Publications

This list includes years previous to the team moving to TU Berlin. See also Prof. Toussaint’s scholar page.

2021

  1. Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks (Ingmar Schubert, Ozgur S. Oguz, and Marc Toussaint) In Proc. of the Int. Conf. on Learning Representations (ICLR), 2021. [Bibtex]
    @inproceedings{21-schubert-ICLR,
      title = {Plan-Based Relaxed Reward Shaping for Goal-Directed
      		  Tasks},
      author = {Schubert, Ingmar and Oguz, Ozgur S. and Toussaint, Marc},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Learning Representations
      		  (ICLR)},
      year = {2021}
    }
    
  2. Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation (Joaquim Ortiz-Haro, Valentin N. Hartmann, Ozgur S. Oguz, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. [Accompanying Video] [Bibtex]
    @inproceedings{21-ortiz-ICRA,
      title = {Learning Efficient Constraint Graph Sampling for Robotic
      		  Sequential Manipulation},
      author = {Ortiz-Haro, Joaquim and Hartmann, Valentin N. and Oguz, Ozgur S. and Toussaint, Marc},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2021},
      youtube = {mCNdvjTbHNI}
    }
    
  3. 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}
    }
    
  4. 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}
    }
    
  5. 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}
    }
    
  6. 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}
    }
    
  7. Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts (Marie-Therese Khoury, Andreas Orthey, and Marc Toussaint) In IEEE International Conference on Automation Science and Engineering, 2021. [Bibtex]
    @inproceedings{21-khoury-CASE,
      title = {Efficient Sampling of Transition Constraints for Motion
      		  Planning under Sliding Contacts},
      author = {Khoury, Marie-Therese and Orthey, Andreas and Toussaint, Marc},
      year = {2021},
      booktitle = {IEEE International Conference on Automation Science and
      		  Engineering},
      organization = {IEEE}
    }
    
  8. 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}
    }
    
  9. 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}
    }
    
  10. Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning (Andreas Orthey, Florian T. Pokorny, and Marc Toussaint) RSS Workshop on Geometry and Topology in Robotics, 2021. [Bibtex]
    @misc{21-orthey-RSSws,
      title = {Approximate Topological Optimization using Multi-Mode
      		  Estimation for Robot Motion Planning},
      author = {Orthey, Andreas and Pokorny, Florian T. and Toussaint, Marc},
      year = {2021},
      howpublished = {RSS Workshop on Geometry and Topology in Robotics}
    }
    

2020

  1. Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory (Andreas Orthey, and Marc Toussaint) In Workshop on the Algorithmic Foundations of Robotics, 2020. [arxiv] [Bibtex]
    @inproceedings{20-orthey-WAFR,
      title = {Visualizing Local Minima in Multi-Robot Motion Planning
      		  using Multilevel Morse Theory},
      author = {Orthey, Andreas and Toussaint, Marc},
      booktitle = {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-RAL,
      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, 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},
      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-nguyen-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, p. 2098–2108, 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},
      pdf = {http://proceedings.mlr.press/v108/zimmer20a/zimmer20a.pdf}
    }
    
  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) In Proc. of the International Symposium of Robotics Research, 2019. [arxiv] [Bibtex]
    @inproceedings{19-orthey-ISRR,
      title = {Rapidly-Exploring Quotient-Space Trees: Motion Planning
      		  using Sequential Simplifications},
      author = {Orthey, Andreas and Toussaint, Marc},
      booktitle = {Proc{.} of the 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]
    @misc{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 (Thibaut Munzer, Marc Toussaint, and Manuel Lopes) Autonomous Robots, 42, p. 1103-1115, 2018. [Bibtex]
    @article{18-munzer-AuRo,
      title = {Efficient behavior learning in human–robot
      		  collaboration},
      author = {Munzer, Thibaut and Toussaint, Marc and Lopes, Manuel},
      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}
    }
    

2017

  1. Inverse KKT: Learning cost functions of manipulation tasks from demonstrations (Peter Englert, Ngo Anh Vien, and Marc Toussaint) The International Journal of Robotics Research, 36, p. 1474-1488, 2017. [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. Optimizing Long-term Predictions for Model-based Policy Search (Andreas Doerr, Christian Daniel, Duy Nguyen-Tuong, Alonso Marco, Stefan Schaal, Marc Toussaint, and Sebastian Trimpe) In Proc. of the Annual Conf. on Robot Learning (CORL), 2017. [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)},
      year = {2017}
    }
    
  3. Opening a Lockbox through Physical Exploration (Manuel Baum, Matthew Bernstein, Roberto Martín-Martín, Sebastian Höfer, Johannes Kulick, Marc Toussaint, Alex Kacelnik, and Oliver Brock) In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2017), 2017. [Accompanying Video] [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. Deep Learning for Manipulation with Visual and Haptic Feedback (Sabrina Hoppe, Zhongyu Lou, Daniel Hennes, and Marc Toussaint) IROS Workshop on Frontiers in Contact-rich Robotic Interaction, 2017. [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. Physical problem solving: Joint planning with symbolic, geometric, and dynamic constraints (Ilker Yildirim, Tobias Gerstenberg, Basil Saeed, Marc Toussaint, and Josh B Tenenbaum) In Proc. of the Thirty-Night Annual Conf. of the Cognitive Science Society (CogSci 2017), 2017. [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. Preference learning on the execution of collaborative human-robot tasks (Thibaut Munzer, Marc Toussaint, and Manuel Lopes) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2017. [Accompanying Video] [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)},
      vimeo = {182913540},
      year = {2017}
    }
    
  7. Building a Bridge with a Robot: A System for Collaborative On-table Task Execution (Ruth Schulz, Philipp Kratzer, and Marc Toussaint) In Proc. of the Int. Conf. on Human Agent Interaction (HAI 2017), 2017. [Accompanying Video] [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. Collaborative Robots Learning Spatial Language for Picking and Placing Objects on a Table (Ruth Schulz, In Proc. of the Int. Conf. on Human Agent Interaction (HAI 2017), 2017. [Accompanying Video] [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. Multi-Bound Tree Search for Logic-Geometric Programming in Cooperative Manipulation Domains (Marc Toussaint, and Manuel Lopes) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2017. [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)},
      year = {2017}
    }
    
  10. Active Learning with Query Paths for Tactile Object Shape Exploration (Danny Driess, Peter Englert, and Marc Toussaint) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2017. [Accompanying Video] [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)},
      youtube = {4k5unx7En28},
      year = {2017}
    }
    
  11. Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations (Danny Driess, Peter Englert, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2017. [Accompanying Video] [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)},
      youtube = {CudjsbB7sfM},
      year = {2017}
    }
    
  12. Exploiting Variance Information in Monte-Carlo Tree Search (Robert Lieck, Ngo Anh Vien, and Marc Toussaint) ICAPS Workshop on Heuristics and Search for Domain-independent Planning (HSDIP), 2017. [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. Active Tree Search (Robert Lieck, and Marc Toussaint) ICAPS Workshop on Planning, Search, and Optimization, 2017. [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. Identification of Unmodeled Objects from Symbolic Descriptions (Andrea Baisero, Stefan Otte, Peter Englert, and Marc Toussaint) e-Print arxiv.org:1701.06450, 2017. [arxiv] [Accompanying Video] [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},
      arxiv_pdf = {1701.06450}
    }
    
  15. A tutorial on Newton methods for constrained trajectory optimization and relations to SLAM, Gaussian Process smoothing, optimal control, and probabilistic inference (Marc Toussaint, In Geometric and Numerical Foundations of Movements, Springer, 2017. [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. Feature Discovery for Sequential Prediction of Monophonic Music (Jonas Langhabel, Robert Lieck, Marc Toussaint, and Martin Rohrmeier) In Proc. of the 18th Int. Society for Music Information Retrieval Conference (ISMIR’17), 2017. [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. Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach (Camille Phiquepal, and Marc Toussaint) RSS Workshop on Integrated Task and Motion Planning, 2017. [Accompanying Video] [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. Advancing Bayesian Optimization: The Mixed-Global-Local (MGL) Kernel and Length-Scale Cool Down (Kim Peter Wabersich, and Marc Toussaint) NIPS Workshop on Bayesian Optimization, 2016. [arxiv] [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},
      arxiv_pdf = {1612.03117}
    }
    
  2. Cross-Entropy as a Criterion for Robust Interactive Learning of Latent Properties (Johannes Kulick, Robert Lieck, and Marc Toussaint) NIPS Workshop on the Future of Interactive Learning Machines, 2016. [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. Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations (Danny Drieß, Peter Englert, and Marc Toussaint) IROS Workshop on Mechatronics behind Force/Torque Controlled Robot Actuation: Secrets and Challenges, 2016. [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. Combined Optimization and Reinforcement Learning for Manipulation Skills (Peter Englert, and Marc Toussaint) In Proc. of Robotics: Science and Systems (R:SS), 2016. [Accompanying Video] [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)},
      year = {2016},
      youtube = {bn_sv5A1BhQ}
    }
    
  5. Policy Search in Reproducing Kernel Hilbert Space (Ngo Anh Vien, Peter Englert, and Marc Toussaint) In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2016. [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)},
      year = {2016}
    }
    
  6. Relational Activity Processes for Modeling Concurrent Cooperation (Marc Toussaint, Thibaut Munzer, Yoan Mollard, Li Yang Wu, Ngo Anh Vien, and Manuel Lopes) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2016. [Accompanying Video] [Accompanying Video] [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)},
      year = {2016},
      vimeo = {139342248},
      youtube = {J6qt8Pi3zYg}
    }
    
  7. On the Fundamental Importance of Gauss-Newton in Motion Optimization (Nathan Ratliff, Marc Toussaint, Jeannette Bohg, and Stefan Schaal) e-Print arXiv:1605.09296, 2016. [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. Mobility and Manipulation. (Oliver Brock, Jaeheung Park, and Marc Toussaint) In Handbook of Robotics, Springer, 2016. [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. Temporally extended features in model-based reinforcement learning with partial observability (Robert Lieck, and Marc Toussaint) Neurocomputing, 192, p. 49-60, 2016. [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. Efficient sparsification for Gaussian process regression (Jens Schreiter, Duy Nguyen-Tuong, and Marc Toussaint) Neurocomputing, 192, p. 29-37 , 2016. [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}
    }
    

