Stefan Schaal
収録論文 70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
- The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization2025/9/1
- RoboBallet: Planning for Multi-Robot Reaching with Graph Neural Networks and Reinforcement Learning2025/9/1
- A Comparison of Imitation Learning Algorithms for Bimanual Manipulation2024/8/1
- GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks2024/4/1
- RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches2024/3/1
- SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning2024/1/1
- Efficient Online Learning of Contact Force Models for Connector Insertion2023/12/1
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models2023/10/1
- Multi-Stage Cable Routing through Hierarchical Imitation Learning2023/7/1
- Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks2022/12/1
- Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning2022/10/1
- A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies2022/8/1
- Detection and Physical Interaction with Deformable Linear Objects2022/5/1
- Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks2022/3/1
- Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation2022/2/1
- Deformable One-Dimensional Object Detection for Routing and Manipulation2022/1/1
- You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration2022/1/1
- Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation2021/12/1
- Offline Meta-Reinforcement Learning for Industrial Insertion2021/10/1
- From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence2021/10/1
- CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation2021/9/1
- Multi-Task Learning with Sequence-Conditioned Transporter Networks2021/9/1
- A Robustness Analysis of Inverse Optimal Control of Bipedal Walking2021/4/1
- Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks2021/3/1
- Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study2021/3/1
- Learning Dense Rewards for Contact-Rich Manipulation Tasks2020/11/1
- Residual Learning from Demonstration: Adapting DMPs for Contact-rich Manipulation2020/8/1
- An Interior Point Method Solving Motion Planning Problems with Narrow Passages2020/7/1
- Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed2020/7/1
- Simulator Predictive Control: Using Learned Task Representations and MPC for Zero-Shot Generalization and Sequencing2018/10/1
- Scaling simulation-to-real transfer by learning composable robot skills2018/9/1
- Learning Task-Specific Dynamics to Improve Whole-Body Control2018/3/1
- An MPC Walking Framework With External Contact Forces2017/12/1
- A New Data Source for Inverse Dynamics Learning2017/10/1
- Combining Learned and Analytical Models for Predicting Action Effects from Sensory Data2017/10/1
- Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks2017/10/1
- On Time Optimization of Centroidal Momentum Dynamics2017/9/1
- Unsupervised Contact Learning for Humanoid Estimation and Control2017/9/1
- Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets2017/5/1
- Time-Contrastive Networks: Self-Supervised Learning from Video2017/4/1
- Model-Based Policy Search for Automatic Tuning of Multivariate PID Controllers2017/3/1
- Virtual vs. Real: Trading Off Simulations and Physical Experiments in Reinforcement Learning with Bayesian Optimization2017/3/1
- Real-time Perception meets Reactive Motion Generation2017/3/1
- Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning2017/3/1
- Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints2017/1/1
- A Probabilistic Representation for Dynamic Movement Primitives2016/12/1
- Probabilistic Articulated Real-Time Tracking for Robot Manipulation2016/10/1
- Path Integral Guided Policy Search2016/10/1
- Learning Feedback Terms for Reactive Planning and Control2016/10/1
- Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment2016/9/1
- DOOMED: Direct Online Optimization of Modeling Errors in Dynamics2016/8/1
- A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation2016/7/1
- On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions2016/5/1
- Structured contact force optimization for kino-dynamic motion generation2016/5/1
- On the Fundamental Importance of Gauss-Newton in Motion Optimization2016/5/1
- Automatic LQR Tuning Based on Gaussian Process Global Optimization2016/5/1
- Interactive Perception: Leveraging Action in Perception and Perception in Action2016/4/1
- Depth-Based Object Tracking Using a Robust Gaussian Filter2016/2/1
- Inertial Sensor-Based Humanoid Joint State Estimation2016/2/1
- Humanoid Momentum Estimation Using Sensed Contact Wrenches2015/7/1
- Trajectory generation for multi-contact momentum-control2015/7/1
- The Coordinate Particle Filter - A novel Particle Filter for High Dimensional Systems2015/5/1
- Probabilistic Object Tracking using a Range Camera2015/5/1
- A New Perspective and Extension of the Gaussian Filter2015/4/1
- Probabilistic Depth Image Registration incorporating Nonvisual Information2015/4/1
- Policy Learning with Hypothesis based Local Action Selection2015/3/1
- Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid2014/10/1
- State Estimation for a Humanoid Robot2014/2/1
- Local Gaussian Regression2014/2/1
- Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics2013/5/1