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Preprints here

2020

  1. Orthey, A., & Toussaint, M. (2020). Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory. Wafr.
    PDF
    Bibtex
    @article{20-orthey-WAFR,
      title = {Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory},
      author = {Orthey, Andreas and Toussaint, Marc},
      pdf = {https://arxiv.org/pdf/2002.04385.pdf},
      journal = wafr,
      year = {2020}
    }
    
  2. Hartmann, V. N., Oguz, O. S., Driess, D., Toussaint, M., & Menges, A. (2020). Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning. Proc. of the Int. Conf. on Intelligent Robots and, Systems (IROS 2020).
    Abstract
    Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design iteration cycles for designers and engineers. However, generic task-and-motion planning (TAMP) for long-horizon construction processes is beyond the capabilities of current approaches. In this paper, we develop a multi-agent TAMP framework for long horizon problems such as constructing a full-scale building. To this end we extend the Logic-Geometric Programming framework by sampling-based motion planning,a limited horizon approach, and a task-specific structural stability optimization that allow an effective decomposition of the task. We show that our framework is capable of constructing a large pavilion built from several hundred geometrically unique building elements from start to end autonomously.
    Bibtex
    @inproceedings{20-hartmann-IROS,
      title = {Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning},
      author = {Hartmann, Valentin N. and Oguz, Ozgur S. and Driess, Danny and Toussaint, Marc and Menges, Achim},
      year = {2020},
      arxiv = {2003.07754},
      pdf = {https://arxiv.org/abs/2003.07754},
      video = {https://www.youtube.com/watch?v=lAP6hkVlqwo&feature=youtu.be},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and, Systems (IROS 2020)}
    }
    
  3. Schubert, I., & Toussaint, M. (2020). Lazy Action Value Models for Q-Learning in Robotics.
    Abstract
    Value-based algorithms for reinforcement learning such as Q-learning offer state-of-the-art performance in many settings with discrete action domains. However, plain value-based algorithms are limited in large or continuous action domains, which are needed for applications in robotics. Here, we propose to approximate the action-dependent part of the Q-function locally and to learn it on-the-fly from a data buffer. This gives rise to a simple framework for learning universal Q-functions in continuous action domains from off-policy data. We demonstrate the feasibility of our approach using a goal-conditioned robot pushing task.
    Bibtex
    @inproceedings{20-schubert-ICRAws,
      title = {Lazy Action Value Models for Q-Learning in Robotics},
      author = {Schubert, Ingmar and Toussaint, Marc},
      howpublished = {ICRA Workshop on Machine Learning in Planning and Control of Robot Motion},
      year = {2020},
      pdf = {https://drive.google.com/file/d/1I1sx7AYpJ75yNwFO6mugxEpnr09XW2X7/view},
      video = {https://www.youtube.com/watch?v=dDu8e7r2jTI}
    }
    

2019

    2018

    1. Toussaint, M., Allen, K. R., Smith, K. A., & Tenenbaum, J. B. (2018). Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning. Proc. of Robotics: Science and Systems (R:SS 2018).
      Bibtex
      @inproceedings{toussaint2018differentiable,
        title = {Differentiable Physics and Stable Modes for Tool-Use and
        Manipulation Planning},
        author = {Toussaint, Marc and Allen, Kelsey R and Smith, Kevin A and Tenenbaum, Josh B},
        booktitle = {Proc{.} of Robotics: Science and Systems (R:SS 2018)},
        year = {2018},
        youtube = {-L4tCIGXKBE}
      }
      

    2017

    1. Toussaint, M., & Lopes, M. (2017). Multi-Bound Tree Search for Logic-Geometric Programming in Cooperative Manipulation Domains. Proc. of the IEEE Int. Conf. on Robotics And Automation.
      PDF
      Bibtex
      @inproceedings{17-toussaint-ICRA,
        title = {Multi-Bound Tree Search for Logic-Geometric Programming in
        Cooperative Manipulation Domains},
        author = {Toussaint, Marc and Lopes, Manuel},
        year = {2017},
        booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
        		  Automation}
      }
      

    2016

      All Publications - From Marc’s bibfile

      2020

      1. Orthey, A., & Toussaint, M. (2020). Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory. Wafr.
        PDF
        Bibtex
        @article{20-orthey-WAFR,
          title = {Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory},
          author = {Orthey, Andreas and Toussaint, Marc},
          pdf = {https://arxiv.org/pdf/2002.04385.pdf},
          journal = wafr,
          year = {2020}
        }
        
      2. Nguyen, S. T., Oguz, O. S., Hartmann, V., & Toussaint, M. (2020). Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning. Conf. on Robot Learning (CORL 2020).
        Bibtex
        @inproceedings{20-oz-corl,
          author = {Nguyen, Son T. and Oguz, Ozgur S. and Hartmann, Valentin and Toussaint, Marc},
          title = {Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning},
          youtube = {pHGppsmcnx4},
          booktitle = {Conf{.} on Robot Learning (CORL 2020)},
          year = {2020},
          pdf = {https://drive.google.com/file/d/1Pe_5WDbMg9UsaPR5GWXJKut7E1c5Vgw-/view}
        }
        
      3. Schubert, I., & Toussaint, M. (2020). Lazy Action Value Models for Q-Learning in Robotics.
        Bibtex
        @inproceedings{20-schubert-ICRAws,
          title = {Lazy Action Value Models for Q-Learning in Robotics},
          author = {Schubert, Ingmar and Toussaint, Marc},
          howpublished = {ICRA Workshop on Machine Learning in Planning and Control of Robot Motion},
          year = {2020}
        }
        