2015

  1. The Advantage of Cross-Entropy over Entropy in Iterative Information Gathering (Johannes Kulick, Robert Lieck, and Marc Toussaint) e-Print arXiv:1409.7552v2, 2015. [arxiv] [Bibtex]
    @misc{15-kulick-MaxCE,
      author = {Kulick, Johannes and Lieck, Robert and Toussaint, Marc},
      year = {2015},
      title = {{{The Advantage of Cross-Entropy over Entropy in Iterative
      		  Information Gathering}}},
      howpublished = {e-Print arXiv:1409.7552v2},
      arxiv_pdf = {1409.7552v2}
    }
    
  2. Robot programming from demonstration, feedback and transfer (Yoan Mollard, Thibaut Munzer, Andrea Baisero, Marc Toussaint, and Manuel Lopes) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [Accompanying Video] [Accompanying Video] [Bibtex]
    @inproceedings{15-mollard-IROS,
      author = {Mollard, Yoan and Munzer, Thibaut and Baisero, Andrea and Toussaint, Marc and Lopes, Manuel},
      title = {Robot programming from demonstration, feedback and
      		  transfer},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2015},
      vimeo = {120726868},
      vimeo2 = {109165300},
      youtube = {xags2An65go},
      youtube2 = {cK-X5FCPwKs}
    }
    
  3. Touch Based POMDP Manipulation via Sequential Submodular Optimization (Ngo Anh Vien, and Marc Toussaint) In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2015), 2015. [Accompanying Video] [Bibtex]
    @inproceedings{15-vien-Humanoids,
      author = {Vien, Ngo Anh and Toussaint, Marc},
      title = {Touch Based {POMDP} Manipulation via Sequential Submodular
      		  Optimization},
      booktitle = {Proc{.} of the IEEE-RAS Int{.} Conf{.} on Humanoid Robots
      		  (Humanoids 2015)},
      year = {2015},
      youtube = {OBjv7Q95vX4}
    }
    
  4. Safe Exploration for Active Learning with Gaussian Processes (Jens Schreiter, Duy Nguyen-Tuong, Mona Eberts, Bastian Bischoff, Heiner Markert, and Marc Toussaint) In Proc. of the European Conf. on Machine Learning (ECML 2015), 2015. [Bibtex]
    @inproceedings{15-schreiter-ECML,
      title = {Safe Exploration for Active Learning with Gaussian
      		  Processes},
      author = {Schreiter, Jens and Nguyen-Tuong, Duy and Eberts, Mona and Bischoff, Bastian and Markert, Heiner and Toussaint, Marc},
      year = {2015},
      booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML
      		  2015)},
      key = {ECML}
    }
    
  5. Temporal Segmentation of Pair-Wise Interaction Phases in Sequential Manipulation Demonstrations (Andrea Baisero, Yoan Mollard, Manuel Lopes, Marc Toussaint, and Ingo Luetkebohle) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [Bibtex]
    @inproceedings{15-baisero-IROS,
      author = {Baisero, Andrea and Mollard, Yoan and Lopes, Manuel and Toussaint, Marc and Luetkebohle, Ingo},
      title = {Temporal Segmentation of Pair-Wise Interaction Phases in
      		  Sequential Manipulation Demonstrations},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2015}
    }
    
  6. Understanding the geometry of workspace obstacles in motion optimization (Nathan Ratliff, Marc Toussaint, and Stefan Schaal) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015. [Bibtex]
    @inproceedings{15-ratliff-ICRA,
      title = {Understanding the geometry of workspace obstacles in
      		  motion optimization},
      author = {Ratliff, Nathan and Toussaint, Marc and Schaal, Stefan},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2015}
    }
    
  7. Direct loss minimization inverse optimal control (Andreas Doerr, Nathan Ratliff, Jeannette Bohg, Marc Toussaint, and Stefan Schaal) In Proc. of Robotics: Science and Systems (R:SS), 2015. [Bibtex]
    @inproceedings{15-doerr-RSS,
      title = {Direct loss minimization inverse optimal control},
      author = {Doerr, Andreas and Ratliff, Nathan and Bohg, Jeannette and Toussaint, Marc and Schaal, Stefan},
      booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)},
      year = {2015}
    }
    
  8. Inverse KKT – Learning Cost Functions of Manipulation Tasks from Demonstrations (Peter Englert, and Marc Toussaint) In Proceedings of the International Symposium of Robotics Research (ISRR 2015), 2015. [Accompanying Video] [Bibtex]
    @inproceedings{15-englert-ISRR,
      title = {Inverse {KKT} -- Learning Cost Functions of Manipulation
      		  Tasks from Demonstrations},
      author = {Englert, Peter and Toussaint, Marc},
      booktitle = {Proceedings of the International Symposium of Robotics
      		  Research (ISRR 2015)},
      year = {2015},
      youtube = {pO6XNiyJqNw}
    }
    
  9. Discovering temporally extended features for reinforcement learning in domains with delayed causalities (Robert Lieck, and Marc Toussaint) In 23th European Symposium on Artificial Neural Networks (ESANN 2015), 2015. [Bibtex]
    @inproceedings{15-lieck-ESANN,
      title = {Discovering temporally extended features for reinforcement
      		  learning in domains with delayed causalities},
      author = {Lieck, Robert and Toussaint, Marc},
      booktitle = {23th European Symposium on Artificial Neural Networks
      		  (ESANN 2015)},
      year = {2015}
    }
    
  10. POMDP Manipulation via Trajectory Optimization (Ngo Anh Vien, and Marc Toussaint) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [Accompanying Video] [Bibtex]
    @inproceedings{15-vien-IROS,
      author = {Vien, Ngo Anh and Toussaint, Marc},
      title = {{POMDP} Manipulation via Trajectory Optimization},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2015},
      youtube = {FCzM_jaIwhk}
    }
    
  11. Automatic Testing and MiniMax Optimization of System Parameters for Best Worst-Case Performance (Kim Peter Wabersich, and Marc Toussaint) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [Bibtex]
    @inproceedings{15-wabersich-IROS,
      author = {Wabersich, Kim Peter and Toussaint, Marc},
      title = {Automatic Testing and MiniMax Optimization of System
      		  Parameters for Best Worst-Case Performance},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2015}
    }
    
  12. The Optimization Route to Robotics—and Alternatives (Marc Toussaint, Helge Ritter, and Oliver Brock) Künstliche Intelligenz, 29, p. 379-388, 2015. [Bibtex]
    @article{15-toussaint-KI,
      author = {Toussaint, Marc and Ritter, Helge and Brock, Oliver},
      title = {The Optimization Route to Robotics---and Alternatives},
      journal = {K{\"u}nstliche Intelligenz},
      year = {2015},
      volume = {29},
      pages = {379-388},
      mlrurl2 = {http://link.springer.com/article/10.1007/s13218-015-0379-7}
    }
    
  13. (Eds.) Special Issue on Autonomous Learning (Barbara Hammer, and Marc Toussaint) Künstliche Intelligenz, 29, p. 323-327, 2015. [Bibtex]
    @incollection{15-hammer-KIeditorial,
      author = {Hammer, Barbara and Toussaint, Marc},
      title = {{(Eds.) Special Issue on Autonomous Learning}},
      journal = {K{\"u}nstliche Intelligenz},
      year = {2015},
      volume = {29},
      pages = {323-327},
      mlrurl2 = {https://link.springer.com/article/10.1007/s13218-015-0392-x}
    }
    
  14. Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning (Marc Toussaint, In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2015. [Accompanying Video] [Bibtex]
    @inproceedings{15-toussaint-IJCAI,
      title = {Logic-Geometric Programming: An Optimization-Based
      		  Approach to Combined Task and Motion Planning},
      author = {Toussaint, Marc},
      booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial
      		  Intelligence (IJCAI)},
      year = {2015},
      youtube = {B2s85xfo2uE}
    }
    
  15. Fast Greedy Insertion and Deletion in Sparse Gaussian Process Regression (Jens Schreiter, Duy Nguyen-Tuong, Heiner Markert, Michael Hanselmann, and Marc Toussaint) In Proc. of the European Symposium on Artificial Neural Networks (ESANN 2015), 2015. [Bibtex]
    @inproceedings{15-schreiter-ESANN,
      author = {Schreiter, Jens and Nguyen-Tuong, Duy and Markert, Heiner and Hanselmann, Michael and Toussaint, Marc},
      title = {Fast Greedy Insertion and Deletion in Sparse Gaussian
      		  Process Regression},
      booktitle = {Proc{.} of the European Symposium on Artificial Neural
      		  Networks (ESANN 2015)},
      year = {2015}
    }
    
  16. Sparse Gaussian Process Regression for Compliant, Real-Time Robot Control (Jens Schreiter, Peter Englert, Duy Nguyen-Tuong, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015. [Bibtex]
    @inproceedings{15-schreiter-ICRA,
      author = {Schreiter, Jens and Englert, Peter and Nguyen-Tuong, Duy and Toussaint, Marc},
      title = {Sparse Gaussian Process Regression for Compliant,
      		  Real-Time Robot Control},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2015}
    }
    
  17. Probabilistic Inference Techniques for Scalable Multiagent Decision Making (Akshat Kumar, Shlomo Zilberstein, and Marc Toussaint) Journal of Artificial Intelligence Research, 53, p. 223-270, 2015. [Bibtex]
    @article{15-kumar-JAIR,
      title = {Probabilistic Inference Techniques for Scalable Multiagent
      		  Decision Making},
      author = {Kumar, Akshat and Zilberstein, Shlomo and Toussaint, Marc},
      journal = {Journal of Artificial Intelligence Research},
      volume = {53},
      pages = {223-270},
      year = {2015}
    }
    
  18. Active Exploration of Joint Dependency Structures (Johannes Kulick, Stefan Otte, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2015. [Accompanying Video] [Bibtex]
    @inproceedings{15-kulick-ICRA,
      author = {Kulick, Johannes and Otte, Stefan and Toussaint, Marc},
      title = {Active Exploration of Joint Dependency Structures},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2015},
      youtube = {6JBF-53iDOM}
    }
    
