advances in Neural Information Processing Systems 21 (NIPS 2008) (D. Koller, D. Schuurmans, Y. Bengio, L. Bottou, eds.), Curran Associates, Inc., pp. 849–856, 2009.
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. Learning new basic Movements for Robotics. In Autonome Mobile Systeme (AMS) (Rüdiger Dillmann, Jürgen Beyerer, Christoph Stiller, J. Marius Zöllner, Tobias Gindele, eds.), Springer Berlin Heidelberg, pp. 105–112, 2009.
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. Learning Motor Primitives for Robotics. In IEEE International Conference on Robotics and Automation (ICRA), pp. 2112–2118, 2009.
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. Towards Motor Skill Learning for Robotics. In International Symposium on Robotics Research (ISRR), Invited Paper, pp. 469–482, 2009.
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. Using Reward-Weighted Imitation for Robot Reinforcement Learning. In IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning (ADPRL), pp. 226–232, 2009.
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. Learning Perceptual Coupling for Motor Primitives. In IEEE/RSJ International Conference on Intelligent Robot Systems (IROS), pp. 834–839, 2008.
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. Reinforcement Learning of Perceptual Coupling for Motor Primitives. In European Workshop on Reinforcement Learning (EWRL), 2008.
. Policy Learning - A Unified Perspective with Applications in Robotics. In European Workshop on Reinforcement Learning (EWRL), pp. 220–228, 2008.
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Preprints etc.
. Deep Metric Imitation Learning for Stable Motion Primitives. arXiv:2310.12831 [cs.RO], 2023.
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. Do You Need a Hand? – An Interactive Robotic Dressing Assistance Scheme. arXiv:2301.02749 [cs.RO], 2023.
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. Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts. arXiv:2305.08643 [cs.RO], 2023.
[bibtex] [pdf] [doi]
. Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds. arXiv:2309.09682 [cs.RO], 2023.
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. A Simple Open-Loop Baseline for Reinforcement Learning Locomotion Tasks. arXiv:2310.05808 [cs.RO], 2023.
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. Learning to Exploit Elastic Actuators for Quadruped Locomotion. arXiv:2209.07171 [cs.RO], 2023.
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. TrajFlow: Learning the Distribution over Trajectories. arXiv:2304.05166 [cs.RO], 2023.
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. Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration. arXiv:2209.11530 [cs.RO], 2022.
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. Robot Technology in Analyzing Tooth Removal - A Proof of Concept. Abstract: 25th Congress of the European Association for Cranio Maxillo Facial Surgery, 2021.
. Random Shadows and Highlights: A New Data Augmentation Method for Extreme Lighting Conditions. arXiv:2101.05361 [cs.CV], 2021.
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. Learning Gaussian Policies from Corrective Human Feedback. arXiv:1903.05216 [cs.LG], 2019.
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. Learning Prioritized Control of Motor Primitives. arXiv:1209.0488 [cs.RO], 2012.
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Books, book chapters, and theses
. Encyclopedia of Systems and Control (John Baillieul, Tariq Samad, eds.), chapter Robot Learning, Springer London, pp. 1–9, 2019.
. Springer Handbook of Robotics, 2nd Edition (Bruno Siciliano, Oussama Khatib, eds.), chapter Robot Learning, Springer International Publishing, pp. 357–394, 2016.
. Learning Motor Skills - From Algorithms to Robot Experiments. Springer, vol. 97 of Springer Tracts in Advanced Robotics (STAR Series), 2014.
. Reinforcement Learning - State-of-the-Art (Marco Wiering, Martijn van Otterlo, eds.), chapter Reinforcement Learning in Robotics: A Survey, Springer, vol. 12 of Adaptation, Learning, and Optimization, pp. 579–610, 2012.
. Learning Motor Skills: From Algorithms to Robot Experiments. PhD thesis, Technische Universität Darmstadt, 2012.
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. From Motor Learning to Interaction Learning in Robots (Olivier Sigaud, Jan Peters, eds.), chapter Imitation and Reinforcement Learning for Motor Primitives with Perceptual Coupling, Springer Verlag, vol. 264 of Studies in Computational Intelligence, pp. 209–225, 2010.
[bibtex] [pdf] [doi] [video]
. Reinforcement Learning for Motor Primitives. Master's thesis, University of Stuttgart, 2008.
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