list without videos embedded

2019

S. Hoppe, Z. Lou, D. Hennes, and M. Toussaint: Planning Approximate Exploration Trajectories for Model-Free Reinforcement Learning in Contact-Rich Manipulation. IEEE Robotics and Automation Letters, 2019. [Bibtex]

@article{19-hoppe-RAL,
author = {Sabrina Hoppe and Zhongyu Lou and Daniel Hennes and Marc Toussaint},
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}
}

D. Driess, S. Schmitt, and M. Toussaint: Active Inverse Model Learning with Error and Reachable Set Estimates. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2019. [Bibtex]

@InProceedings{19-driess-IROS,
title = {Active Inverse Model Learning with Error and Reachable Set Estimates},
author = {Danny Driess and Syn Schmitt and Marc Toussaint},
booktitle = {Proc{.} of the IEEE Int{.} Conf{.} on Intelligent Robots and Systems (IROS)},
year = {2019},
youtube = {3ks0sMa3BgM}
}

D. Driess, O. Oguz, and M. Toussaint: Hierarchical Task and Motion Planning using Logic-Geometric Programming (HLGP). RSS Workshop on Robust Task and Motion Planning, 2019. [Bibtex]

@Misc{19-driess-RSSws,
title = {Hierarchical Task and Motion Planning using Logic-Geometric Programming (HLGP)},
author = {Danny Driess and Ozgur Oguz and Marc Toussaint},
year = {2019},
howpublished = {RSS Workshop on Robust Task and Motion Planning},
youtube = {VndjJtzl7ho}
}

M. U. Khalid, J. M. Hager, W. Kraus, M. F. Huber, and M. Toussaint: Deep Workpiece Region Segmentation for Bin Picking. 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={Muhammad Usman Khalid and Janik M. Hager and Werner Kraus and Marco F. Huber and Marc Toussaint},
booktitle={Proc{.} of the Int{.} Conf{.} on Automation Science and Engineering (CASE)},
year={2019}
}

C. Phiquepal and M. Toussaint: Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), \emph{Nominated for Best Paper Award in Cognitive Robotics}, 2019. [Bibtex]

@InProceedings{19-phiquepal-ICRA,
title = {Combined Task and Motion Planning under Partial
Observability: An Optimization-Based Approach},
author  = {Camille Phiquepal and Marc Toussaint},
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}
}

M. Toussaint, K. R. Allen, K. A. Smith, and J. B. Tenenbaum: Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning – Extended Abstract. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2019), Sister Conference Best Paper Track – Extended abstract of the R:SS’18 paper, 2019. [Bibtex]

@Misc{19-toussaint-IJCAIabstract,
title = {Differentiable Physics and Stable Modes for Tool-Use and
Manipulation Planning -- Extended Abstract},
author  = {Marc Toussaint and Kelsey R Allen and Kevin A Smith and
Josh B Tenenbaum},
booktitle  = ijcai # { (IJCAI 2019)},
note = {Sister Conference Best Paper Track -- Extended abstract of
the R:SS'18 paper},
year = {2019}
}

A. Doerr, M. Volpp, M. Toussaint, S. Trimpe, and C. Daniel: Trajectory-based off-policy deep reinforcement learning. In Proc. of the 36th Int. Conf. on Machine Learning (ICML), 2019. [Bibtex]

@InProceedings{19-doerr-ICML,
title = {Trajectory-based off-policy deep reinforcement learning},
author  = {Doerr, Andreas and Volpp, Michael and Toussaint, Marc and
Trimpe, Sebastian and Daniel, Christian},
booktitle  = {Proc{.} of the 36th Int{.} Conf{.} on Machine Learning
(ICML)},
year = {2019},
pdf = {https://arxiv.org/abs/1905.05710}
}

D. Driess, D. Hennes, and M. Toussaint: Active Multi-Contact Continuous Tactile Exploration with Gaussian Process Differential Entropy. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2019. [Bibtex]

@InProceedings{19-driess-ICRA,
title = {Active Multi-Contact Continuous Tactile Exploration with
Gaussian Process Differential Entropy},
author  = {Danny Driess and Daniel Hennes and Marc Toussaint},
booktitle  = {Proc{.} of the IEEE Int{.} Conf{.} on Robotics and
Automation (ICRA)},
year = {2019},
youtube  = {_FOkJoJLOPM}
}