      4. Nguyen, S. T., Oguz, O. S., Driess, D., & Toussaint, M. (2020). From Images to Task Planning: How NLP Can Help Physical Reasoning. RSS Workshop on Self-Supervised Robot Learning.
        Bibtex
        @misc{20-oz-RSSws-ssrl,
          title = {From Images to Task Planning: How NLP Can Help Physical Reasoning},
          author = {Nguyen, Son Tung and Oguz, Ozgur S. and Driess, Danny and Toussaint, Marc},
          year = {2020},
          howpublished = {RSS Workshop on Self-Supervised Robot Learning},
          youtube = {UsumCDOu0F8}
        }
        
      5. Van, H. M., Oguz, O. S., Zhou, Z., & Toussaint, M. (2020). Guided Sequential Manipulation Planning Using a Hierarchical Policy. RSS Workshop on Learning (in) Task and Motion Planning.
        Bibtex
        @misc{20-oz-RSSws-ltamp,
          title = {Guided Sequential Manipulation Planning Using a Hierarchical Policy},
          author = {Van, Hoai My and Oguz, Ozgur S. and Zhou, Zhehua and Toussaint, Marc},
          year = {2020},
          howpublished = {RSS Workshop on Learning (in) Task and Motion Planning},
          youtube = {T-CuF4XCsnc}
        }
        
      6. Hoppe, S., Giftthaler, M., Krug, R., & Toussaint, M. (2020). Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG. Proc. of the Int. Conf. on Intelligent Robots And Systems (IROS 2020).
        Bibtex
        @inproceedings{20-hoppe-IROS,
          author = {Hoppe, Sabrina and Giftthaler, Markus and Krug, Robert and Toussaint, Marc},
          title = {Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG},
          youtube = {Z_GcNbCWE-E},
          booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
          		  Systems (IROS 2020)},
          year = {2020}
        }
        
      7. Hoppe, S., & Toussaint, M. (2020). Qgraph-bounded Q-learning: Stabilizing Model-Free Off-Policy Deep Reinforcement Learning.
        PDF
        Bibtex
        @misc{20-hoppe-Qgraph,
          title = {Qgraph-bounded Q-learning: Stabilizing Model-Free Off-Policy Deep Reinforcement Learning},
          author = {Hoppe, Sabrina and Toussaint, Marc},
          year = {2020},
          arxiv = {2007.07582},
          pdf = {https://arxiv.org/pdf/2007.07582}
        }
        
      8. Hartmann, V. N., Oguz, O. S., Driess, D., Toussaint, M., & Menges, A. (2020). Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning. Proc. of the Int. Conf. on Intelligent Robots And Systems (IROS 2020).
        Bibtex
        @inproceedings{20-hartmann-IROS,
          title = {Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning},
          author = {Hartmann, Valentin N. and Oguz, Ozgur S. and Driess, Danny and Toussaint, Marc and Menges, Achim},
          year = {2020},
          arxiv = {2003.07754},
          booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
          		  Systems (IROS 2020)},
          youtube = {j5S0s29IHwA}
        }
        
      9. Toussaint, M., Ha, J.-S., & Driess, D. (2020). Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning. IEEE Robotics and Automation Letters.
        Bibtex
        @article{20-toussaint-RAL,
          title = {Describing Physics For Physical Reasoning: Force-based
          		  Sequential Manipulation Planning},
          author = {Toussaint, Marc and Ha, Jung-Su and Driess, Danny},
          journal = {IEEE Robotics and Automation Letters},
          booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
          		  Systems (IROS 2020)},
          year = {2020},
          youtube = {tVFkKIIODaM},
          arxiv = {2002.12780}
        }
        
      10. Driess, D., Ha, J.-S., & Toussaint, M. (2020). Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image. Proc. of Robotics: Science and Systems (R:SS).
        Bibtex
        @inproceedings{20-driess-RSS,
          title = {Deep Visual Reasoning: Learning to Predict Action
          		  Sequences for Task and Motion Planning from an Initial
          		  Scene Image},
          author = {Driess, Danny and Ha, Jung-Su and Toussaint, Marc},
          booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)},
          year = {2020}
        }
        
      11. Kratzer, P., Toussaint, M., & Mainprice, J. (2020). Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA).
        PDF
        Bibtex
        @inproceedings{20-kratzer-prediction,
          title = {Prediction of Human Full-Body Movements with Motion
          		  Optimization and Recurrent Neural Networks},
          author = {Kratzer, Philipp and Toussaint, Marc and Mainprice, Jim},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA)},
          year = {2020}
        }
        
      12. Ha, J.-S., Driess, D., & Toussaint, M. (2020). A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA).
        Bibtex
        @inproceedings{20-ha-ICRA,
          title = {A Probabilistic Framework for Constrained Manipulations
          		  and Task and Motion Planning under Uncertainty},
          author = {Ha, Jung-Su and Driess, Danny and Toussaint, Marc},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA)},
          year = {2020},
          youtube = {CEaJdVlSZyo}
        }
        
      13. Driess, D., Oguz, O., Ha, J.-S., & Toussaint, M. (2020). Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA).
        Bibtex
        @inproceedings{20-driess-ICRA,
          title = {Deep Visual Heuristics: Learning Feasibility of
          		  Mixed-Integer Programs for Manipulation Planning},
          author = {Driess, Danny and Oguz, Ozgur and Ha, Jung-Su and Toussaint, Marc},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA)},
          year = {2020},
          youtube = {3iWnIfm3Pz0}
        }
        