  19. Hierarchical Monte-Carlo Planning (Ngo Anh Vien, and Marc Toussaint) In Proc. of The Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI 15), 2015. [Bibtex]
    @inproceedings{15-vien-AAAI,
      author = {Vien, Ngo Anh and Toussaint, Marc},
      title = {Hierarchical {Monte-Carlo} Planning},
      booktitle = {Proc{.} of The Twenty-Ninth AAAI Conference on Artificial
      		  Intelligence (AAAI 15)},
      year = {2015}
    }
    
  20. Robots Solving Serial Means-Means-End Problems (Johannes Kulick, Stefan Otte, and Marc Toussaint) RSS Workshop on Combining AI Reasoning and Cognitive Science, 2015. [Bibtex]
    @misc{15-kulick-RSSws,
      author = {Kulick, Johannes and Otte, Stefan and Toussaint, Marc},
      title = {Robots Solving Serial Means-Means-End Problems},
      howpublished = {RSS Workshop on Combining AI Reasoning and Cognitive
      		  Science},
      year = {2015}
    }
    

2014

  1. Active Learning of Hyperparameters: An Expected Cross Entropy Criterion for Active Model Selection (Johannes Kulick, Robert Lieck, and Marc Toussaint) e-Print arXiv:1409.7552 Note that we have a newer version 1409.7552v2 on arXiv, 2014. [arxiv] [Bibtex]
    @misc{14-kulick-MaxCE,
      author = {Kulick, Johannes and Lieck, Robert and Toussaint, Marc},
      year = {2014},
      title = {Active Learning of Hyperparameters: {A}n Expected Cross
      		  Entropy Criterion for Active Model Selection},
      howpublished = {e-Print arXiv:1409.7552 Note that we have a newer version
      		  1409.7552v2 on arXiv},
      arxiv_pdf = {1409.7552v1}
    }
    
  2. A Novel Augmented Lagrangian Approach for Inequalities and Convergent Any-Time Non-Central Updates (Marc Toussaint, e-Print arXiv:1412.4329, 2014. [arxiv] [Bibtex]
    @misc{14-toussaint-AugLag,
      author = {Toussaint, Marc},
      year = {2014},
      title = {A Novel Augmented Lagrangian Approach for Inequalities and
      		  Convergent Any-Time Non-Central Updates},
      howpublished = {e-Print arXiv:1412.4329},
      arxiv_pdf = {1412.4329}
    }
    
  3. KOMO: Newton methods for k-order Markov Constrained Motion Problems (Marc Toussaint, e-Print arXiv:1407.0414, 2014. [arxiv] [Bibtex]
    @misc{14-toussaint-KOMO,
      author = {Toussaint, Marc},
      year = {2014},
      title = {{KOMO}: {N}ewton methods for k-order {M}arkov Constrained
      		  Motion Problems},
      howpublished = {e-Print arXiv:1407.0414},
      arxiv_pdf = {1407.0414}
    }
    
  4. Dual Execution of Optimized Contact Interaction Trajectories (Marc Toussaint, Nathan Ratliff, Jeannette Bohg, Ludovic Righetti, Peter Englert, and Stefan Schaal) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2014. [Accompanying Video] [Bibtex]
    @inproceedings{14-toussaint-IROS,
      author = {Toussaint, Marc and Ratliff, Nathan and Bohg, Jeannette and Righetti, Ludovic and Englert, Peter and Schaal, Stefan},
      title = {Dual Execution of Optimized Contact Interaction
      		  Trajectories},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      youtube = {u0mIG4UWUC4},
      year = {2014}
    }
    
  5. Entropy Based Strategies for Physical Exploration of the Environment’s Degrees of Freedom (Stefan Otte, Johannes Kulick, Marc Toussaint, and Oliver Brock) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2014. [Bibtex]
    @inproceedings{14-otte-IROS,
      author = {Otte, Stefan and Kulick, Johannes and Toussaint, Marc and Brock, Oliver},
      title = {Entropy Based Strategies for Physical Exploration of the
      		  Environment's Degrees of Freedom},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2014}
    }
    
  6. Reactive Phase and Task Space Adaptation for Robust Motion Execution (Peter Englert, and Marc Toussaint) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2014. [Bibtex]
    @inproceedings{14-englert-IROS,
      author = {Englert, Peter and Toussaint, Marc},
      title = {Reactive Phase and Task Space Adaptation for Robust Motion
      		  Execution},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2014}
    }
    
  7. Model-Based Relational RL When Object Existence is Partially Observable (Ngo Anh Vien, and Marc Toussaint) In Proc. of the Int. Conf. on Machine Learning (ICML), 2014. [Bibtex]
    @inproceedings{14-vien-ICML,
      author = {Vien, Ngo Anh and Toussaint, Marc},
      title = {Model-Based Relational RL When Object Existence is
      		  Partially Observable},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)},
      year = {2014}
    }
    
  8. Discovering relevant task spaces using inverse feedback control (Nikolay Jetchev, and Marc Toussaint) Autonomous Robots, 37, p. 169-189, 2014. [Bibtex]
    @article{14-jetchev-AuRo,
      title = {Discovering relevant task spaces using inverse feedback
      		  control},
      author = {Jetchev, Nikolay and Toussaint, Marc},
      year = {2014},
      volume = {37},
      pages = {169-189},
      journal = {Autonomous Robots}
    }
    

2013

  1. Reasoning with Uncertainties Over Existence Of Objects (Ngo Anh Vien, and Marc Toussaint) AAAI Technical Report FS-13-02, 2013. [Bibtex]
    @misc{13-vien-AAAIws,
      year = {2013},
      title = {Reasoning with Uncertainties Over Existence Of Objects},
      author = {Vien, Ngo Anh and Toussaint, Marc},
      howpublished = {AAAI Technical Report FS-13-02}
    }
    
  2. Caging Complex Objects with Geodesic Balls (Dmitry Zarubin, Florian T. Pokorny, Marc Toussaint, and Danica Kragic) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), 2013. [Bibtex]
    @inproceedings{13-zarubin-IROS,
      author = {Zarubin, Dmitry and Pokorny, Florian T. and Toussaint, Marc and Kragic, Danica},
      title = {Caging Complex Objects with Geodesic Balls},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2013}
    }
    
  3. Topological Synergies for Grasp Transfer (Dmitry Zarubin, Florian T. Pokorny, Dan Song, Marc Toussaint, and Danica Kragic) ICRA Workshop on Hand Synergies – how to tame the complexity of grapsing, 2013. [Bibtex]
    @misc{13-zarubin-ICRAws,
      year = {2013},
      author = {Zarubin, Dmitry and Pokorny, Florian T. and Song, Dan and Toussaint, Marc and Kragic, Danica},
      title = {Topological Synergies for Grasp Transfer},
      howpublished = {ICRA Workshop on Hand Synergies -- how to tame the
      		  complexity of grapsing}
    }
    
  4. Path Integral Control by Reproducing Kernel Hilbert Space Embedding (Konrad Rawlik, Marc Toussaint, and Sethu Vijayakumar) In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2013. [Bibtex]
    @inproceedings{13-rawlik-IJCAI,
      title = {Path Integral Control by Reproducing Kernel Hilbert Space
      		  Embedding},
      author = {Rawlik, Konrad and Toussaint, Marc and Vijayakumar, Sethu},
      booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial
      		  Intelligence (IJCAI)},
      year = {2013}
    }
    
  5. Optimizing Motion Primitives to Make Symbolic Models More Predictive (Andreas Orthey, Marc Toussaint, and Nikolay Jetchev) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2013. [Bibtex]
    @inproceedings{13-orthey-ICRA,
      author = {Orthey, Andreas and Toussaint, Marc and Jetchev, Nikolay},
      title = {Optimizing Motion Primitives to Make Symbolic Models More
      		  Predictive},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2013}
    }
    
  6. Active Learning for Teaching a Robot Grounded Relational Symbols (Johannes Kulick, Marc Toussaint, Tobias Lang, and Manuel Lopes) In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2013. [Bibtex]
    @inproceedings{13-kulick-IJCAI,
      year = {2013},
      title = {Active Learning for Teaching a Robot Grounded Relational
      		  Symbols},
      author = {Kulick, Johannes and Toussaint, Marc and Lang, Tobias and Lopes, Manuel},
      booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial
      		  Intelligence (IJCAI)}
    }
    
  7. Learning Grounded Relational Symbols from Continuous Data for Abstract Reasoning (Nikolay Jetchev, Tobias Lang, and Marc Toussaint) ICRA Workshop on Autonomous Learning, 2013. [Bibtex]
    @misc{13-jetchev-ICRAws,
      year = {2013},
      title = {Learning Grounded Relational Symbols from Continuous Data
      		  for Abstract Reasoning},
      author = {Jetchev, Nikolay and Lang, Tobias and Toussaint, Marc},
      howpublished = {ICRA Workshop on Autonomous Learning}
    }
    
  8. Fast Motion Planning from Experience: Trajectory Prediction for Speeding up Movement Generation (Nikolay Jetchev, and Marc Toussaint) Autonomous Robots, 34, p. 111-127, 2013. [Bibtex]
    @article{13-jetchev-AuRo,
      title = {Fast Motion Planning from Experience: Trajectory
      		  Prediction for Speeding up Movement Generation},
      author = {Jetchev, Nikolay and Toussaint, Marc},
      year = {2013},
      volume = {34},
      pages = {111-127},
      journal = {Autonomous Robots}
    }
    
  9. Topology-based Representations for Motion Planning and Generalisation in Dynamic Environments with Interactions (Vladimir Ivan, Dmitry Zarubin, Marc Toussaint, Taku Komura, and Sethu Vijayakumar) International Journal of Robotics Research, 32, p. 1151-1163, 2013. [Bibtex]
    @article{13-ivan-IJRR,
      author = {Ivan, Vladimir and Zarubin, Dmitry and Toussaint, Marc and Komura, Taku and Vijayakumar, Sethu},
      title = {Topology-based Representations for Motion Planning and
      		  Generalisation in Dynamic Environments with Interactions},
      journal = {International Journal of Robotics Research},
      volume = {32},
      year = {2013},
      pages = {1151-1163}
    }
    