2018

S. Höfer, J. Raisch, M. Toussaint, and O. Brock: No free lunch in ball catching: A comparison of Cartesian and angular representations for control. PLOS ONE, 13, 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 = {06},
volume  = {13},
mlrurl2  = {https://doi.org/10.1371/journal.pone.0197803},
pages = {1-48},
number  = {6},
doi = {10.1371/journal.pone.0197803}
}

P. Kratzer, M. Toussaint, and J. Mainprice: Towards Combining Motion Optimization and Data Driven Dynamical Models for Human Motion Prediction. 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}
}

R. Schulz, P. Kratzer, and M. Toussaint: Preferred interaction styles for human-robot collaboration vary over tasks with different action types. Frontiers in neurorobotics, 12, 36, Frontiers, 2018. [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}
}

T. Munzer, M. Toussaint, and M. Lopes: Efficient behavior learning in human–robot collaboration. Autonomous Robots, 42, 1103-1115, 2018. [Bibtex]

@Article{18-munzer-AuRo,
title = {Efficient behavior learning in human–robot
collaboration},
author  = {T Munzer and M Toussaint and M Lopes},
year = {2018},
volume  = {42},
pages = {1103-1115},
journal  = {Autonomous Robots}
}

M. Toussaint, K. R. Allen, K. A. Smith, and J. B. Tenenbaum: Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning. In Proc. of Robotics: Science and Systems (R:SS 2018), \emph{Best Paper Award}, 2018. [Bibtex]

@InProceedings{18-toussaint-RSS,
title = {Differentiable Physics and Stable Modes for Tool-Use and
Manipulation Planning},
author  = {Marc Toussaint and Kelsey R Allen and Kevin A Smith and
Josh B Tenenbaum},
booktitle  = {Proc{.} of Robotics: Science and Systems (R:SS 2018)},
note = {\emph{Best Paper Award}},
year = {2018},
youtube  = {-L4tCIGXKBE}
}

P. Englert and M. Toussaint: Kinematic Morphing Networks for Manipulation Skill Transfer. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2018), 2018. [Bibtex]

@InProceedings{18-englert-IROS,
title = {Kinematic Morphing Networks for Manipulation Skill
Transfer},
author  = {Peter Englert and Marc Toussaint},
booktitle  = iros # { (IROS 2018)},
year = {2018},
youtube  = {hI1BC0G0oD4}
}

A. Doerr, C. Daniel, M. Schiegg, N. Duy, S. Schaal, M. Toussaint, and S. Trimpe: Probabilistic Recurrent State-Space Models. In Proc. of the 35th Int. Conf. on Machine Learning (ICML), 2018. [Bibtex]

@InProceedings{18-doerr-ICML,
title = {Probabilistic Recurrent State-Space Models},
author  = {Doerr, Andreas and Daniel, Christian and Schiegg, Martin
and Duy, Nguyen-Tuong and Schaal, Stefan and Toussaint,
Marc and Trimpe, Sebastian},
booktitle  = {Proc{.} of the 35th Int{.} Conf{.} on Machine Learning
(ICML)},
year = {2018},
pdf = {https://arxiv.org/abs/1801.10395}
}

B. Busch, M. Toussaint, and M. Lopes: Planning Ergonomic Sequences of Actions in Human-Robot Interaction. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2018), 2018. [Bibtex]

@InProceedings{18-busch-ICRA,
title = {Planning Ergonomic Sequences of Actions in Human-Robot
Interaction},
author  = {Baptiste Busch and Marc Toussaint and Manuel Lopes},
booktitle  = icra # { (ICRA 2018)},
year = {2018},
vimeo = {232348427}
}

D. Driess, H. Zimmermann, S. Wolfen, Dan Suissa, D. Haeufle, D. Hennes, Marc Toussaint, and S. Schmitt: Learning to Control Redundant Musculoskeletal Systems with Neural Networks and SQP: Exploiting Muscle Properties. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2018), 2018. [Bibtex]