      2019

      1. Orthey, A., Frész, B., & Toussaint, M. (2019). Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree. Robotics and Automation Letters.
        PDF
        Bibtex
        @article{19-orthey-RAL,
          title = {Motion Planning Explorer: Visualizing Local Minima using a
          		  Local-Minima Tree},
          author = {Orthey, Andreas and Frész, Benjamin and Toussaint, Marc},
          journal = {Robotics and Automation Letters},
          year = {2019},
          pdf = {https://arxiv.org/pdf/1909.05035}
        }
        
      2. Hoppe, S., Lou, Z., Hennes, D., & Toussaint, M. (2019). Planning Approximate Exploration Trajectories for Model-Free Reinforcement Learning in Contact-Rich Manipulation. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2019.2928212
        Bibtex
        @article{19-hoppe-RAL,
          author = {Hoppe, Sabrina and Lou, Zhongyu and Hennes, Daniel and Toussaint, Marc},
          journal = {IEEE Robotics and Automation Letters},
          title = {Planning Approximate Exploration Trajectories for
          		  Model-Free Reinforcement Learning in Contact-Rich
          		  Manipulation},
          year = {2019},
          doi = {10.1109/LRA.2019.2928212},
          issn = {2377-3766},
          youtube = {JTfeHhWSb0Y}
        }
        
      3. Driess, D., Schmitt, S., & Toussaint, M. (2019). Active Inverse Model Learning with Error and Reachable Set Estimates. Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS).
        Bibtex
        @inproceedings{19-driess-IROS,
          title = {Active Inverse Model Learning with Error and Reachable Set
          		  Estimates},
          author = {Driess, Danny and Schmitt, Syn and Toussaint, Marc},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Intelligent Robots
          		  and Systems (IROS)},
          year = {2019},
          youtube = {3ks0sMa3BgM}
        }
        
      4. Orthey, A., & Toussaint, M. (2019). Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications. International Symposium of Robotics Research.
        PDF
        Bibtex
        @article{19-orthey-ISRR,
          title = {Rapidly-Exploring Quotient-Space Trees: Motion Planning
          		  using Sequential Simplifications},
          author = {Orthey, Andreas and Toussaint, Marc},
          journal = {International Symposium of Robotics Research},
          year = {2019},
          pdf = {https://arxiv.org/pdf/1906.01350}
        }
        
      5. Oh, Y., Kim, H., Toussaint, M., & Mainprice, J. (2019). A Differentiable Policy for Shared Autonomy. ICRA Workshop on Long-term Human Motion Prediction.
        PDF
        Bibtex
        @misc{19-oh-ICRAws,
          title = {A Differentiable Policy for Shared Autonomy},
          author = {Oh, Yoojin and Kim, Hangbeom and Toussaint, Marc and Mainprice, Jim},
          howpublished = {ICRA Workshop on Long-term Human Motion Prediction},
          year = {2019}
        }
        
      6. Driess, D., Oguz, O., & Toussaint, M. (2019). Hierarchical Task and Motion Planning using Logic-Geometric Programming (HLGP). RSS Workshop on Robust Task and Motion Planning.
        Bibtex
        @misc{19-driess-RSSws,
          title = {Hierarchical Task and Motion Planning using
          		  Logic-Geometric Programming (HLGP)},
          author = {Driess, Danny and Oguz, Ozgur and Toussaint, Marc},
          year = {2019},
          howpublished = {RSS Workshop on Robust Task and Motion Planning},
          youtube = {VndjJtzl7ho}
        }
        
      7. Oh, Y., Toussaint, M., & Mainprice, J. (2019). Learning Arbitration for Shared Autonomy by Hindsight Data Aggregation. RSS Workshop on AI and Its Alternatives in Assistive And Collaborative Robotics.
        PDF
        Bibtex
        @article{19-oh-RSSws,
          author = {Oh, Yoojin and Toussaint, Marc and Mainprice, Jim},
          title = {Learning Arbitration for Shared Autonomy by Hindsight Data
          		  Aggregation},
          journal = {RSS Workshop on AI and Its Alternatives in Assistive and
          		  Collaborative Robotics},
          year = {2019},
          pdf = {http://arxiv.org/pdf/1906.12280},
          arxiv = {1906.12280}
        }
        
      8. Kratzer, P., Toussaint, M., & Mainprice, J. (2019). Motion Prediction with Recurrent Neural Network Dynamical Models and Trajectory Optimization. RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics.
        PDF
        Bibtex
        @misc{19-kratzer-RSSws,
          author = {Kratzer, Philipp and Toussaint, Marc and Mainprice, Jim},
          title = {Motion Prediction with Recurrent Neural Network Dynamical
          		  Models and Trajectory Optimization},
          howpublished = {RSS Workshop on AI and Its Alternatives in Assistive and
          		  Collaborative Robotics},
          year = {2019},
          pdf = {http://arxiv.org/pdf/1906.12279},
          arxiv = {1906.12279}
        }
        
      9. Khalid, M. U., Hager, J. M., Kraus, W., Huber, M. F., & Toussaint, M. (2019). Deep Workpiece Region Segmentation for Bin Picking. Proc. of the Int. Conf. on Automation Science And Engineering (CASE).
        PDF
        Bibtex
        @inproceedings{19-khalid-CASE,
          title = {Deep Workpiece Region Segmentation for Bin Picking},
          author = {Khalid, Muhammad Usman and Hager, Janik M. and Kraus, Werner and Huber, Marco F. and Toussaint, Marc},
          booktitle = {Proc{.} of the Int{.} Conf{.} on Automation Science and
          		  Engineering (CASE)},
          year = {2019}
        }
        