  10. Uncertainty Aware Grasping and Tactile Exploration (Stanimir Dragiev, Marc Toussaint, and Michael Gienger) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2013. [Bibtex]
    @inproceedings{13-dragiev-ICRA,
      author = {Dragiev, Stanimir and Toussaint, Marc and Gienger, Michael},
      title = {Uncertainty Aware Grasping and Tactile Exploration},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2013}
    }
    
  11. Learned graphical models for probabilistic planning provide a new class of movement primitives (Elmar Rückert, Gerhard Neumann, Marc Toussaint, and Wolfgang Maass) Frontiers in Computational Neuroscience, 6, 2013. [Bibtex]
    @article{13-ruckert-CompNeu,
      author = {R{\"u}ckert, Elmar and Neumann, Gerhard and Toussaint, Marc and Maass, Wolfgang},
      title = {Learned graphical models for probabilistic planning
      		  provide a new class of movement primitives},
      journal = {Frontiers in Computational Neuroscience},
      year = {2013},
      volume = {6},
      issue = {97}
    }
    
  12. Kognitive Robotik – Herausforderungen an unser Verständnis natürlicher Umgebungen (Marc Toussaint, Tobias Lang, and Nikolay Jetchev) Automatisierungstechnik, 61, p. 259-268, 2013. [Bibtex]
    @article{13-toussaint-AT,
      author = {Toussaint, Marc and Lang, Tobias and Jetchev, Nikolay},
      title = {{Kognitive Robotik -- Herausforderungen an unser
      		  Verst{\"a}ndnis nat{\"u}rlicher Umgebungen}},
      journal = {Automatisierungstechnik},
      year = {2013},
      volume = {61},
      pages = {259-268}
    }
    

2012

  1. Hierarchical Motion Planning in Topological Representations (Dmitry Zarubin, Vladimir Ivan, Marc Toussaint, and Sethu Vijayakumar) In Proc. of Robotics: Science and Systems (R:SS), 2012. [Bibtex]
    @inproceedings{12-zarubin-RSS,
      author = {Zarubin, Dmitry and Ivan, Vladimir and Toussaint, Marc and Vijayakumar, Sethu},
      title = {Hierarchical Motion Planning in Topological
      		  Representations},
      booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)},
      year = {2012}
    }
    
  2. The Bayesian Search Game (Marc Toussaint, In Theory and Principled Methods for Designing Metaheuristics, Springer, 2012. [Bibtex]
    @incollection{12-toussaint-BayesSearch,
      author = {Toussaint, Marc},
      title = {The {B}ayesian Search Game},
      year = {2012},
      booktitle = {Theory and Principled Methods for Designing
      		  Metaheuristics},
      editor = {Borenstein, Yossi and Moraglio, Alberto},
      publisher = {Springer}
    }
    
  3. On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference (Konrad Rawlik, Marc Toussaint, and Sethu Vijayakumar) In Proc. of Robotics: Science and Systems (R:SS), Runner Up Best Paper Award, 2012. [Bibtex]
    @inproceedings{12-rawlik-RSS,
      author = {Rawlik, Konrad and Toussaint, Marc and Vijayakumar, Sethu},
      title = {On Stochastic Optimal Control and Reinforcement Learning
      		  by Approximate Inference},
      booktitle = {Proc{.} of Robotics: Science and Systems (R:SS)},
      note = {\emph{Runner Up Best Paper Award}},
      year = {2012}
    }
    
  4. Exploration in Model-based Reinforcement Learning by Empirically Estimating Learning Progress (Manuel Lopes, Tobias Lang, and Marc Toussaint) In Advances in Neural Information Processing Systems (NIPS 2012), 2012. [Bibtex]
    @inproceedings{12-lopes-NIPS,
      author = {Lopes, Manuel and Lang, Tobias and Toussaint, Marc},
      title = {Exploration in Model-based Reinforcement Learning by
      		  Empirically Estimating Learning Progress},
      booktitle = {Advances in Neural Information Processing Systems (NIPS
      		  2012)},
      year = {2012}
    }
    
  5. Exploration in Relational Domains for Model-based Reinforcement Learning (Tobias Lang, Marc Toussaint, and Kristian Kersting) Journal of Machine Learning Research, 13, p. 3691-3734, 2012. [Bibtex]
    @article{12-lang-JMLR,
      title = {Exploration in Relational Domains for Model-based
      		  Reinforcement Learning},
      author = {Lang, Tobias and Toussaint, Marc and Kersting, Kristian},
      journal = {Journal of Machine Learning Research},
      year = {2012},
      volume = {13},
      pages = {3691-3734}
    }
    
  6. Message Passing Algorithms for MAP Estimation Using DC Programming (Akshat Kumar, Shlomo Zilberstein, and Marc Toussaint) In Int. Conf. on Artificial Intelligence and Statistics (AISTATS 2012), p. 656-664, 2012. [Bibtex]
    @inproceedings{12-kumar-AISTATS,
      author = {Kumar, Akshat and Zilberstein, Shlomo and Toussaint, Marc},
      year = {2012},
      title = {Message Passing Algorithms for {MAP} Estimation Using {DC}
      		  Programming},
      booktitle = {Int{.} Conf{.} on Artificial Intelligence and Statistics
      		  (AISTATS 2012)},
      pages = {656-664}
    }
    
  7. Planning as probabilistic inference (Matthew Botvinick, and Marc Toussaint) Trends in Cognitive Sciences, 16, p. 485-488, 2012. [Bibtex]
    @article{12-botvinick-TICS,
      author = {Botvinick, Matthew and Toussaint, Marc},
      title = {Planning as probabilistic inference},
      journal = {Trends in Cognitive Sciences},
      volume = {16},
      pages = {485-488},
      year = {2012}
    }
    

2011

  1. Expectation-Maximization methods for solving (PO)MDPs (Marc Toussaint, Amos Storkey, and Stefan Harmeling) In Bayesian Time Series Models, p. 388-413, Cambridge University Press, 2011. [Bibtex]
    @incollection{11-toussaint-EM,
      author = {Toussaint, Marc and Storkey, Amos and Harmeling, Stefan},
      title = {Expectation-Maximization methods for solving {(PO)MDPs}},
      editor = {David Barber, A Taylan Cemgil, Silvia Chiappa},
      booktitle = {Bayesian Time Series Models},
      publisher = {Cambridge University Press},
      year = {2011},
      pages = {388-413}
    }
    
  2. Analyzing and Escaping Local Optima in Planning as Inference for Partially Observable Domains (Pascal Poupart, Marc Toussaint, and Tobias Lang) In Proc. of the European Conf. on Machine Learning (ECML 2011), 2011. [Bibtex]
    @inproceedings{11-poupart-ECML,
      author = {Poupart, Pascal and Toussaint, Marc and Lang, Tobias},
      year = {2011},
      title = {Analyzing and Escaping Local Optima in Planning as
      		  Inference for Partially Observable Domains},
      booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML
      		  2011)}
    }
    
  3. Escaping Local Optima in POMDP Planning as Inference (Pascal Poupart, Marc Toussaint, and Tobias Lang) In 10th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2011), 2011. [Bibtex]
    @inproceedings{11-poupart-AAMAS,
      title = {Escaping Local Optima in {POMDP} Planning as Inference},
      author = {Poupart, Pascal and Toussaint, Marc and Lang, Tobias},
      year = {2011},
      booktitle = {10th Int{.} Conf{.} on Autonomous Agents and Multiagent
      		  Systems (AAMAS 2011)}
    }
    
  4. Scalable Multiagent Planning Using Probabilistic Inference (Akshat Kumar, Shlomo Zilberstein, and Marc Toussaint) In Proc. of the 22nd Int. Joint Conf. on Artificial Intelligence (IJCAI 2011), 2011. [Bibtex]
    @inproceedings{11-kumar-IJCAI,
      title = {Scalable Multiagent Planning Using Probabilistic
      		  Inference},
      author = {Kumar, Akshat and Zilberstein, Shlomo and Toussaint, Marc},
      year = {2011},
      booktitle = {Proc{.} of the 22nd Int{.} Joint Conf{.} on Artificial
      		  Intelligence (IJCAI 2011)}
    }
    
  5. Task Space Retrieval Using Inverse Feedback Control (Nikolay Jetchev, and Marc Toussaint) In Proc. of the Int. Conf. on Machine Learning (ICML), 2011. [Bibtex]
    @inproceedings{11-jetchev-ICML,
      title = {Task Space Retrieval Using Inverse Feedback Control},
      author = {Jetchev, Nikolay and Toussaint, Marc},
      year = {2011},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}
    }
    
  6. Gaussian Process Implicit Surfaces for Shape Estimation and Grasping (Stanimir Dragiev, Marc Toussaint, and Michael Gienger) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2011. [Bibtex]
    @inproceedings{11-dragiev-ICRA,
      author = {Dragiev, Stanimir and Toussaint, Marc and Gienger, Michael},
      title = {Gaussian Process Implicit Surfaces for Shape Estimation
      		  and Grasping},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2011}
    }
    

2010

  1. Integrated motor control, planning, grasping and high-level reasoning in a blocks world using probabilistic inference (Marc Toussaint, Nils Plath, Tobias Lang, and Nikolay Jetchev) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2010. [Bibtex]
    @inproceedings{10-toussaint-ICRA,
      author = {Toussaint, Marc and Plath, Nils and Lang, Tobias and Jetchev, Nikolay},
      title = {Integrated motor control, planning, grasping and
      		  high-level reasoning in a blocks world using probabilistic
      		  inference},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2010}
    }
    
  2. A Bayesian view on motor control and planning (Marc Toussaint, and Christian Goerick) In From motor to interaction learning in robots, Springer, 2010. [Bibtex]
    @incollection{10-toussaint-BayesianControl,
      author = {Toussaint, Marc and Goerick, Christian},
      title = {A {B}ayesian view on motor control and planning},
      booktitle = {From motor to interaction learning in robots},
      publisher = {Springer},
      editor = {Sigaud, Olivier and Peters, Jan},
      year = {2010}
    }
    