@InProceedings{18-driess-ICRA,
title = {Learning to Control Redundant Musculoskeletal Systems with
Neural Networks and {SQP}: Exploiting Muscle Properties},
author  = {Danny Driess and Heiko Zimmermann and Simon Wolfen and Dan
Suissa and Daniel Haeufle and Daniel Hennes and Marc
Toussaint and Syn Schmitt},
booktitle  = icra # { (ICRA 2018)},
youtube  = {ODFvqBWOtec},
year = {2018}
}

N. A. Vien, H. Zimmermann, and M. Toussaint: Bayesian Functional Optimization. In Proc. of The AAAI Conference on Artificial Intelligence (AAAI 18), 2018. [Bibtex]

@InProceedings{18-vien-AAAI,
author  = {Ngo Anh Vien and Heiko Zimmermann and Marc Toussaint},
title = {Bayesian Functional Optimization},
booktitle  = {Proc{.} of The AAAI Conference on Artificial Intelligence
(AAAI 18)},
year = {2018}
}

K. Rawlik, D. Zarubin, M. Toussaint, and S. Vijayakumar: An Approximate Inference Approach to Temporal Optimization for Robotics. 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  = {Konrad Rawlik and Dmitry Zarubin and Marc Toussaint and
Sethu Vijayakumar},
howpublished  = {Accepted for the Proceedings of (ISRR 2015), to be
published by Springer},
year = {2018}
}

P. Englert and M. Toussaint: Learning manipulation skills from a single demonstration. The International Journal of Robotics Research, 37, 137-154, 2018. [Bibtex]

@Article{18-englert-IJRR,
author  = {Peter Englert and Marc Toussaint},
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}
}

2017

P. Englert, N. A. Vien, and M. Toussaint: Inverse KKT: Learning cost functions of manipulation tasks from demonstrations. The International Journal of Robotics Research, 36, 1474-1488, 2017. [Bibtex]

@Article{17-englert-IJRR,
author  = {Peter Englert and Ngo Anh Vien and Marc Toussaint},
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}
}

A. Doerr, C. Daniel, D. Nguyen-Tuong, A. Marco, S. Schaal, M. Toussaint, and S. Trimpe: Optimizing Long-term Predictions for Model-based Policy Search. In Proc. of the Annual Conf. on Robot Learning (CORL 2017), 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
2017)},
year = {2017}
}

M. Baum, M. Bernstein, Roberto Martín-Martín, S. Höfer, Johannes Kulick, M. Toussaint, A. Kacelnik, and O. Brock: Opening a Lockbox through Physical Exploration. In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2017), 2017. [Bibtex]

@InProceedings{17-baum-Humanoids,
author  = {Manuel Baum and Matthew Bernstein and Roberto
Mart{\'i}n-Mart{\'i}n and Sebastian H{\"o}fer and Johannes
Kulick and Marc Toussaint and Alex Kacelnik and Oliver Brock},
title = {Opening a Lockbox through Physical Exploration},
booktitle  = {Proc{.} of the IEEE-RAS Int{.} Conf{.} on Humanoid Robots
(Humanoids 2017)},
year = {2017},
youtube  = {WSnPnpHLpdI}
}

S. Hoppe, Z. Lou, D. Hennes, and Marc Toussaint: Deep Learning for Manipulation with Visual and Haptic Feedback. 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  = {Sabrina Hoppe and Zhongyu Lou and Daniel Hennes and Marc
Toussaint},
year = {2017},
howpublished  = {IROS Workshop on Frontiers in Contact-rich Robotic
Interaction}
}

I. Yildirim, T. Gerstenberg, B. Saeed, M. Toussaint, and J. B. Tenenbaum: Physical problem solving: Joint planning with symbolic, geometric, and dynamic constraints. 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  = {Ilker Yildirim and Tobias Gerstenberg and Basil Saeed and
Marc Toussaint and Josh B Tenenbaum},
booktitle  = {Proc{.} of the Thirty-Night Annual Conf{.} of the
Cognitive Science Society (CogSci 2017)},
year = {2017}
}

T. Munzer, M. Toussaint, and M. Lopes: Preference learning on the execution of collaborative human-robot tasks. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2017), 2017. [Bibtex]

