Publications

2021

  1. Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input (Danny Driess, Jung-Su Ha, Russ Tedrake, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [Accompanying Video] [Bibtex]
    @inproceedings{21-driess-ICRA,
      title = {Learning Geometric Reasoning and Control for Long-Horizon Tasks
      from Visual Input},
      author = {Driess, Danny and Ha, Jung-Su and Tedrake, Russ and Toussaint, Marc},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2021},
      youtube = {AcPWRTkr3_g}
    }
    
  2. Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping (Marc Tuscher, Julian Hörz, Danny Driess, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [Accompanying Video] [Bibtex]
    @inproceedings{21-tuscher-ICRA,
      title = {Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping},
      author = {Tuscher, Marc and H{\"o}rz, Julian and Driess, Danny and Toussaint, Marc},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2021},
      youtube = {Hew00rMw8qg}
    }
    
  3. Control-Tree Optimization: an approach to MPC under discrete Partial Observability (Camille Phiquepal, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [Accompanying Video] [Bibtex]
    @inproceedings{21-phiquepal-ICRA,
      title = {Control-Tree Optimization: an approach to MPC under discrete Partial
      Observability},
      author = {Phiquepal, Camille and Toussaint, Marc},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2021},
      youtube = {Ju5hv2gIlxw}
    }
    
  4. Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning (Andreas Orthey, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [arxiv] [Bibtex]
    @inproceedings{21-orthey-ICRA,
      title = {Sparse Multilevel Roadmaps for High-Dimensional
        Robotic Motion Planning},
      author = {Orthey, Andreas and Toussaint, Marc},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2021},
      arxiv = {2011.00832}
    }
    
  5. Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning (Marc Toussaint, Jung-Su Ha, and Ozgur S. Oguz) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [Accompanying Video] [Bibtex]
    @inproceedings{21-toussaint-ICRA,
      title = {Co-Optimizing Robot, Environment, and Tool Design via Joint
      Manipulation Planning},
      author = {Toussaint, Marc and Ha, Jung-Su and Oguz, Ozgur S.},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2021},
      youtube = {ApiQwHlxdmA}
    }
    
  6. Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning (Andreas Orthey, and Marc Toussaint) Transactions on Robotics, 2021. [arxiv] [Bibtex]
    @article{21-orthey-TRO,
      title = {Section Patterns: Efficiently Solving Narrow Passage Problems in
        Multilevel Motion Planning},
      author = {Orthey, Andreas and Toussaint, Marc},
      year = {2021},
      journal = {Transactions on Robotics},
      arxiv = {2010.14524}
    }
    

2020

  1. Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory (Andreas Orthey, and Marc Toussaint) Workshop on the Algorithmic Foundations of Robotics, 2020. [arxiv] [Bibtex]
    @article{20-orthey-WAFR,
      title = {Visualizing Local Minima in Multi-Robot Motion Planning using
        Multilevel Morse Theory},
      author = {Orthey, Andreas and Toussaint, Marc},
      journal = {Workshop on the Algorithmic Foundations of Robotics},
      year = {2020},
      arxiv_pdf = {2002.04385}
    }
    
  2. Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree (Andreas Orthey, Benjamin Frész, and Marc Toussaint) IEEE Robotics and Automation Letters, 5, p. 346-353, 2020. [arxiv] [Bibtex]
    @article{20-orthey-RAL,
      title = {Motion Planning Explorer: Visualizing Local Minima using a
      		  Local-Minima Tree},
      author = {Orthey, Andreas and Frész, Benjamin and Toussaint, Marc},
      journal = {IEEE Robotics and Automation Letters},
      month = apr,
      year = {2020},
      volume = {5},
      number = {2},
      pages = {346-353},
      arxiv_pdf = {1909.05035},
      doi = {10.1109/LRA.2019.2958524}
    }
    
  3. MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze (Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni, Rohit Prakash, Marc Toussaint, and Jim Mainprice) IEEE Robotics and Automation Letters, 6, p. 367–373, IEEE, 2020. [arxiv] [Bibtex]
    @article{20-kratzer-mogaze,
      title = {MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze},
      author = {Kratzer, Philipp and Bihlmaier, Simon and Midlagajni, Niteesh Balachandra and Prakash, Rohit and Toussaint, Marc and Mainprice, Jim},
      journal = {IEEE Robotics and Automation Letters},
      volume = {6},
      number = {2},
      pages = {367--373},
      year = {2020},
      publisher = {IEEE},
      arxiv_pdf = {2011.11552},
      doi = {10.1109/LRA.2020.3043167}
    }
    