      10. Phiquepal, C., & Toussaint, M. (2019). Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA).
        Nominated for Best Paper Award in Cognitive Robotics
        Bibtex
        @inproceedings{19-phiquepal-ICRA,
          title = {Combined Task and Motion Planning under Partial
          		  Observability: An Optimization-Based Approach},
          author = {Phiquepal, Camille and Toussaint, Marc},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA)},
          note = {\emph{Nominated for Best Paper Award in Cognitive
          		  Robotics}},
          year = {2019},
          youtube = {vNNZqMC_KNY}
        }
        
      11. Toussaint, M., Allen, K. R., Smith, K. A., & Tenenbaum, J. B. (2019). Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning – Extended Abstract. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2019).
        Sister Conference Best Paper Track – Extended abstract of the R:SS’18 paper
        PDF
        Bibtex
        @misc{19-toussaint-IJCAIabstract,
          title = {Differentiable Physics and Stable Modes for Tool-Use and
          		  Manipulation Planning -- Extended Abstract},
          author = {Toussaint, Marc and Allen, Kelsey R and Smith, Kevin A and Tenenbaum, Josh B},
          booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial
          		  Intelligence (IJCAI 2019)},
          note = {Sister Conference Best Paper Track -- Extended abstract of
          		  the R:SS'18 paper},
          year = {2019}
        }
        
      12. Doerr, A., Volpp, M., Toussaint, M., Trimpe, S., & Daniel, C. (2019). Trajectory-based off-policy deep reinforcement learning. Proc. of the 36th Int. Conf. on Machine Learning (ICML).
        PDF
        Bibtex
        @inproceedings{19-doerr-ICML,
          title = {Trajectory-based off-policy deep reinforcement learning},
          author = {Doerr, Andreas and Volpp, Michael and Toussaint, Marc and Trimpe, Sebastian and Daniel, Christian},
          booktitle = {Proc{.} of the 36th Int{.} Conf{.} on Machine Learning
          		  (ICML)},
          year = {2019},
          pdf = {https://arxiv.org/pdf/1905.05710}
        }
        
      13. Driess, D., Hennes, D., & Toussaint, M. (2019). Active Multi-Contact Continuous Tactile Exploration with Gaussian Process Differential Entropy. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA).
        Bibtex
        @inproceedings{19-driess-ICRA,
          title = {Active Multi-Contact Continuous Tactile Exploration with
          		  Gaussian Process Differential Entropy},
          author = {Driess, Danny and Hennes, Daniel and Toussaint, Marc},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA)},
          year = {2019},
          youtube = {_FOkJoJLOPM}
        }
        

      2018

      1. Höfer, S., Raisch, J., Toussaint, M., & Brock, O. (2018). No free lunch in ball catching: A comparison of Cartesian and angular representations for control. PLOS ONE, 13(6), 1–48. https://doi.org/10.1371/journal.pone.0197803
        Bibtex
        @article{18-hoefer-PLOSONE,
          author = {Höfer, Sebastian and Raisch, Jörg and Toussaint, Marc and Brock, Oliver},
          journal = {PLOS ONE},
          publisher = {Public Library of Science},
          title = {No free lunch in ball catching: A comparison of Cartesian
          		  and angular representations for control},
          year = {2018},
          month = jun,
          volume = {13},
          mlrurl2 = {https://doi.org/10.1371/journal.pone.0197803},
          pages = {1-48},
          number = {6},
          doi = {10.1371/journal.pone.0197803}
        }
        
      2. Kratzer, P., Toussaint, M., & Mainprice, J. (2018). Towards Combining Motion Optimization and Data Driven Dynamical Models for Human Motion Prediction. IEEE-RAS International Conference on Humanoid Robots.
        PDF
        Bibtex
        @inproceedings{18-kratzer-Humanoids,
          title = {Towards Combining Motion Optimization and Data Driven
          		  Dynamical Models for Human Motion Prediction},
          author = {Kratzer, Philipp and Toussaint, Marc and Mainprice, Jim},
          booktitle = {IEEE-RAS International Conference on Humanoid Robots},
          year = {2018}
        }
        
      3. Schulz, R., Kratzer, P., & Toussaint, M. (2018). Preferred interaction styles for human-robot collaboration vary over tasks with different action types. Frontiers in Neurorobotics, 12, 36.
        Bibtex
        @article{18-schulz-frontiers,
          title = {Preferred interaction styles for human-robot collaboration
          		  vary over tasks with different action types},
          author = {Schulz, Ruth and Kratzer, Philipp and Toussaint, Marc},
          journal = {Frontiers in neurorobotics},
          volume = {12},
          pages = {36},
          year = {2018},
          publisher = {Frontiers},
          youtube = {1qymi-qon9M},
          pdf = {https://www.frontiersin.org/articles/10.3389/fnbot.2018.00036/full}
        }
        
      4. Munzer, T., Toussaint, M., & Lopes, M. (2018). Efficient behavior learning in human–robot collaboration. Autonomous Robots, 42, 1103–1115.
        PDF
        Bibtex
        @article{18-munzer-AuRo,
          title = {Efficient behavior learning in human–robot
          		  collaboration},
          author = {Munzer, T and Toussaint, M and Lopes, M},
          year = {2018},
          volume = {42},
          pages = {1103-1115},
          journal = {Autonomous Robots}
        }
        