@InProceedings{17-munzer-ICRA,
author  = {Thibaut Munzer and Marc Toussaint and Manuel Lopes},
title = {Preference learning on the execution of collaborative
human-robot tasks},
booktitle  = icra # { (ICRA 2017)},
vimeo = {182913540},
year = {2017}
}

R. Schulz, P. Kratzer, and M. Toussaint: Building a Bridge with a Robot: A System for Collaborative On-table Task Execution. In Proc. of the Int. Conf. on Human Agent Interaction (HAI 2017), 2017. [Bibtex]

@InProceedings{17-schulz-HAIa,
title = {Building a Bridge with a Robot: A System for Collaborative
On-table Task Execution},
author  = {Ruth Schulz and Philipp Kratzer and Marc Toussaint},
booktitle  = {Proc{.} of the Int{.} Conf{.} on Human Agent Interaction
(HAI 2017)},
year = {2017},
youtube  = {Em59X9087tc}
}

R. Schulz: Collaborative Robots Learning Spatial Language for Picking and Placing Objects on a Table. In Proc. of the Int. Conf. on Human Agent Interaction (HAI 2017), 2017. [Bibtex]

@InProceedings{17-schulz-HAIb,
title = {Collaborative Robots Learning Spatial Language for Picking
and Placing Objects on a Table},
author  = {Ruth Schulz},
booktitle  = {Proc{.} of the Int{.} Conf{.} on Human Agent Interaction
(HAI 2017)},
year = {2017},
youtube  = {9L-HWd6qF88}
}

M. Toussaint and M. Lopes: Multi-Bound Tree Search for Logic-Geometric Programming in Cooperative Manipulation Domains. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2017), 2017. [Bibtex]

@InProceedings{17-toussaint-ICRA,
title = {Multi-Bound Tree Search for Logic-Geometric Programming in
Cooperative Manipulation Domains},
author  = {Marc Toussaint and Manuel Lopes},
booktitle  = icra # { (ICRA 2017)},
year = {2017}
}

D. Driess, P. Englert, and M. Toussaint: Active Learning with Query Paths for Tactile Object Shape Exploration. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2017), 2017. [Bibtex]

@InProceedings{17-driess-IROS,
author  = {Danny Driess and Peter Englert and Marc Toussaint},
title = {Active Learning with Query Paths for Tactile Object Shape
Exploration},
booktitle  = iros # { (IROS 2017)},
youtube  = {4k5unx7En28},
year = {2017}
}

D. Driess, P. Englert, and M. Toussaint: Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2017), 2017. [Bibtex]

@InProceedings{17-driess-ICRA,
title = {Constrained Bayesian Optimization of Combined Interaction
Force/Task Space Controllers for Manipulations},
author  = {Danny Driess and Peter Englert and Marc Toussaint},
booktitle  = icra # { (ICRA 2017)},
youtube  = {CudjsbB7sfM},
year = {2017}
}

R. Lieck, N. A. Vien, and M. Toussaint: Exploiting Variance Information in Monte-Carlo Tree Search. 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  = {Robert Lieck and Ngo Anh Vien and Marc Toussaint},
year = {2017},
howpublished  = {ICAPS Workshop on Heuristics and Search for
Domain-independent Planning (HSDIP)}
}

R. Lieck and M. Toussaint: Active Tree Search. ICAPS Workshop on Planning, Search, and Optimization, 2017. [Bibtex]

@Misc{17-lieck-ICAPSws2,
author  = {Robert Lieck and Marc Toussaint},
year = {2017},
title = {Active Tree Search},
howpublished  = {ICAPS Workshop on Planning, Search, and Optimization}
}

A. Baisero, S. Otte, P. Englert, and Marc Toussaint: Identification of Unmodeled Objects from Symbolic Descriptions. e-Print arxiv.org:1701.06450, 2017. [Bibtex]

@Misc{17-baisero-SymbId,
title = {Identification of Unmodeled Objects from Symbolic
Descriptions},
author  = {Andrea Baisero and Stefan Otte and Peter Englert and Marc
Toussaint},
howpublished  = {e-Print arxiv.org:1701.06450},
year = {2017},
youtube  = {tyiImFoC9p8},
pdf = {https://arxiv.org/abs/1701.06450}
}