  4. Anticipating human intention for full-body motion prediction in object grasping and placing tasks (Philipp Kratzer, Niteesh Balachandra Midlagajni, Marc Toussaint, and Jim Mainprice) In 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), p. 1157–1163, 2020. [arxiv] [Bibtex]
    @inproceedings{20-kratzer-roman,
      title = {Anticipating human intention for full-body motion prediction in object grasping and placing tasks},
      author = {Kratzer, Philipp and Midlagajni, Niteesh Balachandra and Toussaint, Marc and Mainprice, Jim},
      booktitle = {29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
      pages = {1157--1163},
      organization = {IEEE},
      year = {2020},
      arxiv_pdf = {2007.10038},
      doi = {10.1109/RO-MAN47096.2020.9223547}
    }
    
  5. Natural Gradient Shared Control (Yoojin Oh, Shao-Wen Wu, Marc Toussaint, and Jim Mainprice) In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), p. 1223–1229, 2020. [arxiv] [Bibtex]
    @inproceedings{20-oh-roman,
      title = {Natural Gradient Shared Control},
      author = {Oh, Yoojin and Wu, Shao-Wen and Toussaint, Marc and Mainprice, Jim},
      booktitle = {2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
      pages = {1223--1229},
      year = {2020},
      arxiv_pdf = {2007.15308},
      organization = {IEEE},
      doi = {10.1109/ro-man47096.2020.9223465}
    }
    
  6. An interior point method solving motion planning problems with narrow passages (Jim Mainprice, Nathan Ratliff, Marc Toussaint, and Stefan Schaal) In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), p. 547–552, 2020. [arxiv] [Bibtex]
    @inproceedings{20-mainprice-roman,
      title = {An interior point method solving motion planning problems with narrow passages},
      author = {Mainprice, Jim and Ratliff, Nathan and Toussaint, Marc and Schaal, Stefan},
      booktitle = {2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
      pages = {547--552},
      year = {2020},
      arxiv_pdf = {2007.04842},
      organization = {IEEE},
      doi = {10.1109/ro-man47096.2020.9223504}
    }
    
  7. Visualization of Nonlinear Programming for Robot Motion Planning (David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, and Daniel Weiskopf) In Proc. of the 13th Int. Symp. on Visual Information Communication and Interaction, Association for Computing Machinery, Best Paper Award, 2020. [url] [Accompanying Video] [Bibtex]
    @inproceedings{20-haegele-VINCI,
      author = {H\"{a}gele, David and Abdelaal, Moataz and Oguz, Ozgur S. and Toussaint, Marc and Weiskopf, Daniel},
      title = {Visualization of Nonlinear Programming for Robot Motion Planning},
      year = {2020},
      isbn = {9781450387507},
      publisher = {Association for Computing Machinery},
      address = {New York, NY, USA},
      url = {https://doi.org/10.1145/3430036.3430050},
      booktitle = {Proc{.} of the 13th Int{.} Symp{.} on Visual Information Communication and Interaction},
      articleno = {10},
      numpages = {8},
      note = {\emph{Best Paper Award}},
      youtube = {ESmC2EAcvCU},
      doi = {10.1145/3430036.3430050}
    }
    
  8. Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning (Son T. Nguyen, Ozgur S. Oguz, Valentin N. Hartmann, and Marc Toussaint) In Proc. of the Annual Conf. on Robot Learning (CORL), , PMLR, 2020. [Accompanying Video] [Bibtex]
    @inproceedings{20-oz-CoRL,
      title = {Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning},
      author = {Nguyen, Son T. and Oguz, Ozgur S. and Hartmann, Valentin N. and Toussaint, Marc},
      booktitle = {Proc{.} of the Annual Conf{.} on Robot Learning (CORL)},
      series = {Proceedings of Machine Learning Research},
      volume = {},
      publisher = {{PMLR}},
      year = {2020},
      youtube = {ZruIQ9V0_oo}
    }
    
  9. Optimality Principles in Human Point-to-Manifold Reaching Accounting for Muscle Dynamics (Isabell Wochner, Danny Driess, Heiko Zimmermann, Daniel F. B. Haeufle, Marc Toussaint, and Syn Schmitt) Frontiers in Computational Neuroscience, 14, p. 38, 2020. [url] [Bibtex]
    @article{20-wochner-frontiers,
      author = {Wochner, Isabell and Driess, Danny and Zimmermann, Heiko and Haeufle, Daniel F. B. and Toussaint, Marc and Schmitt, Syn},
      title = {Optimality Principles in Human Point-to-Manifold Reaching Accounting for Muscle Dynamics},
      journal = {Frontiers in Computational Neuroscience},
      volume = {14},
      pages = {38},
      year = {2020},
      url = {https://www.frontiersin.org/article/10.3389/fncom.2020.00038},
      doi = {10.3389/fncom.2020.00038}
    }
    