      5. Toussaint, M., Allen, K. R., Smith, K. A., & Tenenbaum, J. B. (2018). Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning. Proc. of Robotics: Science and Systems (R:SS 2018).
        Best Paper Award
        Bibtex
        @inproceedings{18-toussaint-RSS,
          title = {Differentiable Physics and Stable Modes for Tool-Use and
          		  Manipulation Planning},
          author = {Toussaint, Marc and Allen, Kelsey R and Smith, Kevin A and Tenenbaum, Josh B},
          booktitle = {Proc{.} of Robotics: Science and Systems (R:SS 2018)},
          note = {\emph{Best Paper Award}},
          year = {2018},
          youtube = {-L4tCIGXKBE}
        }
        
      6. Englert, P., & Toussaint, M. (2018). Kinematic Morphing Networks for Manipulation Skill Transfer. Proc. of the Int. Conf. on Intelligent Robots And Systems (IROS 2018).
        Bibtex
        @inproceedings{18-englert-IROS,
          title = {Kinematic Morphing Networks for Manipulation Skill
          		  Transfer},
          author = {Englert, Peter and Toussaint, Marc},
          booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
          		  Systems (IROS 2018)},
          year = {2018},
          youtube = {hI1BC0G0oD4}
        }
        
      7. Doerr, A., Daniel, C., Schiegg, M., Duy, N.-T., Schaal, S., Toussaint, M., & Trimpe, S. (2018). Probabilistic Recurrent State-Space Models. Proc. of the 35th Int. Conf. on Machine Learning (ICML).
        PDF
        Bibtex
        @inproceedings{18-doerr-ICML,
          title = {Probabilistic Recurrent State-Space Models},
          author = {Doerr, Andreas and Daniel, Christian and Schiegg, Martin and Duy, Nguyen-Tuong and Schaal, Stefan and Toussaint, Marc and Trimpe, Sebastian},
          booktitle = {Proc{.} of the 35th Int{.} Conf{.} on Machine Learning
          		  (ICML)},
          year = {2018},
          pdf = {https://arxiv.org/pdf/1801.10395}
        }
        
      8. Busch, B., Toussaint, M., & Lopes, M. (2018). Planning Ergonomic Sequences of Actions in Human-Robot Interaction. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA 2018).
        PDF
        Bibtex
        @inproceedings{18-busch-ICRA,
          title = {Planning Ergonomic Sequences of Actions in Human-Robot
          		  Interaction},
          author = {Busch, Baptiste and Toussaint, Marc and Lopes, Manuel},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA 2018)},
          year = {2018},
          vimeo = {232348427}
        }
        
      9. Driess, D., Zimmermann, H., Wolfen, S., Suissa, D., Haeufle, D., Hennes, D., Toussaint, M., & Schmitt, S. (2018). Learning to Control Redundant Musculoskeletal Systems with Neural Networks and SQP: Exploiting Muscle Properties. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA 2018).
        Bibtex
        @inproceedings{18-driess-ICRA,
          title = {Learning to Control Redundant Musculoskeletal Systems with
          		  Neural Networks and {SQP}: Exploiting Muscle Properties},
          author = {Driess, Danny and Zimmermann, Heiko and Wolfen, Simon and Suissa, Dan and Haeufle, Daniel and Hennes, Daniel and Toussaint, Marc and Schmitt, Syn},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA 2018)},
          youtube = {ODFvqBWOtec},
          year = {2018}
        }
        
      10. Vien, N. A., Zimmermann, H., & Toussaint, M. (2018). Bayesian Functional Optimization. Proc. of The AAAI Conference on Artificial Intelligence (AAAI 18).
        PDF
        Bibtex
        @inproceedings{18-vien-AAAI,
          author = {Vien, Ngo Anh and Zimmermann, Heiko and Toussaint, Marc},
          title = {Bayesian Functional Optimization},
          booktitle = {Proc{.} of The AAAI Conference on Artificial Intelligence
          		  (AAAI 18)},
          year = {2018}
        }
        
      11. Rawlik, K., Zarubin, D., Toussaint, M., & Vijayakumar, S. (2018). An Approximate Inference Approach to Temporal Optimization for Robotics.
        PDF
        Bibtex
        @inproceedings{18-rawlik-ISRR,
          title = {An Approximate Inference Approach to Temporal Optimization
          		  for Robotics},
          author = {Rawlik, Konrad and Zarubin, Dmitry and Toussaint, Marc and Vijayakumar, Sethu},
          howpublished = {Accepted for the Proceedings of (ISRR 2015), to be
          		  published by Springer},
          year = {2018}
        }
        
      12. Englert, P., & Toussaint, M. (2018). Learning manipulation skills from a single demonstration. The International Journal of Robotics Research, 37(1), 137–154.
        Bibtex
        @article{18-englert-IJRR,
          author = {Englert, Peter and Toussaint, Marc},
          title = {Learning manipulation skills from a single demonstration},
          journal = {The International Journal of Robotics Research},
          volume = {37},
          number = {1},
          pages = {137-154},
          year = {2018},
          youtube = {sG01B_GcTJQ}
        }
        
      13. Phiquepal, C., & Toussaint, M. (2018). Multi-Agent Task and Motion Planning: An Optimization based Approach. RSS Workshop on Task and Motion Planning.
        Bibtex
        @misc{18-phiquepal-RSSws,
          title = {Multi-Agent Task and Motion Planning: An Optimization
          		  based Approach},
          author = {Phiquepal, Camille and Toussaint, Marc},
          year = {2018},
          howpublished = {RSS Workshop on Task and Motion Planning},
          youtube = {y-iLmFbwaFs}
        }
        