M. Toussaint: A tutorial on Newton methods for constrained trajectory optimization and relations to SLAM, Gaussian Process smoothing, optimal control, and probabilistic inference. In Geometric and Numerical Foundations of Movements, Springer, 2017. [Bibtex]

@InCollection{17-toussaint-Newton,
author  = {Marc Toussaint},
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  = {Jean-Paul Laumond},
publisher  = {Springer},
year = {2017}
}

J. Langhabel, R. Lieck, M. Toussaint, and M. Rohrmeier: Feature Discovery for Sequential Prediction of Monophonic Music. In Proc. of the 18th Int. Society for Music Information Retrieval Conference (ISMIR’17), 2017. [Bibtex]

@InProceedings{17-langhabel-ISMIR,
author  = {Jonas Langhabel and Robert Lieck and Marc Toussaint and
Martin Rohrmeier},
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)}
}

C. Phiquepal and M. Toussaint: Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach. RSS Workshop on Integrated Task and Motion Planning, 2017. [Bibtex]

@Misc{17-phiquepal-TAMPws,
title = {Combined Task and Motion Planning under Partial
Observability: An Optimization-Based Approach},
author  = {Camille Phiquepal and Marc Toussaint},
year = {2017},
howpublished  = {RSS Workshop on Integrated Task and Motion Planning},
youtube  = {7tefP951Foo}
}

2016

K. P. Wabersich and M. Toussaint: Advancing Bayesian Optimization: The Mixed-Global-Local (MGL) Kernel and Length-Scale Cool Down. NIPS Workshop on Bayesian Optimization, Preprint at arxiv.org/abs/1612.03117, 2016. [Bibtex]

@Misc{16-wabersich-NIPSws,
title = {Advancing Bayesian Optimization: The Mixed-Global-Local
{(MGL)} Kernel and Length-Scale Cool Down},
author  = {Kim Peter Wabersich and Marc Toussaint},
howpublished  = {NIPS Workshop on Bayesian Optimization},
year = {2016},
pdf = {https://arxiv.org/abs/1612.03117},
note = {Preprint at arxiv.org/abs/1612.03117}
}

J. Kulick, R. Lieck, and M. Toussaint: Cross-Entropy as a Criterion for Robust Interactive Learning of Latent Properties. NIPS Workshop on the Future of Interactive Learning Machines, 2016. [Bibtex]

@Misc{16-kulick-NIPSws,
author  = {Johannes Kulick and Robert Lieck and Marc Toussaint},
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}
}

D. Drieß, P. Englert, and M. Toussaint: Constrained Bayesian Optimization of Combined Interaction Force/Task Space Controllers for Manipulations. IROS Workshop on Mechatronics behind Force/Torque Controlled Robot Actuation: Secrets and Challenges, 2016. [Bibtex]

@Misc{16-driess-IROSws,
title = {Constrained Bayesian Optimization of Combined Interaction
Force/Task Space Controllers for Manipulations},
author  = {Danny Drieß and Peter Englert and Marc Toussaint},
howpublished  = {IROS Workshop on Mechatronics behind Force/Torque
Controlled Robot Actuation: Secrets and Challenges},
year = {2016}
}

P. Englert and M. Toussaint: Combined Optimization and Reinforcement Learning for Manipulation Skills. In Proc. of Robotics: Science and Systems (R:SS 2016), 2016. [Bibtex]

@InProceedings{16-englert-RSS,
author  = {Englert, Peter and Toussaint, Marc},
title = {Combined Optimization and Reinforcement Learning for
Manipulation Skills},
booktitle  = {Proc{.} of Robotics: Science and Systems (R:SS 2016)},
year = {2016},
youtube  = {bn_sv5A1BhQ}
}

N. A. Vien, P. Englert, and M. Toussaint: Policy Search in Reproducing Kernel Hilbert Space. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2016), 2016. [Bibtex]

@InProceedings{16-vien-IJCAI,
title = {Policy Search in Reproducing Kernel Hilbert Space},
author  = {Ngo Anh Vien and Peter Englert and Marc Toussaint},
booktitle  = ijcai # { (IJCAI 2016)},
year = {2016}
}