  10. Muscles Reduce Neuronal Information Load: Quantification of Control Effort in Biological vs. Robotic Pointing and Walking (Daniel F. B. Haeufle, Isabell Wochner, David Holzmüller, Danny Driess, Michael Günther, and Syn Schmitt) Frontiers in Robotics and AI, 7, p. 77, 2020. [url] [Bibtex]
    @article{20-haeufle-frontiers,
      author = {Haeufle, Daniel F. B. and Wochner, Isabell and Holzmüller, David and Driess, Danny and Günther, Michael and Schmitt, Syn},
      title = {Muscles Reduce Neuronal Information Load: Quantification of Control Effort in Biological vs. Robotic Pointing and Walking},
      journal = {Frontiers in Robotics and AI},
      volume = {7},
      pages = {77},
      year = {2020},
      url = {https://www.frontiersin.org/article/10.3389/frobt.2020.00077},
      doi = {10.3389/frobt.2020.00077}
    }
    
  11. Adaptive Discretization for Evaluation of Probabilistic Cost Functions. (Christoph Zimmer, Danny Driess, Mona Meister, and Nguyen-Tuong Duy) In Proceedings of the Twenty Third International Conference on Artificial Intelligence and Statistics, 108, p. 2098–2108, PMLR, 2020. [Bibtex]
    @inproceedings{20-zimmer-AISTATS,
      title = {Adaptive Discretization for Evaluation of Probabilistic Cost Functions},
      author = {Zimmer, Christoph and Driess, Danny and Meister, Mona and Duy, Nguyen-Tuong},
      booktitle = {Proceedings of the Twenty Third International Conference on Artificial Intelligence and Statistics},
      pages = {2098--2108},
      year = {2020},
      editor = {Chiappa, Silvia and Calandra, Roberto},
      volume = {108},
      series = {Proceedings of Machine Learning Research},
      pdf = {http://proceedings.mlr.press/v108/zimmer20a/zimmer20a.pdf},
      publisher = {PMLR}
    }
    
  12. Lazy Action Value Models for Q-Learning in Robotics (Ingmar Schubert, and Marc Toussaint) ICRA Workshop on Machine Learning in Planning and Control of Robot Motion, 2020. [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}
    }
    
  13. Co-Design in Architecture: A Modular Material-Robot Kinematic Construction System (Samuel Leder, HyunGyu Kim, Ozgur S. Oguz, Valentin N. Hartmann, Marc Toussaint, Achim Menges, and Metin Sitti) IROS: Workshop on Construction and Architecture Robotics, 2020. [Bibtex]
    @misc{20-leder-IROSws-wcar,
      title = {Co-Design in Architecture: A Modular Material-Robot Kinematic Construction System},
      author = {Leder, Samuel and Kim, HyunGyu and Oguz, Ozgur S. and Hartmann, Valentin N. and Toussaint, Marc and Menges, Achim and Sitti, Metin},
      year = {2020},
      howpublished = {IROS: Workshop on Construction and Architecture Robotics}
    }
    
  14. Planning Planning: The Path Planner as a Finite State Machine (Valentin Hartmann, Ozgur S. Oguz, and Marc Toussaint) ICAPS Workshop on Planning and Robotics, 2020. [Accompanying Video] [Bibtex]
    @misc{20-hartmann-ICAPSws-robplan,
      title = {Planning Planning: The Path Planner as a Finite State Machine},
      author = {Hartmann, Valentin and Oguz, Ozgur S. and Toussaint, Marc},
      year = {2020},
      howpublished = {ICAPS Workshop on Planning and Robotics},
      youtube = {3Qu4P9DaQWc}
    }
    
  15. From Images to Task Planning: How NLP Can Help Physical Reasoning (Son Tung Nguyen, Ozgur S. Oguz, Danny Driess, and Marc Toussaint) RSS Workshop on Self-Supervised Robot Learning, 2020. [Accompanying Video] [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}
    }
    