      2017

      1. Englert, P., Vien, N. A., & Toussaint, M. (2017). Inverse KKT: Learning cost functions of manipulation tasks from demonstrations. The International Journal of Robotics Research, 36(13-14), 1474–1488.
        PDF
        Bibtex
        @article{17-englert-IJRR,
          author = {Englert, Peter and Vien, Ngo Anh and Toussaint, Marc},
          title = {Inverse {KKT}: Learning cost functions of manipulation
          		  tasks from demonstrations},
          journal = {The International Journal of Robotics Research},
          volume = {36},
          number = {13-14},
          pages = {1474-1488},
          year = {2017}
        }
        
      2. Doerr, A., Daniel, C., Nguyen-Tuong, D., Marco, A., Schaal, S., Toussaint, M., & Trimpe, S. (2017). Optimizing Long-term Predictions for Model-based Policy Search. Proc. of the Annual Conf. on Robot Learning (CORL 2017).
        PDF
        Bibtex
        @inproceedings{17-doerr-CORL,
          title = {Optimizing Long-term Predictions for Model-based Policy
          		  Search},
          author = {Doerr, Andreas and Daniel, Christian and Nguyen-Tuong, Duy and Marco, Alonso and Schaal, Stefan and Toussaint, Marc and Trimpe, Sebastian},
          booktitle = {Proc{.} of the Annual Conf{.} on Robot Learning (CORL
          		  2017)},
          year = {2017}
        }
        
      3. Baum, M., Bernstein, M., Martín-Martín, R., Höfer, S., Kulick, J., Toussaint, M., Kacelnik, A., & Brock, O. (2017). Opening a Lockbox through Physical Exploration. Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2017).
        Bibtex
        @inproceedings{17-baum-Humanoids,
          author = {Baum, Manuel and Bernstein, Matthew and Mart{\'i}n-Mart{\'i}n, Roberto and H{\"o}fer, Sebastian and Kulick, Johannes and Toussaint, Marc and Kacelnik, Alex and Brock, Oliver},
          title = {Opening a Lockbox through Physical Exploration},
          booktitle = {Proc{.} of the IEEE-RAS Int{.} Conf{.} on Humanoid Robots
          		  (Humanoids 2017)},
          year = {2017},
          youtube = {WSnPnpHLpdI}
        }
        
      4. Hoppe, S., Lou, Z., Hennes, D., & Toussaint, M. (2017). Deep Learning for Manipulation with Visual and Haptic Feedback. IROS Workshop on Frontiers in Contact-rich Robotic Interaction.
        PDF
        Bibtex
        @misc{17-hoppe-IROSws,
          title = {Deep Learning for Manipulation with Visual and Haptic
          		  Feedback},
          author = {Hoppe, Sabrina and Lou, Zhongyu and Hennes, Daniel and Toussaint, Marc},
          year = {2017},
          howpublished = {IROS Workshop on Frontiers in Contact-rich Robotic
          		  Interaction}
        }
        
      5. Yildirim, I., Gerstenberg, T., Saeed, B., Toussaint, M., & Tenenbaum, J. B. (2017). Physical problem solving: Joint planning with symbolic, geometric, and dynamic constraints. Proc. of the Thirty-Night Annual Conf. of The Cognitive Science Society (CogSci 2017).
        PDF
        Bibtex
        @inproceedings{17-yildirim-CogSci,
          title = {Physical problem solving: Joint planning with symbolic,
          		  geometric, and dynamic constraints},
          author = {Yildirim, Ilker and Gerstenberg, Tobias and Saeed, Basil and Toussaint, Marc and Tenenbaum, Josh B},
          booktitle = {Proc{.} of the Thirty-Night Annual Conf{.} of the
          		  Cognitive Science Society (CogSci 2017)},
          year = {2017}
        }
        
      6. Munzer, T., Toussaint, M., & Lopes, M. (2017). Preference learning on the execution of collaborative human-robot tasks. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA 2017).
        PDF
        Bibtex
        @inproceedings{17-munzer-ICRA,
          author = {Munzer, Thibaut and Toussaint, Marc and Lopes, Manuel},
          title = {Preference learning on the execution of collaborative
          		  human-robot tasks},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA 2017)},
          vimeo = {182913540},
          year = {2017}
        }
        
      7. Schulz, R., Kratzer, P., & Toussaint, M. (2017). Building a Bridge with a Robot: A System for Collaborative On-table Task Execution. Proc. of the Int. Conf. on Human Agent Interaction (HAI 2017).
        Bibtex
        @inproceedings{17-schulz-HAIa,
          title = {Building a Bridge with a Robot: A System for Collaborative
          		  On-table Task Execution},
          author = {Schulz, Ruth and Kratzer, Philipp and Toussaint, Marc},
          booktitle = {Proc{.} of the Int{.} Conf{.} on Human Agent Interaction
          		  (HAI 2017)},
          year = {2017},
          youtube = {Em59X9087tc}
        }
        
      8. Schulz, R. (2017). Collaborative Robots Learning Spatial Language for Picking and Placing Objects on a Table. Proc. of the Int. Conf. on Human Agent Interaction (HAI 2017).
        Bibtex
        @inproceedings{17-schulz-HAIb,
          title = {Collaborative Robots Learning Spatial Language for Picking
          		  and Placing Objects on a Table},
          author = {Schulz, Ruth},
          booktitle = {Proc{.} of the Int{.} Conf{.} on Human Agent Interaction
          		  (HAI 2017)},
          year = {2017},
          youtube = {9L-HWd6qF88}
        }
        