M. Toussaint, T. Munzer, Y. Mollard, L. Wu, N. A. Vien, and M. Lopes: Relational Activity Processes for Modeling Concurrent Cooperation. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2016), 2016. [Bibtex]

@InProceedings{16-toussaint-ICRA,
title = {Relational Activity Processes for Modeling Concurrent
Cooperation},
author  = {Marc Toussaint and Thibaut Munzer and Yoan Mollard and Li
Yang Wu and Ngo Anh Vien and Manuel Lopes},
booktitle  = icra # { (ICRA 2016)},
year = {2016},
vimeo = {139342248},
youtube  = {J6qt8Pi3zYg}
}

N. Ratliff, M. Toussaint, J. Bohg, and S. Schaal: On the Fundamental Importance of Gauss-Newton in Motion Optimization. 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}
}

O. Brock, J. Park, and M. Toussaint: Mobility and Manipulation. In Handbook of Robotics, Springer, 2016. [Bibtex]

@InCollection{16-brock-Handbook,
title = {Mobility and Manipulation},
author  = {Oliver Brock and Jaeheung Park and Marc Toussaint},
booktitle  = {Handbook of Robotics},
chapter  = {40},
editor  = {Siciliano, Bruno and Khatib, Oussama},
publisher  = {Springer},
year = {2016},
pdf = {http://www.springer.com/us/book/9783319325507}
}

R. Lieck and M. Toussaint: Temporally extended features in model-based reinforcement learning with partial observability. Neurocomputing, 192, 49-60, 2016. [Bibtex]

@Article{16-lieck-Neurocomputing,
title = {Temporally extended features in model-based reinforcement
learning with partial observability},
author  = {Robert Lieck and Marc Toussaint},
journal  = {Neurocomputing},
year = {2016},
pages = {49-60},
volume  = {192}
}

J. Schreiter, D. Nguyen-Tuong, and M. Toussaint: Efficient sparsification for Gaussian process regression. Neurocomputing, 192, 29-37, 2016. [Bibtex]

@Article{16-schreiter-Neurocomputing,
title = {Efficient sparsification for Gaussian process regression},
author  = {Jens Schreiter and Duy Nguyen-Tuong and Marc Toussaint},
journal  = {Neurocomputing},
year = {2016},
pages = { 29-37 },
volume  = {192}
}

2015

J. Kulick, R. Lieck, and M. Toussaint: The Advantage of Cross-Entropy over Entropy in Iterative Information Gathering. e-Print arXiv:1409.7552v2, 2015. [Bibtex]

@Misc{15-kulick-MaxCE,
author  = {Johannes Kulick and Robert Lieck and Marc Toussaint},
year = {2015},
title = {{{The Advantage of Cross-Entropy over Entropy in Iterative
Information Gathering}}},
howpublished  = {e-Print arXiv:1409.7552v2},
pdf = {https://arxiv.org/abs/1409.7552v2}
}

Y. Mollard, T. Munzer, A. Baisero, M. Toussaint, and M. Lopes: Robot programming from demonstration, feedback and transfer. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2015), 2015. [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  = iros # { (IROS 2015)},
year = {2015},
vimeo = {120726868},
vimeo2  = {109165300},
youtube  = {xags2An65go},
youtube2  = {cK-X5FCPwKs}
}

N. A. Vien and M. Toussaint: Touch Based POMDP Manipulation via Sequential Submodular Optimization. In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2015), 2015. [Bibtex]

@InProceedings{15-vien-Humanoids,
author  = {Ngo Anh Vien and Marc Toussaint},
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}
}

J. Schreiter, D. Nguyen-Tuong, M. Eberts, B. Bischoff, H. Markert, and M. Toussaint: Safe Exploration for Active Learning with Gaussian Processes. In Proc. of the Conf. on Machine Learning (ECML 2015), 2015. [Bibtex]

@InProceedings{15-schreiter-ECML,
title = {Safe Exploration for Active Learning with Gaussian
Processes},
author  = {Jens Schreiter and Duy Nguyen-Tuong and Mona Eberts and
Bastian Bischoff and Heiner Markert and Marc Toussaint},
year = {2015},
booktitle  = ecml # { (ECML 2015)},
key = {ECML}
}

