Marc Toussaint

Technical University of Berlin

収録論文 84本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• PEEL: スケール不変サンプリングによる長期的分解計画の並列抽出
  マニピュレーション2026/8/9

  ロボットによる多部品物体の分解作業を効率的に解くため、スケール不変サンプリングを用いた並列抽出アルゴリズムPEELを提案し、Fetchマニピュレータで長期的な分解問題を解決した。

• 大規模アセンブリのメイクスパン最適化のための協調型マルチロボット分解
  群制御2026/8/6

  複数ロボットによる分解作業の計画手法CoMuDiを提案し、時間制約の伝播とST-RRT*プランナーを統合して全体の完了時間を最小化する。最大49部品・9ロボットのシナリオで有効性を実証した。

• PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling
  2026/8/1
• Coordinated Multi-Robot Disassembly for Makespan Optimization of Large-Scale Assemblies
  2026/8/1
• PhyRoGen: Synthetic Generation of Physical Robot Manipulation Puzzles Using Procedural Content Generation
  2026/6/1
• Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning
  2026/5/1
• Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction
  2026/4/1
• Stability-Guided Exploration for Diverse Motion Generation
  2026/3/1
• Variance-Reduced Model Predictive Path Integral via Quadratic Model Approximation
  2026/2/1
• Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation
  2026/2/1
• MO-SeGMan: Rearrangement Planning Framework for Multi Objective Sequential and Guided Manipulation in Constrained Environments
  2025/11/1
• SVN-ICP: Uncertainty Estimation of ICP-based LiDAR Odometry using Stein Variational Newton
  2025/9/1
• CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads
  2025/9/1
• Regrasp Maps for Sequential Manipulation Planning
  2025/7/1
• Trajectory First: A Curriculum for Discovering Diverse Policies
  2025/6/1
• Meta-Optimization and Program Search using Language Models for Task and Motion Planning
  2025/5/1
• GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System
  2024/10/1
• NLP Sampling: Combining MCMC and NLP Methods for Diverse Constrained Sampling
  2024/7/1
• Solving Sequential Manipulation Puzzles by Finding Easier Subproblems
  2024/5/1
• iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization
  2024/3/1
• iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning
  2023/11/1
• Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
  2023/10/1
• Asymptotically Optimal Belief Space Planning in Discrete Partially-Observable Domains
  2023/9/1
• Neural Field Representations of Articulated Objects for Robotic Manipulation Planning
  2023/9/1
• Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation
  2023/6/1
• Towards computing low-makespan solutions for multi-arm multi-task planning problems
  2023/5/1
• Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning
  2023/4/1
• Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort
  2023/3/1
• PaLM-E: An Embodied Multimodal Language Model
  2023/3/1
• Control-Tree Optimization: an approach to MPC under discrete Partial Observability
  2023/2/1
• Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces
  2022/12/1
• A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving
  2022/11/1
• Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
  2022/10/1
• Planning Coordinated Human-Robot Motions with Neural Network Full-Body Prediction Models
  2022/10/1
• Reinforcement Learning with Neural Radiance Fields
  2022/6/1
• Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort
  2022/5/1
• FC$^3$: Feasibility-Based Control Chain Coordination
  2022/5/1
• Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs
  2022/4/1
• ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time
  2022/3/1
• db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning
  2022/3/1
• BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
  2022/3/1
• Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation
  2022/3/1
• Learning Multi-Object Dynamics with Compositional Neural Radiance Fields
  2022/2/1
• Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input
  2021/12/1
• MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
  2021/12/1
• Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics
  2021/11/1
• RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning
  2021/10/1
• From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
  2021/10/1
• Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning
  2021/10/1
• Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies
  2021/8/1
• Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks
  2021/7/1
• GraspME -- Grasp Manifold Estimator
  2021/7/1
• A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures
  2021/7/1
• Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning
  2021/7/1
• Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
  2021/6/1
• Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks
  2021/4/1
• Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping
  2021/3/1
• Visualization of Nonlinear Programming for Robot Motion Planning
  2021/1/1
• MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze
  2020/11/1
• Sparse Multilevel Roadmaps for High-Dimensional Robot Motion Planning
  2020/11/1
• Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation
  2020/11/1
• Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts
  2020/11/1
• Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning
  2020/10/1
• An Interior Point Method Solving Motion Planning Problems with Narrow Passages
  2020/7/1
• Multilevel Motion Planning: A Fiber Bundle Formulation
  2020/7/1
• Natural Gradient Shared Control
  2020/7/1
• Anticipating Human Intention for Full-Body Motion Prediction in Object Grasping and Placing Tasks
  2020/7/1
• Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image
  2020/6/1
• Optimized Directed Roadmap Graph for Multi-Agent Path Finding Using Stochastic Gradient Descent
  2020/3/1
• Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning
  2020/3/1
• Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty
  2020/3/1
• Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning
  2020/2/1
• Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory
  2020/2/1
• Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks
  2019/10/1
• Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree
  2019/9/1
• Deep Workpiece Region Segmentation for Bin Picking
  2019/9/1
• An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem
  2019/7/1
• Motion Prediction with Recurrent Neural Network Dynamical Models and Trajectory Optimization
  2019/6/1
• Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications
  2019/6/1
• Learning Arbitration for Shared Autonomy by Hindsight Data Aggregation
  2019/6/1
• Kinematic Morphing Networks for Manipulation Skill Transfer
  2018/3/1
• Physical problem solving: Joint planning with symbolic, geometric, and dynamic constraints
  2017/7/1
• On the Fundamental Importance of Gauss-Newton in Motion Optimization
  2016/5/1
• Newton methods for k-order Markov Constrained Motion Problems
  2014/7/1