  3. An Approximate Inference Approach to Temporal Optimization in Optimal Control (Konrad Rawlik, Marc Toussaint, and Sethu Vijayakumar) In Advances in Neural Information Processing Systems (NIPS 2010), 2010. [Bibtex]
    @inproceedings{10-rawlik-NIPS,
      author = {Rawlik, Konrad and Toussaint, Marc and Vijayakumar, Sethu},
      year = {2010},
      title = {An Approximate Inference Approach to Temporal Optimization
      		  in Optimal Control},
      booktitle = {Advances in Neural Information Processing Systems (NIPS
      		  2010)}
    }
    
  4. Approximate Inference and Stochastic Optimal Control (Konrad Rawlik, Marc Toussaint, and Sethu Vijayakumar) e-Print arXiv:1009.3958, 2010. [Bibtex]
    @misc{10-rawlik-tr,
      author = {Rawlik, Konrad and Toussaint, Marc and Vijayakumar, Sethu},
      year = {2010},
      title = {Approximate Inference and Stochastic Optimal Control},
      howpublished = {e-Print arXiv:1009.3958}
    }
    
  5. (Eds.) Special Issue “Robot Learning in Practice”. (Jun Morimoto, Chad Jenkins, and Marc Toussaint) IEEE Robotics and Automation Magazine, 17, p. 17-18, 2010. [Bibtex]
    @incollection{10-morimoto-RAM,
      author = {Morimoto, Jun and Jenkins, Chad and Toussaint, Marc},
      title = {{(Eds.) Special Issue {``Robot Learning in Practice''}}},
      journal = {IEEE Robotics and Automation Magazine},
      year = {2010},
      volume = {17},
      issue = {2},
      pages = {17-18},
      pdf = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5480273}
    }
    
  6. Planning with Noisy Probabilistic Relational Rules (Tobias Lang, and Marc Toussaint) Journal of Artificial Intelligence Research, 39, p. 1-49, 2010. [Bibtex]
    @article{10-lang-JAIR,
      author = {Lang, Tobias and Toussaint, Marc},
      title = {Planning with Noisy Probabilistic Relational Rules},
      journal = {Journal of Artificial Intelligence Research},
      year = {2010},
      volume = {39},
      pages = {1-49}
    }
    
  7. Probabilistic backward and forward reasoning in stochastic relational worlds (Tobias Lang, and Marc Toussaint) In Proc. of the Int. Conf. on Machine Learning (ICML), 2010. [Bibtex]
    @inproceedings{10-lang-ICML,
      author = {Lang, Tobias and Toussaint, Marc},
      year = {2010},
      title = {Probabilistic backward and forward reasoning in stochastic
      		  relational worlds},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}
    }
    
  8. Exploration in Relational Worlds (Tobias Lang, Marc Toussaint, and Kristian Kersting) In Proc. of the European Conf. on Machine Learning (ECML 2010), 2010. [Bibtex]
    @inproceedings{10-lang-ECML,
      author = {Lang, Tobias and Toussaint, Marc and Kersting, Kristian},
      year = {2010},
      title = {Exploration in Relational Worlds},
      booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML
      		  2010)}
    }
    
  9. Trajectory Prediction in Cluttered Voxel Environments (Nikolay Jetchev, and Marc Toussaint) In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2010. [Bibtex]
    @inproceedings{10-jetchev-ICRA,
      author = {Jetchev, Nikolay and Toussaint, Marc},
      title = {Trajectory Prediction in Cluttered Voxel Environments},
      booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
      		  Automation (ICRA)},
      year = {2010}
    }
    
  10. Whole-body Motion Planning – Building Blocks for Intelligent (Michael Gienger, Marc Toussaint, and Christian Goerick) In Motion Planning for Humanoid Robots, p. 67-98, Springer, 2010. [Bibtex]
    @incollection{10-gienger-WholeBody,
      title = {Whole-body Motion Planning -- Building Blocks for
      		  Intelligent},
      author = {Gienger, Michael and Toussaint, Marc and Goerick, Christian},
      booktitle = {Motion Planning for Humanoid Robots},
      editor = {Harada, Kensuke and Yoshida, Eiichi and Yokoi, Kazuhito},
      pages = {67-98},
      year = {2010},
      publisher = {Springer},
      isbn = {978-1-84996-219-3}
    }
    

2009

  1. Model-Free Reinforcement Learning as Mixture Learning (Nikos Vlassis, and Marc Toussaint) In Proc. of the Int. Conf. on Machine Learning (ICML), p. 1081-1088, 2009. [Bibtex]
    @inproceedings{09-vlassis-ICML,
      title = {Model-Free Reinforcement Learning as Mixture Learning},
      author = {Vlassis, Nikos and Toussaint, Marc},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)},
      year = {2009},
      pages = {1081-1088},
      isbn = {978-1-60558-516-1}
    }
    
  2. Learning model-free robot control by a Monte Carlo EM algorithm (Nikos Vlassis, Marc Toussaint, Georgios Kontes, and Savas Piperidis) Autonomous Robots, special issue on Robot Learning, 27, p. 123-130, 2009. [Bibtex]
    @article{09-vlassis-AuRo,
      title = {Learning model-free robot control by a {Monte Carlo EM}
      		  algorithm},
      author = {Vlassis, Nikos and Toussaint, Marc and Kontes, Georgios and Piperidis, Savas},
      journal = {Autonomous Robots, special issue on Robot Learning},
      year = {2009},
      volume = {27},
      pages = {123-130}
    }
    
  3. Planning and Moving in Dynamic Environments – A Statistical Machine Learning Approach (Sethu Vijayakumar, Marc Toussaint, Giorgios Petkos, and Matthew Howard) In Creating Brain-Like Intelligence – From Basic Principles to Complex Intelligent Systems, 5436/2009, p. 151-191, Springer, 2009. [Bibtex]
    @incollection{09-vijayakumar-MotionSurvey,
      author = {Vijayakumar, Sethu and Toussaint, Marc and Petkos, Giorgios and Howard, Matthew},
      year = {2009},
      title = {Planning and Moving in Dynamic Environments -- A
      		  Statistical Machine Learning Approach},
      booktitle = {Creating Brain-Like Intelligence -- From Basic Principles
      		  to Complex Intelligent Systems},
      series = {Lecture Notes in Computer Science},
      volume = {5436/2009},
      publisher = {Springer},
      pages = {151-191}
    }
    
  4. Lecture Note: Influence Diagrams. (Marc Toussaint, Personal Lecture Note, 2009. [Bibtex]
    @misc{09-toussaint-b,
      author = {Toussaint, Marc},
      title = {Lecture Note: Influence Diagrams},
      howpublished = {Personal Lecture Note},
      year = {2009},
      pdf = {../notes/influence-diagrams.pdf}
    }
    
  5. Lecture Notes: Stochastic Optimal Control. (Marc Toussaint, Personal Lecture Note, 2009. [Bibtex]
    @misc{09-toussaint-a,
      author = {Toussaint, Marc},
      title = {Lecture Notes: Stochastic Optimal Control},
      howpublished = {Personal Lecture Note},
      year = {2009},
      pdf = {../notes/soc.pdf}
    }
    
  6. Pros and Cons of truncated Gaussian EP in the context of Approximate Inference Control (Marc Toussaint, NIPS Workshop on Probabilistic Approaches for Robotics and Control, 2009. [Bibtex]
    @misc{09-toussaint-NIPSws,
      title = {Pros and Cons of truncated {G}aussian {EP} in the context
      		  of {Approximate Inference Control}},
      author = {Toussaint, Marc},
      howpublished = {NIPS Workshop on Probabilistic Approaches for Robotics and
      		  Control},
      editor = {Deisenroth, Marc Peter and Kappen, Bert and Todorov, Emanuel and Nguyen-Tuong, Duy and Rasmussen, Carl Edward and Peterset, Jan},
      year = {2009}
    }
    
  7. Probabilistic inference as a model of planned behavior (Marc Toussaint, Künstliche Intelligenz, 3/09, p. 23-29, 2009. [Bibtex]
    @article{09-toussaint-KI,
      author = {Toussaint, Marc},
      title = {Probabilistic inference as a model of planned behavior},
      journal = {K{\"u}nstliche Intelligenz},
      volume = {3/09},
      year = {2009},
      pages = {23-29},
      issn = {0933-1875}
    }
    
  8. Robot Trajectory Optimization using Approximate Inference (Marc Toussaint, In Proc. of the Int. Conf. on Machine Learning (ICML), p. 1049-1056, ACM, 2009. [Bibtex]
    @inproceedings{09-toussaint-ICML,
      title = {Robot Trajectory Optimization using Approximate
      		  Inference},
      author = {Toussaint, Marc},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)},
      publisher = {ACM},
      year = {2009},
      pages = {1049-1056},
      isbn = {978-1-60558-516-1}
    }
    
  9. Multi-class image segmentation using Conditional Random Fields and Global Classification (Nils Plath, and Marc Toussaint) In Proc. of the Int. Conf. on Machine Learning (ICML), p. 817-824, ACM, 2009. [Bibtex]
    @inproceedings{09-plath-ICML,
      title = {Multi-class image segmentation using Conditional Random
      		  Fields and Global Classification},
      author = {Plath, Nils and Toussaint, Marc},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)},
      publisher = {ACM},
      year = {2009},
      pages = {817-824},
      isbn = {978-1-60558-516-1}
    }
    
  10. Approximate Inference for Planning in Stochastic Relational Worlds (Tobias Lang, and Marc Toussaint) In Proc. of the Int. Conf. on Machine Learning (ICML), p. 585-592, ACM, 2009. [Bibtex]
    @inproceedings{09-lang-ICML,
      title = {Approximate Inference for Planning in Stochastic
      		  Relational Worlds},
      author = {Lang, Tobias and Toussaint, Marc},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)},
      publisher = {ACM},
      year = {2009},
      pages = {585-592},
      isbn = {978-1-60558-516-1}
    }
    