  16. Guided Sequential Manipulation Planning Using a Hierarchical Policy (Hoai My Van, Ozgur S. Oguz, Zhehua Zhou, and Marc Toussaint) RSS Workshop on Learning (in) Task and Motion Planning, 2020. [Accompanying Video] [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}
    }
    
  17. Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG (Sabrina Hoppe, Markus Giftthaler, Robert Krug, and Marc Toussaint) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2020. [Accompanying Video] [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)},
      year = {2020},
      doi = {10.1109/IROS45743.2020.9341390},
      issn = {2153-0866}
    }
    
  18. Qgraph-bounded Q-learning: Stabilizing Model-Free Off-Policy Deep Reinforcement Learning (Sabrina Hoppe, and Marc Toussaint) 2020. [arxiv] [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_pdf = {2007.07582}
    }
    
  19. Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning (Valentin N. Hartmann, Ozgur S. Oguz, Danny Driess, Marc Toussaint, and Achim Menges) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2020. [arxiv] [Accompanying Video] [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)},
      youtube = {j5S0s29IHwA},
      doi = {10.1109/IROS45743.2020.9341502},
      issn = {2153-0866}
    }
    
  20. Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning (Marc Toussaint, Jung-Su Ha, and Danny Driess) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), IEEE Robotics and Automation Letters, 2020. [arxiv] [Accompanying Video] [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)},
      year = {2020},
      youtube = {tVFkKIIODaM},
      arxiv = {2002.12780},
      doi = {10.1109/LRA.2020.3010462}
    }
    
  21. Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image (Danny Driess, Jung-Su Ha, and Marc Toussaint) In Proc. of Robotics: Science and Systems (R:SS), 2020. [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},
      doi = {10.15607/RSS.2020.XVI.003}
    }
    
  22. Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks (Philipp Kratzer, Marc Toussaint, and Jim Mainprice) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), p. 1792–1798, 2020. [arxiv] [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)},
      pages = {1792--1798},
      year = {2020},
      arxiv_pdf = {1910.01843},
      doi = {10.1109/icra40945.2020.9197290}
    }
    
  23. A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty (Jung-Su Ha, Danny Driess, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2020. [Accompanying Video] [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},
      doi = {10.1109/LRA.2020.3010462}
    }
    
  24. Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning (Danny Driess, Ozgur Oguz, Jung-Su Ha, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2020. [Accompanying Video] [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},
      doi = {10.1109/icra40945.2020.9197291}
    }
    

2019

  1. Planning Approximate Exploration Trajectories for Model-Free Reinforcement Learning in Contact-Rich Manipulation (Sabrina Hoppe, Zhongyu Lou, Daniel Hennes, and Marc Toussaint) IEEE Robotics and Automation Letters, 2019. [Accompanying Video] [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}
    }
    
  2. Active Inverse Model Learning with Error and Reachable Set Estimates (Danny Driess, Syn Schmitt, and Marc Toussaint) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2019. [Accompanying Video] [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 Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2019},
      youtube = {3ks0sMa3BgM}
    }
    
  3. Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications (Andreas Orthey, and Marc Toussaint) International Symposium of Robotics Research, 2019. [arxiv] [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},
      arxiv_pdf = {1906.01350}
    }
    
  4. A Differentiable Policy for Shared Autonomy (Yoojin Oh, Hangbeom Kim, Marc Toussaint, and Jim Mainprice) ICRA Workshop on Long-term Human Motion Prediction, 2019. [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}
    }
    
  5. Hierarchical Task and Motion Planning using Logic-Geometric Programming (HLGP) (Danny Driess, Ozgur Oguz, and Marc Toussaint) RSS Workshop on Robust Task and Motion Planning, 2019. [Accompanying Video] [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}
    }
    
  6. Learning Arbitration for Shared Autonomy by Hindsight Data Aggregation (Yoojin Oh, Marc Toussaint, and Jim Mainprice) RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics, 2019. [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},
      arxix_pdf = {1906.12280}
    }
    
  7. Motion Prediction with Recurrent Neural Network Dynamical Models and Trajectory Optimization (Philipp Kratzer, Marc Toussaint, and Jim Mainprice) RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics, 2019. [arxiv] [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},
      arxiv_pdf = {1906.12279}
    }
    
  8. Deep Workpiece Region Segmentation for Bin Picking (Muhammad Usman Khalid, Janik M. Hager, Werner Kraus, Marco F. Huber, and Marc Toussaint) In Proc. of the Int. Conf. on Automation Science and Engineering (CASE), 2019. [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}
    }
    
