63 results
(View BibTeX file of all listed publications)

**Learning, planning, and control for quadruped locomotion over challenging terrain**
*International Journal of Robotics Research*, 30(2):236-258, February 2011 (article)

**STOMP: Stochastic trajectory optimization for motion planning**
In *IEEE International Conference on Robotics and Automation (ICRA)*, Shanghai, China, May 9-13, 2011, clmc (inproceedings)

**Path Integral Control and Bounded Rationality**
In *IEEE Symposium on Adaptive Dynamic Programming And Reinforcement Learning (ADPRL)*, 2011, clmc (inproceedings)

**Skill learning and task outcome prediction for manipulation**
In *IEEE International Conference on Robotics and Automation (ICRA)*, Shanghai, China, May 9-13, 2011, clmc (inproceedings)

**An Iterative Path Integral Stochastic Optimal Control Approach for Learning Robotic Tasks **
In *Proceedings of the 18th World Congress of the International Federation of Automatic Control*, 2011, clmc (inproceedings)

**Bayesian robot system identification with input and output noise**
*Neural Networks*, 24(1):99-108, 2011, clmc (article)

**Learning variable impedance control**
*International Journal of Robotics Research*, 2011, clmc (article)

**Iterative path integral stochastic optimal control: Theory and applications to motor control**
University of Southern California, University of Southern California, Los Angeles, CA, 2011 (phdthesis)

**Learning of grasp selection based on shape-templates**
Karlsruhe Institute of Technology, 2011 (mastersthesis)

**Understanding haptics by evolving mechatronic systems**
*Progress in Brain Research*, 192, pages: 129, 2011 (article)

**Movement segmentation using a primitive library**
In *IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)*, Sept. 25-30, San Francisco, CA, 2011, clmc (inproceedings)

**Learning Force Control Policies for Compliant Manipulation**
In *2011 IEEE/RSJ International Conference on Intelligent Robots and Systems*, pages: 4639-4644, IEEE, San Francisco, USA, sep 2011 (inproceedings)

**Control of legged robots with optimal distribution of contact forces**
In *2011 11th IEEE-RAS International Conference on Humanoid Robots*, pages: 318-324, IEEE, Bled, Slovenia, 2011 (inproceedings)

**Learning Motion Primitive Goals for Robust Manipulation**
In *IEEE/RSJ International Conference on Intelligent Robots and Systems*, pages: 325-331, IEEE, San Francisco, USA, sep 2011 (inproceedings)

**Inverse Dynamics Control of Floating-Base Robots with External Constraints: a Unified View**
In *2011 IEEE International Conference on Robotics and Automation*, pages: 1085-1090, IEEE, Shanghai, China, 2011 (inproceedings)

**Online movement adaptation based on previous sensor experiences**
In *2011 IEEE/RSJ International Conference on Intelligent Robots and Systems*, pages: 365-371, IEEE, San Francisco, USA, sep 2011 (inproceedings)

**Learning to grasp under uncertainty**
In *Robotics and Automation (ICRA), 2011 IEEE International Conference on*, Shanghai, China, May 9-13, 2011, clmc (inproceedings)

**Reinforcement learning of full-body humanoid motor skills**
In *Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on*, pages: 405-410, December 2010, clmc (inproceedings)

**Relative Entropy Policy Search**
In *Proceedings of the Twenty-Fourth National Conference on Artificial Intelligence*, pages: 1607-1612, (Editors: Fox, M. , D. Poole), AAAI Press, Menlo Park, CA, USA, Twenty-Fourth National Conference on Artificial Intelligence (AAAI-10), July 2010 (inproceedings)

**Reinforcement learning of motor skills in high dimensions: A path integral approach**
In *Robotics and Automation (ICRA), 2010 IEEE International Conference on*, pages: 2397-2403, May 2010, clmc (inproceedings)

**Inverse dynamics control of floating base systems using orthogonal decomposition**
In *Robotics and Automation (ICRA), 2010 IEEE International Conference on*, pages: 3406-3412, May 2010, clmc (inproceedings)

**Fast, robust quadruped locomotion over challenging terrain**
In *Robotics and Automation (ICRA), 2010 IEEE International Conference on*, pages: 2665-2670, May 2010, clmc (inproceedings)

**Policy learning algorithmis for motor learning (Algorithmen zum automatischen Erlernen von Motorfähigkigkeiten)**
*Automatisierungstechnik*, 58(12):688-694, 2010, clmc (article)