  11. Relevance Grounding for Planning in Relational Domains (Tobias Lang, and Marc Toussaint) In Proc. of the European Conf. on Machine Learning (ECML 2009), 5781/2009, p. 736-751, Springer, 2009. [Bibtex]
    @inproceedings{09-lang-ECML,
      title = {Relevance Grounding for Planning in Relational Domains},
      author = {Lang, Tobias and Toussaint, Marc},
      booktitle = {Proc{.} of the European Conf{.} on Machine Learning (ECML
      		  2009)},
      publisher = {Springer},
      series = {Lecture Notes in Computer Science},
      volume = {5781/2009},
      year = {2009},
      pages = {736-751},
      isbn = {978-3-642-04179-2}
    }
    
  12. Trajectory Prediction: Learning to Map Situations to Robot Trajectories (Nikolay Jetchev, and Marc Toussaint) In Proc. of the Int. Conf. on Machine Learning (ICML), p. 449-456, ACM, 2009. [Bibtex]
    @inproceedings{09-jetchev-ICML,
      title = {Trajectory Prediction: Learning to Map Situations to Robot
      		  Trajectories},
      author = {Jetchev, Nikolay and Toussaint, Marc},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)},
      publisher = {ACM},
      year = {2009},
      pages = {449-456},
      isbn = {978-1-60558-516-1}
    }
    

2008

  1. Probabilistic Exploitation of the Lucas and Kanade Smoothness Constraint (Volker Willert, Julian Eggert, Marc Toussaint, and Edgar Körner) In The seventh Int. Conf. on Machine Learning and Applications (ICMLA 2008), p. 259-266, ACM, 2008. [Bibtex]
    @inproceedings{08-willert-ICMLA,
      author = {Willert, Volker and Eggert, Julian and Toussaint, Marc and K{\"o}rner, Edgar},
      title = {Probabilistic Exploitation of the Lucas and Kanade
      		  Smoothness Constraint},
      booktitle = {The seventh Int{.} Conf{.} on Machine Learning and
      		  Applications (ICMLA 2008)},
      publisher = {ACM},
      year = {2008},
      pages = {259-266},
      isbn = {978-0-7695-3495-4}
    }
    
  2. Hierarchical POMDP Controller Optimization by Likelihood Maximization (Marc Toussaint, Laurent Charlin, and Pascal Poupart) In Uncertainty in Artificial Intelligence (UAI 2008), p. 562-570, AUAI Press, Runner Up Best Paper Award, 2008. [Bibtex]
    @inproceedings{08-toussaint-UAI,
      author = {Toussaint, Marc and Charlin, Laurent and Poupart, Pascal},
      title = {Hierarchical {POMDP} Controller Optimization by Likelihood
      		  Maximization},
      booktitle = {Uncertainty in Artificial Intelligence (UAI 2008)},
      publisher = {AUAI Press},
      year = {2008},
      pages = {562-570},
      isbn = {0-9749039-4-9},
      note = {\emph{Runner Up Best Paper Award}}
    }
    
  3. Hierarchical POMDP Controller Optimization by Likelihood Maximization (Marc Toussaint, Laurent Charlin, and Pascal Poupart) In AAAI Workshop on Advancements in POMDP Solvers, 2008. [Bibtex]
    @misc{08-toussaint-AAAIws,
      author = {Toussaint, Marc and Charlin, Laurent and Poupart, Pascal},
      title = {Hierarchical {POMDP} Controller Optimization by Likelihood
      		  Maximization},
      booktitle = {AAAI Workshop on Advancements in POMDP Solvers},
      year = {2008}
    }
    
  4. Task Maps in Humanoid Robot Manipulation (Michael Gienger, Marc Toussaint, and Christian Goerick) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), p. 2758-2764, 2008. [Bibtex]
    @inproceedings{08-gienger-IROS,
      author = {Gienger, Michael and Toussaint, Marc and Goerick, Christian},
      title = {Task Maps in Humanoid Robot Manipulation},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)},
      year = {2008},
      pages = {2758-2764}
    }
    
  5. Optimization of fluent approach and grasp motions (Michael Gienger, Marc Toussaint, Nikolay Jetchev, Achim Bendig, and Christian Goerick) In 8th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2008), p. 111-117, 2008. [Bibtex]
    @inproceedings{08-gienger-Humanoids,
      author = {Gienger, Michael and Toussaint, Marc and Jetchev, Nikolay and Bendig, Achim and Goerick, Christian},
      year = {2008},
      title = {Optimization of fluent approach and grasp motions},
      booktitle = {8th IEEE-RAS Int{.} Conf{.} on Humanoid Robots (Humanoids
      		  2008)},
      pages = {111-117}
    }
    

2007

  1. Modelling motion primitives and their timing in biologically executed movements (Ben Williams, Marc Toussaint, and Amos Storkey) In Advances in Neural Information Processing Systems 20 (NIPS 2007), MIT Press, 2007. [Bibtex]
    @inproceedings{07-williams-NIPS,
      author = {Williams, Ben and Toussaint, Marc and Storkey, Amos},
      title = {Modelling motion primitives and their timing in
      		  biologically executed movements},
      booktitle = {Advances in Neural Information Processing Systems 20 (NIPS
      		  2007)},
      publisher = {MIT Press},
      year = {2007}
    }
    
  2. A primitive based generative model to infer timing information in unpartitioned handwriting data (Ben Williams, Marc Toussaint, and Amos Storkey) In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), 2007. [Bibtex]
    @inproceedings{07-williams-IJCAI,
      author = {Williams, Ben and Toussaint, Marc and Storkey, Amos},
      year = {2007},
      title = {A primitive based generative model to infer timing
      		  information in unpartitioned handwriting data},
      booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial
      		  Intelligence (IJCAI)}
    }
    
  3. Uncertainty Optimization for Robust Dynamic Optical Flow Estimation (Volker Willert, Marc Toussaint, Julian Eggert, and Edgar Körner) In Sixth Int Conf on Machine Learning and Applications (ICMLA 2007), p. 450-457, ACM, 2007. [Bibtex]
    @inproceedings{07-willert-ICMLA,
      author = {Willert, Volker and Toussaint, Marc and Eggert, Julian and K{\"o}rner, Edgar},
      title = {Uncertainty Optimization for Robust Dynamic Optical Flow
      		  Estimation},
      booktitle = {Sixth Int Conf on Machine Learning and Applications (ICMLA
      		  2007)},
      publisher = {ACM},
      year = {2007},
      pages = {450-457},
      isbn = {0-7695-3069-9}
    }
    
  4. Probabilistic inference for structured planning in robotics (Marc Toussaint, and Christian Goerick) In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), p. 3068-3073, 2007. [Bibtex]
    @inproceedings{07-toussaint-IROS,
      author = {Toussaint, Marc and Goerick, Christian},
      year = {2007},
      pages = {3068-3073},
      title = {Probabilistic inference for structured planning in
      		  robotics},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and
      		  Systems (IROS)}
    }
    
  5. Optimization of sequential attractor-based movement for compact behaviour generation (Marc Toussaint, Michael Gienger, and Christian Goerick) In 7th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2007), 2007. [Bibtex]
    @inproceedings{07-toussaint-Humanoids,
      author = {Toussaint, Marc and Gienger, Michael and Goerick, Christian},
      year = {2007},
      title = {Optimization of sequential attractor-based movement for
      		  compact behaviour generation},
      booktitle = {7th IEEE-RAS Int{.} Conf{.} on Humanoid Robots (Humanoids
      		  2007)}
    }
    
  6. Complex adaptation and system structure (Marc Toussaint, and Werner Seelen) BioSystems, 90, p. 769-782, 2007. [Bibtex]
    @article{07-toussaint-BioSystems,
      author = {Toussaint, Marc and von Seelen, Werner},
      year = {2007},
      title = {Complex adaptation and system structure},
      journal = {BioSystems},
      volume = {90},
      pages = {769-782}
    }
    
  7. Motion Segmentation Using Inference in Dynamic Bayesian Networks (Marc Toussaint, Volker Willert, Julian Eggert, and Edgar Körner) In British Machine Vision Conf. (BMVC 2007), 2007. [Bibtex]
    @inproceedings{07-toussaint-BMVC,
      author = {Toussaint, Marc and Willert, Volker and Eggert, Julian and K{\"o}rner, Edgar},
      year = {2007},
      title = {Motion Segmentation Using Inference in Dynamic Bayesian
      		  Networks},
      booktitle = {British Machine Vision Conf{.} (BMVC 2007)}
    }
    
  8. Bayesian inference for motion control and planning (Marc Toussaint, Technical Report 2007-22, ISSN 1436-9915, Technical University Berlin, 2007. [Bibtex]
    @misc{07-toussaint-BMCtr,
      author = {Toussaint, Marc},
      title = {Bayesian inference for motion control and planning},
      howpublished = {Technical Report 2007-22, ISSN 1436-9915, Technical
      		  University Berlin},
      year = {2007}
    }
    
  9. Foundations of Genetic Algorithms (FOGA 2007). (Christopher R. Stephens, Marc Toussaint, David Whitler, and Peter F. Stadler (Eds.)) Springer, Lecture Notes in Computer Science, Vol. 4436, Springer, ISBN: 978-3-540-73479-6, 2007. [Bibtex]
    @book{07-stephens-FOGA,
      author = {Stephens, Christopher R. and Toussaint, Marc and Whitler, David and (Eds.), Peter F. Stadler},
      title = {Foundations of Genetic Algorithms (FOGA 2007)},
      publisher = {Springer, Lecture Notes in Computer Science, Vol. 4436,
      		  Springer, ISBN: 978-3-540-73479-6},
      year = {2007},
      pdf = {http://link.springer.com/book/10.1007/978-3-540-73482-6/page/1}
    }
    
  10. Active Learning in Motor Control (Phillip Robbel, Sethu Vijayakumar, and Marc Toussaint) NIPS Workshop on Robotics Challenges for Machine Learning, 2007. [Bibtex]
    @misc{07-robbel-NIPSws,
      author = {Robbel, Phillip and Vijayakumar, Sethu and Toussaint, Marc},
      year = {2007},
      title = {Active Learning in Motor Control},
      howpublished = {NIPS Workshop on Robotics Challenges for Machine
      		  Learning}
    }
    