  9. Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach (Camille Phiquepal, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Nominated for Best Paper Award in Cognitive Robotics, 2019. [Accompanying Video] [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}
    }
    
  10. Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning – Extended Abstract (Marc Toussaint, Kelsey R Allen, Kevin A Smith, and Josh B Tenenbaum) In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), Sister Conference Best Paper Track – Extended abstract of the R:SS’18 paper, 2019. [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)},
      note = {Sister Conference Best Paper Track -- Extended abstract of
      		  the R:SS'18 paper},
      year = {2019}
    }
    
  11. Trajectory-based off-policy deep reinforcement learning (Andreas Doerr, Michael Volpp, Marc Toussaint, Sebastian Trimpe, and Christian Daniel) In Proc. of the 36th Int. Conf. on Machine Learning (ICML), 2019. [arxiv] [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},
      arxiv_pdf = {1905.05710}
    }
    
  12. Active Multi-Contact Continuous Tactile Exploration with Gaussian Process Differential Entropy (Danny Driess, Daniel Hennes, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2019. [Accompanying Video] [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. No free lunch in ball catching: A comparison of Cartesian and angular representations for control (Sebastian Höfer, Jörg Raisch, Marc Toussaint, and Oliver Brock) PLOS ONE, 13, p. 1-48, Public Library of Science, 2018. [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. Towards Combining Motion Optimization and Data Driven Dynamical Models for Human Motion Prediction (Philipp Kratzer, Marc Toussaint, and Jim Mainprice) In IEEE-RAS International Conference on Humanoid Robots, 2018. [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. Preferred interaction styles for human-robot collaboration vary over tasks with different action types. (Ruth Schulz, Philipp Kratzer, and Marc Toussaint) Frontiers in neurorobotics, 12, p. 36, Frontiers, 2018. [Accompanying Video] [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. Efficient behavior learning in human–robot collaboration (T Munzer, M Toussaint, and M Lopes) Autonomous Robots, 42, p. 1103-1115, 2018. [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. Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning (Marc Toussaint, Kelsey R Allen, Kevin A Smith, and Josh B Tenenbaum) In Proc. of Robotics: Science and Systems (R:SS), Best Paper Award, 2018. [Accompanying Video] [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)},
      note = {\emph{Best Paper Award}},
      year = {2018},
      youtube = {-L4tCIGXKBE}
    }
    
  6. Kinematic Morphing Networks for Manipulation Skill Transfer (Peter Englert, and Marc Toussaint) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2018. [Accompanying Video] [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)},
      year = {2018},
      youtube = {hI1BC0G0oD4}
    }
    
  7. Probabilistic Recurrent State-Space Models (Andreas Doerr, Christian Daniel, Martin Schiegg, Nguyen-Tuong Duy, Stefan Schaal, Marc Toussaint, and Sebastian Trimpe) In Proc. of the 35th Int. Conf. on Machine Learning (ICML), 2018. [arxiv] [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},
      arxiv_pdf = {1801.10395}
    }
    
  8. Planning Ergonomic Sequences of Actions in Human-Robot Interaction (Baptiste Busch, Marc Toussaint, and Manuel Lopes) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2018. [Accompanying Video] [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)},
      year = {2018},
      vimeo = {232348427}
    }
    
  9. Learning to Control Redundant Musculoskeletal Systems with Neural Networks and SQP: Exploiting Muscle Properties (Danny Driess, Heiko Zimmermann, Simon Wolfen, Dan Suissa, Daniel Haeufle, Daniel Hennes, Marc Toussaint, and Syn Schmitt) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2018. [Accompanying Video] [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)},
      youtube = {ODFvqBWOtec},
      year = {2018}
    }
    
  10. Bayesian Functional Optimization (Ngo Anh Vien, Heiko Zimmermann, and Marc Toussaint) In Proc. of The AAAI Conference on Artificial Intelligence (AAAI 18), 2018. [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. An Approximate Inference Approach to Temporal Optimization for Robotics (Konrad Rawlik, Dmitry Zarubin, Marc Toussaint, and Sethu Vijayakumar) Accepted for the Proceedings of (ISRR 2015), to be published by Springer, 2018. [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. Learning manipulation skills from a single demonstration (Peter Englert, and Marc Toussaint) The International Journal of Robotics Research, 37, p. 137-154, 2018. [Accompanying Video] [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. Multi-Agent Task and Motion Planning: An Optimization based Approach (Camille Phiquepal, and Marc Toussaint) RSS Workshop on Task and Motion Planning, 2018. [Accompanying Video] [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}
    }