**A Bayesian approach to nonlinear parameter identification for rigid-body dynamics**
*Neural Networks*, 2010, clmc (article)

**A first optimal control solution for a complex, nonlinear, tendon driven neuromuscular finger model**
*Proceedings of the ASME 2010 Summer Bioengineering Conference August 30-September 2, 2010, Naples, Florida, USA*, 2010, clmc (article)

**Locally weighted regression for control**
In *Encyclopedia of Machine Learning*, pages: 613-624, (Editors: Sammut, C.;Webb, G. I.), Springer, 2010, clmc (inbook)

**Are reaching movements planned in kinematic or dynamic coordinates?**
In *Abstracts of Neural Control of Movement Conference (NCM 2010)*, Naples, Florida, 2010, 2010, clmc (inproceedings)

**Optimality in Neuromuscular Systems**
In *32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society*, 2010, clmc (inproceedings)

**Efficient learning and feature detection in high dimensional regression**
*Neural Computation*, 22, pages: 831-886, 2010, clmc (article)

**Stochastic Differential Dynamic Programming**
*In the proceedings of American Control Conference (ACC 2010) *, 2010, clmc (article)

**Learning Policy Improvements with Path Integrals**
In *International Conference on Artificial Intelligence and Statistics (AISTATS 2010)*, 2010, clmc (inproceedings)

**Learning optimal control solutions: a path integral approach**
In *Abstracts of Neural Control of Movement Conference (NCM 2010)*, Naples, Florida, 2010, 2010, clmc (inproceedings)

**Learning control in robotics – trajectory-based opitimal control techniques**
*Robotics and Automation Magazine*, 17(2):20-29, 2010, clmc (article)

**Learning, planning, and control for quadruped locomotion over challenging terrain**
*International Journal of Robotics Research*, 30(2):236-258, 2010, clmc (article)

**Constrained Accelerations for Controlled Geometric Reduction: Sagittal-Plane Decoupling for Bipedal Locomotion**
In *2010 10th IEEE-RAS International Conference on Humanoid Robots*, pages: 1-7, IEEE, Nashville, USA, 2010 (inproceedings)

**Variable impedance control - a reinforcement learning approach**
In *Robotics Science and Systems (2010)*, Zaragoza, Spain, June 27-30, 2010, clmc (inproceedings)

**Inverse dynamics with optimal distribution of ground reaction forces for legged robot**
In *Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR)*, pages: 580-587, Nagoya, Japan, sep 2010 (inproceedings)

**Path integral-based stochastic optimal control for rigid body dynamics**
In *Adaptive Dynamic Programming and Reinforcement Learning, 2009. ADPRL ’09. IEEE Symposium on*, pages: 219-225, 2009, clmc (inproceedings)

**Learning locomotion over rough terrain using terrain templates**
In *Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on*, pages: 167-172, 2009, clmc (inproceedings)

**Computational models for neuromuscular function**
*IEEE Reviews in Biomedical Engineering – (All authors have equally contributed)*, (2):110?135, 2009, clmc (article)

**Compact models of motor primitive variations for predictible reaching and obstacle avoidance**
In *IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)*, Paris, Dec.7-10, 2009, clmc (inproceedings)

**Human optimization strategies under reward feedback**
In *Abstracts of Neural Control of Movement Conference (NCM 2009)*, Waikoloa, Hawaii, 2009, 2009, clmc (inproceedings)

**Bayesian Methods for Autonomous Learning Systems (Phd Thesis)**
Department of Computer Science, University of Southern California, Los Angeles, CA, 2009, clmc (phdthesis)

**On-line learning and modulation of periodic movements with nonlinear dynamical systems**
*Autonomous Robots*, 27(1):3-23, 2009, clmc (article)

**The SL simulation and real-time control software package**
University of Southern California, Los Angeles, CA, 2009, clmc (techreport)

**Local dimensionality reduction for non-parametric regression**
*Neural Processing Letters*, 2009, clmc (article)

**The SL simulation and real-time control software package**
University of Southern California, Los Angeles, CA, 2009, clmc (techreport)

**Learning and generalization of motor skills by learning from demonstration**
In *International Conference on Robotics and Automation (ICRA2009)*, Kobe, Japan, May 12-19, 2009, 2009, clmc (inproceedings)

**Compliant quadruped locomotion over rough terrain**
In *Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on*, pages: 814-820, 2009, clmc (inproceedings)