      9. Toussaint, M., & Lopes, M. (2017). Multi-Bound Tree Search for Logic-Geometric Programming in Cooperative Manipulation Domains. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA 2017).
        PDF
        Bibtex
        @inproceedings{17-toussaint-ICRA,
          title = {Multi-Bound Tree Search for Logic-Geometric Programming in
          		  Cooperative Manipulation Domains},
          author = {Toussaint, Marc and Lopes, Manuel},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA 2017)},
          year = {2017}
        }
        
      10. Driess, D., Englert, P., & Toussaint, M. (2017). Active Learning with Query Paths for Tactile Object Shape Exploration. Proc. of the Int. Conf. on Intelligent Robots And Systems (IROS 2017).
        Bibtex
        @inproceedings{17-driess-IROS,
          author = {Driess, Danny and Englert, Peter and Toussaint, Marc},
          title = {Active Learning with Query Paths for Tactile Object Shape
          		  Exploration},
          booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
          		  Systems (IROS 2017)},
          youtube = {4k5unx7En28},
          year = {2017}
        }
        
      11. Driess, D., Englert, P., & Toussaint, M. (2017). Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA 2017).
        Bibtex
        @inproceedings{17-driess-ICRA,
          title = {Constrained Bayesian Optimization of Combined Interaction
          		  Force/Task Space Controllers for Manipulations},
          author = {Driess, Danny and Englert, Peter and Toussaint, Marc},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA 2017)},
          youtube = {CudjsbB7sfM},
          year = {2017}
        }
        
      12. Lieck, R., Vien, N. A., & Toussaint, M. (2017). Exploiting Variance Information in Monte-Carlo Tree Search. ICAPS Workshop on Heuristics and Search for Domain-independent Planning (HSDIP).
        PDF
        Bibtex
        @misc{17-lieck-ICAPSws,
          title = {Exploiting Variance Information in {Monte-Carlo} Tree
          		  Search},
          author = {Lieck, Robert and Vien, Ngo Anh and Toussaint, Marc},
          year = {2017},
          howpublished = {ICAPS Workshop on Heuristics and Search for
          		  Domain-independent Planning (HSDIP)}
        }
        
      13. Lieck, R., & Toussaint, M. (2017). Active Tree Search. ICAPS Workshop on Planning, Search, and Optimization.
        PDF
        Bibtex
        @misc{17-lieck-ICAPSws2,
          author = {Lieck, Robert and Toussaint, Marc},
          year = {2017},
          title = {Active Tree Search},
          howpublished = {ICAPS Workshop on Planning, Search, and Optimization}
        }
        
      14. Baisero, A., Otte, S., Englert, P., & Toussaint, M. (2017). Identification of Unmodeled Objects from Symbolic Descriptions. e-Print arxiv.org:1701.06450.
        Bibtex
        @misc{17-baisero-SymbId,
          title = {Identification of Unmodeled Objects from Symbolic
          		  Descriptions},
          author = {Baisero, Andrea and Otte, Stefan and Englert, Peter and Toussaint, Marc},
          howpublished = {e-Print arxiv.org:1701.06450},
          year = {2017},
          youtube = {tyiImFoC9p8},
          pdf = {https://arxiv.org/pdf/1701.06450}
        }
        
      15. Toussaint, M. (2017). A tutorial on Newton methods for constrained trajectory optimization and relations to SLAM, Gaussian Process smoothing, optimal control, and probabilistic inference. In J.-P. Laumond (Ed.), Geometric and Numerical Foundations of Movements. Springer.
        PDF
        Bibtex
        @incollection{17-toussaint-Newton,
          author = {Toussaint, Marc},
          title = {A tutorial on {N}ewton methods for constrained trajectory
          		  optimization and relations to {SLAM}, {G}aussian {P}rocess
          		  smoothing, optimal control, and probabilistic inference},
          booktitle = {Geometric and Numerical Foundations of Movements},
          editor = {Laumond, Jean-Paul},
          publisher = {Springer},
          year = {2017}
        }
        
      16. Langhabel, J., Lieck, R., Toussaint, M., & Rohrmeier, M. (2017). Feature Discovery for Sequential Prediction of Monophonic Music. Proc. of the 18th Int. Society for Music Information Retrieval Conference (ISMIR’17).
        PDF
        Bibtex
        @inproceedings{17-langhabel-ISMIR,
          author = {Langhabel, Jonas and Lieck, Robert and Toussaint, Marc and Rohrmeier, Martin},
          year = {2017},
          title = {Feature Discovery for Sequential Prediction of Monophonic
          		  Music},
          booktitle = {Proc{.} of the 18th Int{.} Society for Music Information
          		  Retrieval Conference (ISMIR'17)}
        }
        
      17. Phiquepal, C., & Toussaint, M. (2017). Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach. RSS Workshop on Integrated Task and Motion Planning.
        Bibtex
        @misc{17-phiquepal-TAMPws,
          title = {Combined Task and Motion Planning under Partial
          		  Observability: An Optimization-Based Approach},
          author = {Phiquepal, Camille and Toussaint, Marc},
          year = {2017},
          howpublished = {RSS Workshop on Integrated Task and Motion Planning},
          youtube = {7tefP951Foo}
        }
        

      2016

      1. Wabersich, K. P., & Toussaint, M. (2016). Advancing Bayesian Optimization: The Mixed-Global-Local (MGL) Kernel and Length-Scale Cool Down. NIPS Workshop on Bayesian Optimization.
        PDF
        Bibtex
        @misc{16-wabersich-NIPSws,
          title = {Advancing Bayesian Optimization: The Mixed-Global-Local
          		  {(MGL)} Kernel and Length-Scale Cool Down},
          author = {Wabersich, Kim Peter and Toussaint, Marc},
          howpublished = {NIPS Workshop on Bayesian Optimization},
          year = {2016},
          pdf = {https://arxiv.org/pdf/1612.03117},
          arxiv = {1612.03117}
        }
        