  11. Bayesian Estimators for Robins-Ritov’s Problem (Stefan Harmeling, and Marc Toussaint (2007)) Technical Report EDI-INF-RR-1189, University of Edinburgh, School of Informatics, 2007. [Bibtex]
    @misc{07-harmeling-tr,
      author = {Harmeling, Stefan and (2007), Marc Toussaint},
      title = {Bayesian Estimators for {Robins-Ritov's} Problem},
      howpublished = {Technical Report EDI-INF-RR-1189, University of Edinburgh,
      		  School of Informatics},
      year = {2007}
    }
    

2006

  1. Extracting Motion Primitives from Natural Handwriting Data (Ben H. Williams, Marc Toussaint, and Amos J. Storkey) In Int. Conf. on Artificial Neural Networks (ICANN 2006), 2006. [Bibtex]
    @inproceedings{06-williams-ICANN,
      title = {Extracting Motion Primitives from Natural Handwriting
      		  Data},
      year = {2006},
      author = {Williams, Ben H. and Toussaint, Marc and Storkey, Amos J.},
      booktitle = {Int{.} Conf{.} on Artificial Neural Networks (ICANN
      		  2006)}
    }
    
  2. Compact representations as a search strategy: Compression EDAs (Marc Toussaint, Theoretical Computer Science, 361, p. 57-71, Elsevier, 2006. [Bibtex]
    @article{06-toussaint-TCS,
      year = {2006},
      author = {Toussaint, Marc},
      title = {Compact representations as a search strategy: {Compression
      		  EDAs}},
      journal = {Theoretical Computer Science},
      publisher = {Elsevier},
      volume = {361},
      pages = {57-71}
    }
    
  3. A sensorimotor map: Modulating lateral interactions for anticipation and planning (Marc Toussaint, Neural Computation, 18, p. 1132-1155, MIT Press, 2006. [Bibtex]
    @article{06-toussaint-NC,
      year = {2006},
      author = {Toussaint, Marc},
      title = {A sensorimotor map: {M}odulating lateral interactions for
      		  anticipation and planning},
      journal = {Neural Computation},
      publisher = {MIT Press},
      volume = {18},
      pages = {1132-1155}
    }
    
  4. Probabilistic inference for solving discrete and continuous state Markov Decision Processes (Marc Toussaint, and Amos Storkey) In Proc. of the Int. Conf. on Machine Learning (ICML), p. 945-952, 2006. [Bibtex]
    @inproceedings{06-toussaint-ICML,
      title = {Probabilistic inference for solving discrete and
      		  continuous state {Markov Decision Processes}},
      author = {Toussaint, Marc and Storkey, Amos},
      pages = {945-952},
      year = {2006},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}
    }
    
  5. Probabilistic inference for solving (PO)MDPs (Marc Toussaint, Stefan Harmeling, and Amos Storkey) Technical Report EDI-INF-RR-0934, University of Edinburgh, School of Informatics, 2006. [Bibtex]
    @misc{06-toussaint-tr,
      author = {Toussaint, Marc and Harmeling, Stefan and Storkey, Amos},
      year = {2006},
      title = {Probabilistic inference for solving {(PO)MDPs}},
      howpublished = {Technical Report EDI-INF-RR-0934, University of Edinburgh,
      		  School of Informatics}
    }
    
  6. Learning Multiple Models of Non-Linear Dynamics for Control under Varying Contexts (Georgios Petkos, Marc Toussaint, and Sethu Vijayakumar) In Int. Conf. on Artificial Neural Networks (ICANN 2006), 2006. [Bibtex]
    @inproceedings{06-petkos-ICANN,
      year = {2006},
      title = {Learning Multiple Models of Non-Linear Dynamics for
      		  Control under Varying Contexts},
      author = {Petkos, Georgios and Toussaint, Marc and Vijayakumar, Sethu},
      booktitle = {Int{.} Conf{.} on Artificial Neural Networks (ICANN
      		  2006)}
    }
    
  7. Using Machine Learning to Focus Iterative Optimization (Felix V. Agakov, Edwin V. Bonilla, John Cavazos, Björn Franke, Grigori Fursin, Michael F. P. O’Boyle, John Thomson, Marc Toussaint, and Christopher K. I. Williams) In Int. Symposium on Code Generation and Optimization (CGO 2006), p. 295-305, 2006. [Bibtex]
    @inproceedings{06-agakov,
      author = {Agakov, Felix V. and Bonilla, Edwin V. and Cavazos, John and Franke, Bj{\"o}rn and Fursin, Grigori and O'Boyle, Michael F. P. and Thomson, John and Toussaint, Marc and Williams, Christopher K. I.},
      year = {2006},
      title = {Using Machine Learning to Focus Iterative Optimization},
      booktitle = {Int{.} Symposium on Code Generation and Optimization (CGO
      		  2006)},
      pages = {295-305}
    }
    

2005

  1. Probabilistic inference for computing optimal policies in MDPs (Marc Toussaint, and Amos Storkey) In NIPS Workshop on Game Theory, Machine Learning and Reasoning under Uncertainty, 2005. [Bibtex]
    @misc{05-toussaint-NIPSws,
      author = {Toussaint, Marc and Storkey, Amos},
      title = {Probabilistic inference for computing optimal policies in
      		  {MDPs}},
      year = {2005},
      booktitle = {NIPS Workshop on Game Theory, Machine Learning and
      		  Reasoning under Uncertainty}
    }
    
  2. Learning discontinuities for switching between local models (Marc Toussaint, and Sethu Vijayakumar) In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI), p. 1744-1745, 2005. [Bibtex]
    @inproceedings{05-toussaint-IJCAI,
      author = {Toussaint, Marc and Vijayakumar, Sethu},
      title = {Learning discontinuities for switching between local
      		  models},
      year = {2005},
      booktitle = {Proc{.} of the Int{.} Joint Conf{.} on Artificial
      		  Intelligence (IJCAI)},
      pages = {1744-1745}
    }
    
  3. Learning discontinuities with Product-of-Sigmoids for switching between local models (Marc Toussaint, and Sethu Vijayakumar) In Proc. of the Int. Conf. on Machine Learning (ICML), 2005. [Bibtex]
    @inproceedings{05-toussaint-ICML,
      author = {Toussaint, Marc and Vijayakumar, Sethu},
      title = {Learning discontinuities with {Product-of-Sigmoids} for
      		  switching between local models},
      year = {2005},
      booktitle = {Proc{.} of the Int{.} Conf{.} on Machine Learning (ICML)}
    }
    
  4. Factorial Representations to Generate Arbitrary Search Distributions (Marc Toussaint, In GECCO Workshop on Theory of Representations, p. 339-345, ACM Press, 2005. [Bibtex]
    @misc{05-toussaint-GECCOws,
      author = {Toussaint, Marc},
      title = {Factorial Representations to Generate Arbitrary Search
      		  Distributions},
      booktitle = {GECCO Workshop on Theory of Representations},
      year = {2005},
      publisher = {ACM Press},
      address = {Washington, D.C., USA},
      pages = {339-345}
    }
    
  5. Compact Genetic Codes as a Search Strategy of Evolutionary Processes (Marc Toussaint, In Foundations of Genetic Algorithms 8 (FOGA 2005), 3469, p. 75-94, 2005. [Bibtex]
    @inproceedings{05-toussaint-FOGA,
      author = {Toussaint, Marc},
      title = {Compact Genetic Codes as a Search Strategy of Evolutionary
      		  Processes},
      year = {2005},
      series = {LNCS},
      pages = {75-94},
      booktitle = {Foundations of Genetic Algorithms 8 (FOGA 2005)},
      volume = {3469},
      optisbn = {3-540-27237-2}
    }
    
  6. Rprop Using the Natural Gradient compared to Levenberg-Marquardt Optimization (Christian Igel, Marc Toussaint, and Wan Weishui) In Trends and Applications in Constructive Approximation. Int. Series of Numerical Mathematics, 151, p. 259-272, Birkhäuser Verlag, Germany., 2005. [Bibtex]
    @incollection{05-igel-Rprop,
      author = {Igel, Christian and Toussaint, Marc and Weishui, Wan},
      title = {Rprop Using the Natural Gradient compared to
      		  {L}evenberg-{M}arquardt Optimization},
      booktitle = {Trends and Applications in Constructive Approximation.
      		  Int{.} Series of Numerical Mathematics},
      volume = {151},
      year = {2005},
      pages = {259-272},
      publisher = {Birkh{\"a}user Verlag, Germany.}
    }
    
  7. Recurrent modular network architecture for sea ice classification in the Marginal Ice Zone using ERS SAR images (Andrey V. Bogdanov, Marc Toussaint, and Stein Sandven) In Image and Signal Processing for Remote Sensing XI, 5982, 2005. [Bibtex]
    @inproceedings{05-bogdanov,
      author = {Bogdanov, Andrey V. and Toussaint, Marc and Sandven, Stein},
      title = {Recurrent modular network architecture for sea ice
      		  classification in the {M}arginal {I}ce {Z}one using {ERS
      		  SAR} images},
      booktitle = {Image and Signal Processing for Remote Sensing XI},
      series = {Proc{.} of SPIE},
      volume = {5982},
      year = {2005}
    }
    

2004

  1. Notes on information geometry and evolutionary processes (Marc Toussaint, Los Alamos pre-print nlin.AO/0408040, 2004. [Bibtex]
    @misc{04-toussaint-info,
      author = {Toussaint, Marc},
      year = {2004},
      title = {Notes on information geometry and evolutionary processes},
      howpublished = {Los Alamos pre-print nlin.AO/0408040}
    }
    
  2. A No-Free-Lunch Theorem for Non-Uniform Distributions of Target Functions (Christian Igel, and Marc Toussaint) Journal of Mathematical Modelling and Algorithms, 3, p. 313-322, 2004. [Bibtex]
    @article{04-igel-NFL,
      author = {Igel, Christian and Toussaint, Marc},
      title = {A {No-Free-Lunch} Theorem for Non-Uniform Distributions of
      		  Target Functions},
      journal = {Journal of Mathematical Modelling and Algorithms},
      year = {2004},
      volume = {3},
      pages = {313-322}
    }
    