      2. Kulick, J., Lieck, R., & Toussaint, M. (2016). Cross-Entropy as a Criterion for Robust Interactive Learning of Latent Properties. NIPS Workshop on the Future of Interactive Learning Machines.
        PDF
        Bibtex
        @misc{16-kulick-NIPSws,
          author = {Kulick, Johannes and Lieck, Robert and Toussaint, Marc},
          year = {2016},
          title = {Cross-Entropy as a Criterion for Robust Interactive
          		  Learning of Latent Properties},
          howpublished = {NIPS Workshop on the Future of Interactive Learning
          		  Machines}
        }
        
      3. Drieß, D., Englert, P., & Toussaint, M. (2016). Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations. IROS Workshop on Mechatronics behind Force/Torque Controlled Robot Actuation: Secrets and Challenges.
        PDF
        Bibtex
        @misc{16-driess-IROSws,
          title = {Constrained Bayesian Optimization of Combined Interaction
          		  Force/Task Space Controllers for Manipulations},
          author = {Drieß, Danny and Englert, Peter and Toussaint, Marc},
          howpublished = {IROS Workshop on Mechatronics behind Force/Torque
          		  Controlled Robot Actuation: Secrets and Challenges},
          year = {2016}
        }
        
      4. Englert, P., & Toussaint, M. (2016). Combined Optimization and Reinforcement Learning for Manipulation Skills. Proc. of Robotics: Science and Systems (R:SS 2016).
        Bibtex
        @inproceedings{16-englert-RSS,
          author = {Englert, Peter and Toussaint, Marc},
          title = {Combined Optimization and Reinforcement Learning for
          		  Manipulation Skills},
          booktitle = {Proc{.} of Robotics: Science and Systems (R:SS 2016)},
          year = {2016},
          youtube = {bn_sv5A1BhQ}
        }
        
      5. Vien, N. A., Englert, P., & Toussaint, M. (2016). Policy Search in Reproducing Kernel Hilbert Space. Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2016).
        PDF
        Bibtex
        @inproceedings{16-vien-IJCAI,
          title = {Policy Search in Reproducing Kernel Hilbert Space},
          author = {Vien, Ngo Anh and Englert, Peter and Toussaint, Marc},
          booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial
          		  Intelligence (IJCAI 2016)},
          year = {2016}
        }
        
      6. Toussaint, M., Munzer, T., Mollard, Y., Wu, L. Y., Vien, N. A., & Lopes, M. (2016). Relational Activity Processes for Modeling Concurrent Cooperation. Proc. of the IEEE Int. Conf. on Robotics And Automation (ICRA 2016).
        Bibtex
        @inproceedings{16-toussaint-ICRA,
          title = {Relational Activity Processes for Modeling Concurrent
          		  Cooperation},
          author = {Toussaint, Marc and Munzer, Thibaut and Mollard, Yoan and Wu, Li Yang and Vien, Ngo Anh and Lopes, Manuel},
          booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
          		  Automation (ICRA 2016)},
          year = {2016},
          vimeo = {139342248},
          youtube = {J6qt8Pi3zYg}
        }
        
      7. Ratliff, N., Toussaint, M., Bohg, J., & Schaal, S. (2016). On the Fundamental Importance of Gauss-Newton in Motion Optimization. e-Print arXiv:1605.09296.
        PDF
        Bibtex
        @misc{16-ratliff-GaussNewton,
          title = {On the Fundamental Importance of Gauss-Newton in Motion
          		  Optimization},
          author = {Ratliff, Nathan and Toussaint, Marc and Bohg, Jeannette and Schaal, Stefan},
          howpublished = {e-Print arXiv:1605.09296},
          year = {2016}
        }
        
      8. Brock, O., Park, J., & Toussaint, M. (2016). Mobility and Manipulation. In B. Siciliano & O. Khatib (Eds.), Handbook of Robotics. Springer.
        PDF
        Bibtex
        @incollection{16-brock-Handbook,
          title = {Mobility and Manipulation},
          author = {Brock, Oliver and Park, Jaeheung and Toussaint, Marc},
          booktitle = {Handbook of Robotics},
          chapter = {40},
          editor = {Siciliano, Bruno and Khatib, Oussama},
          publisher = {Springer},
          year = {2016},
          pdf = {http://www.springer.com/us/book/9783319325507}
        }
        
      9. Lieck, R., & Toussaint, M. (2016). Temporally extended features in model-based reinforcement learning with partial observability. Neurocomputing, 192, 49–60.
        PDF
        Bibtex
        @article{16-lieck-Neurocomputing,
          title = {Temporally extended features in model-based reinforcement
          		  learning with partial observability},
          author = {Lieck, Robert and Toussaint, Marc},
          journal = {Neurocomputing},
          year = {2016},
          pages = {49-60},
          volume = {192}
        }
        
      10. Schreiter, J., Nguyen-Tuong, D., & Toussaint, M. (2016). Efficient sparsification for Gaussian process regression. Neurocomputing, 192, 29–37 .
        PDF
        Bibtex
        @article{16-schreiter-Neurocomputing,
          title = {Efficient sparsification for Gaussian process regression},
          author = {Schreiter, Jens and Nguyen-Tuong, Duy and Toussaint, Marc},
          journal = {Neurocomputing},
          year = {2016},
          pages = { 29-37 },
          volume = {192}
        }