2003

  1. Learning a world model and planning with a self-organizing, dynamic neural system (Marc Toussaint, In Advances in Neural Information Processing Systems 16 (NIPS 2003), p. 929-936, MIT Press, Cambridge, 2003. [Bibtex]
    @inproceedings{03-toussaint-NIPS,
      author = {Toussaint, Marc},
      title = {Learning a world model and planning with a
      		  self-organizing, dynamic neural system},
      booktitle = {Advances in Neural Information Processing Systems 16 (NIPS
      		  2003)},
      pages = {929-936},
      year = {2003},
      publisher = {MIT Press, Cambridge}
    }
    
  2. The evolution of genetic representations and modular adaptation (Marc Toussaint, PhD thesis, Institut für Neuroinformatik, Ruhr-Universiät-Bochum, Germany. Published with the Logos Verlag Berlin (2004), ISBN 3-8325-0579-2, 173 pages., 2003. [Bibtex]
    @misc{03-toussaint-phd,
      author = {Toussaint, Marc},
      title = {The evolution of genetic representations and modular
      		  adaptation},
      year = {2003},
      month = apr,
      howpublished = {PhD thesis, Institut f{\"u}r Neuroinformatik,
      		  Ruhr-Universi{\"a}t-Bochum, Germany. Published with the
      		  Logos Verlag Berlin (2004), ISBN 3-8325-0579-2, 173 pages.}
    }
    
  3. Demonstrating the Evolution of Complex Genetic Representations: An Evolution of Artificial Plants (Marc Toussaint, In Genetic and Evolutionary Computation Conf. (GECCO 2003), p. 86-97, 2003. [Bibtex]
    @inproceedings{03-toussaint-GECCOb,
      author = {Toussaint, Marc},
      title = {Demonstrating the Evolution of Complex Genetic
      		  Representations: {A}n Evolution of Artificial Plants},
      booktitle = {Genetic and Evolutionary Computation Conf{.} (GECCO
      		  2003)},
      year = {2003},
      pages = {86-97}
    }
    
  4. The structure of evolutionary exploration: On crossover, buildings blocks, and Estimation-Of-Distribution Algorithms (Marc Toussaint, In Genetic and Evolutionary Computation Conf. (GECCO 2003), p. 1444-1456, 2003. [Bibtex]
    @inproceedings{03-toussaint-GECCOa,
      author = {Toussaint, Marc},
      title = {The structure of evolutionary exploration: {O}n crossover,
      		  buildings blocks, and {E}stimation-{O}f-{D}istribution
      		  Algorithms},
      booktitle = {Genetic and Evolutionary Computation Conf{.} (GECCO
      		  2003)},
      year = {2003},
      pages = {1444-1456},
      nonote = {See also nlin.AO/0212030}
    }
    
  5. On the evolution of phenotypic exploration distributions (Marc Toussaint, In Foundations of Genetic Algorithms 7 (FOGA 2003), p. 169-182, Morgan Kaufmann, 2003. [Bibtex]
    @inproceedings{03-toussaint-FOGA,
      author = {Toussaint, Marc},
      title = {{O}n the evolution of phenotypic exploration
      		  distributions},
      year = {2003},
      booktitle = {Foundations of Genetic Algorithms 7 (FOGA 2003)},
      publisher = {Morgan Kaufmann},
      pages = {169-182}
    }
    
  6. Neutrality and Self-adaptation (Christian Igel, and Marc Toussaint) Natural Computation, 2, p. 117-132, 2003. [Bibtex]
    @article{03-igel-NatComp,
      author = {Igel, Christian and Toussaint, Marc},
      title = {Neutrality and {S}elf-adaptation},
      year = {2003},
      journal = {Natural Computation},
      volume = {2},
      pages = {117-132}
    }
    
  7. On Classes of Functions for which No Free Lunch Results Hold (Christian Igel, and Marc Toussaint) Information Processing Letters, 86, p. 317-321, 2003. [Bibtex]
    @article{03-igel-NFL,
      author = {Igel, Christian and Toussaint, Marc},
      title = {On Classes of Functions for which {No Free Lunch} Results
      		  Hold},
      journal = {Information Processing Letters},
      year = {2003},
      volume = {86},
      pages = {317-321},
      nnote = {See also Los Alamos Preprint cs.NE/0108011}
    }
    

2002

  1. On model selection and the disability of neural networks to decompose tasks (Marc Toussaint, In Proc. of Int. Joint Conf. on Neural Networks (IJCNN 2002), p. 245-250, 2002. [Bibtex]
    @inproceedings{02-toussaint-IJCNNb,
      author = {Toussaint, Marc},
      title = {On model selection and the disability of neural networks
      		  to decompose tasks},
      year = {2002},
      booktitle = {Proc{.} of Int{.} Joint Conf{.} on Neural Networks (IJCNN
      		  2002)},
      pages = {245-250}
    }
    
  2. A neural model for multi-expert architectures (Marc Toussaint, In Proc. of Int. Joint Conf. on Neural Networks (IJCNN 2002), p. 2755-2760, 2002. [Bibtex]
    @inproceedings{02-toussaint-IJCNNa,
      author = {Toussaint, Marc},
      title = {A neural model for multi-expert architectures},
      year = {2002},
      booktitle = {Proc{.} of Int{.} Joint Conf{.} on Neural Networks (IJCNN
      		  2002)},
      pages = {2755-2760}
    }
    
  3. Neutrality: A Necessity for Self-Adaptation (Marc Toussaint, and Christian Igel) In Proc. of IEEE Congress on Evolutionary Computation (CEC 2002), p. 1354-1359, 2002. [Bibtex]
    @inproceedings{02-toussaint-CEC,
      author = {Toussaint, Marc and Igel, Christian},
      title = {Neutrality: {A} Necessity for Self-Adaptation},
      year = {2002},
      booktitle = {Proc{.} of IEEE Congress on Evolutionary Computation (CEC
      		  2002)},
      pages = {1354-1359}
    }
    
  4. Task-Dependent Evolution of Modularity in Neural Networks (Michael Hüsken, Christian Igel, and Marc Toussaint) Connection Science, 14, p. 219-229, 2002. [Bibtex]
    @article{02-husken-ConSci,
      author = {H{\"u}sken, Michael and Igel, Christian and Toussaint, Marc},
      title = {Task-Dependent Evolution of Modularity in Neural
      		  Networks},
      year = {2002},
      journal = {Connection Science},
      volume = {14},
      pages = {219-229}
    }
    

2001

  1. Self-adaptive exploration in evolutionary search (Marc Toussaint, Technical Report IRINI-2001-05, Institut für Neuroinformatik, Ruhr-Universität Bochum, Germany, 2001. [Bibtex]
    @misc{01-toussaint-tr,
      author = {Toussaint, Marc},
      title = {Self-adaptive exploration in evolutionary search},
      year = {2001},
      howpublished = {Technical Report IRINI-2001-05, Institut f{\"u}r
      		  Neuroinformatik, Ruhr-Universit{\"a}t Bochum, Germany}
    }
    
  2. Task-Dependent Evolution of Modularity in Neural Networks – A Quantitative Case Study (Michael Hüsken, Christian Igel, and Marc Toussaint) In Genetic and Evolutionary Computation Conf. (GECCO 2001), p. 187-193, 2001. [Bibtex]
    @inproceedings{01-husken-GECCO,
      author = {H{\"u}sken, Michael and Igel, Christian and Toussaint, Marc},
      title = {Task-Dependent Evolution of Modularity in Neural Networks
      		  -- A Quantitative Case Study},
      booktitle = {Genetic and Evolutionary Computation Conf{.} (GECCO
      		  2001)},
      year = {2001},
      pages = {187-193}
    }
    

2000

  1. A numeric solution for metric-affine gravity and Einstein’s gravitational theory with Proca matter (Marc Toussaint, General Relativity and Gravitation, 32, p. 1689-1709, 2000. [arxiv] [Bibtex]
    @article{00-toussaint-proca,
      author = {Toussaint, Marc},
      title = {A numeric solution for metric-affine gravity and
      		  {E}instein's gravitational theory with {P}roca matter},
      journal = {General Relativity and Gravitation},
      year = {2000},
      volume = {32},
      pages = {1689-1709},
      arxiv = {gr-qc/9910042}
    }
    
  2. A gauge theoretical view of the charge concept in Einstein gravity (Marc Toussaint, General Relativity and Gravitation, 32, p. 885-896, 2000. [arxiv] [Bibtex]
    @article{00-toussaint-gauge,
      author = {Toussaint, Marc},
      title = {A gauge theoretical view of the charge concept in
      		  {E}instein gravity},
      journal = {General Relativity and Gravitation},
      year = {2000},
      volume = {32},
      pages = {885-896},
      arxiv = {gr-qc/9907024}
    }
    
  3. Schwarze Löcher (Friedrich W. Hehl, and Marc Toussaint) MNU (Der mathematische und naturwissenschaftliche Unterricht), 6, p. 327-333, 2000. [Bibtex]
    @article{00-hehl-MNU,
      author = {Hehl, Friedrich W{.} and Toussaint, Marc},
      title = {Schwarze {L\"ocher}},
      journal = {MNU (Der mathematische und naturwissenschaftliche
      		  Unterricht)},
      volume = {6},
      pages = {327-333},
      year = {2000}
    }
    

1999

  1. Gauge Theory of Gravity: Foundations, the charge concept, and a numeric solution (Marc Toussaint, Diploma thesis, Institute for Theoretical Physics, Cologne, 1999. [Bibtex]
    @misc{99-toussaint-diploma,
      author = {Toussaint, Marc},
      title = {Gauge Theory of Gravity: Foundations, the charge concept,
      		  and a numeric solution},
      year = {1999},
      howpublished = {Diploma thesis, Institute for Theoretical Physics,
      		  Cologne}
    }
    
  2. Lectures on Reduce and Maple at UAM I - Mexico. (Marc Toussaint, arXiv:cs.SC/0105033, 1999. [Bibtex]
    @misc{99-toussaint-mexico,
      author = {Toussaint, Marc},
      title = {Lectures on {R}educe and {M}aple at {UAM I} - {M}exico},
      year = {1999},
      howpublished = {arXiv:cs.SC/0105033},
      pdf = {https://arxiv.org/pdf/cs.sc/0105033}
    }