A. Baisero, Y. Mollard, M. Lopes, M. Toussaint, and I. Luetkebohle: Temporal Segmentation of Pair-Wise Interaction Phases in Sequential Manipulation Demonstrations. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2015), 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  = iros # { (IROS 2015)},
year = {2015}
}

N. Ratliff, M. Toussaint, and S. Schaal: Understanding the geometry of workspace obstacles in motion optimization. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2015), 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  = icra # { (ICRA 2015)},
year = {2015}
}

A. Doerr, N. Ratliff, J. Bohg, M. Toussaint, and S. Schaal: Direct loss minimization inverse optimal control. In Proc. of Robotics: Science and Systems (R:SS 2015), 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 2015)},
year = {2015}
}

P. Englert and M. Toussaint: Inverse KKT – Learning Cost Functions of Manipulation Tasks from Demonstrations. In Proceedings of the International Symposium of Robotics Research (ISRR 2015), 2015. [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}
}

R. Lieck and M. Toussaint: Discovering temporally extended features for reinforcement learning in domains with delayed causalities. 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}
}

N. A. Vien and M. Toussaint: POMDP Manipulation via Trajectory Optimization. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2015), 2015. [Bibtex]

@InProceedings{15-vien-IROS,
author  = {Ngo Anh Vien and Marc Toussaint},
title = {{POMDP} Manipulation via Trajectory Optimization},
booktitle  = iros # { (IROS 2015)},
year = {2015},
youtube  = {FCzM_jaIwhk}
}

K. P. Wabersich and M. Toussaint: Automatic Testing and MiniMax Optimization of System Parameters for Best Worst-Case Performance. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2015), 2015. [Bibtex]

@InProceedings{15-wabersich-IROS,
author  = { Kim Peter Wabersich and Marc Toussaint},
title = {Automatic Testing and MiniMax Optimization of System
Parameters for Best Worst-Case Performance},
booktitle  = iros # { (IROS 2015)},
year = {2015}
}

M. Toussaint, H. Ritter, and O. Brock: The Optimization Route to Robotics–-and Alternatives. Künstliche Intelligenz, 29, 379-388, 2015. [Bibtex]

@Article{15-toussaint-KI,
author  = {Marc Toussaint and Helge Ritter and Oliver Brock},
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}
}

B. Hammer and M. Toussaint: (Eds.) Special Issue on Autonomous Learning. Künstliche Intelligenz, 29, 323-327, 2015. [Bibtex]

@InCollection{15-hammer-KIeditorial,
author  = {Barbara Hammer and Marc Toussaint},
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}
}

M. Toussaint: Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2015), 2015. [Bibtex]

@InProceedings{15-toussaint-IJCAI,
title = {Logic-Geometric Programming: An Optimization-Based
Approach to Combined Task and Motion Planning},
author  = {Marc Toussaint},
booktitle  = ijcai # { (IJCAI 2015)},
year = {2015},
youtube  = {B2s85xfo2uE}
}

J. Schreiter, D. Nguyen-Tuong, H. Markert, M. Hanselmann, and M. Toussaint: Fast Greedy Insertion and Deletion in Sparse Gaussian Process Regression. In Proc. of the European Symposium on Artificial Neural Networks (ESANN 2015), 2015. [Bibtex]

@InProceedings{15-schreiter-ESANN,
author  = {Jens Schreiter and Duy Nguyen-Tuong and Heiner Markert and
Michael Hanselmann and Marc Toussaint},
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}
}

J. Schreiter, P. Englert, D. Nguyen-Tuong, and M. Toussaint: Sparse Gaussian Process Regression for Compliant, Real-Time Robot Control. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2015), 2015. [Bibtex]

@InProceedings{15-schreiter-ICRA,
author  = {Jens Schreiter and Peter Englert and Duy Nguyen-Tuong and
Marc Toussaint},
title = {Sparse Gaussian Process Regression for Compliant,
Real-Time Robot Control},
booktitle  = icra # { (ICRA 2015)},
year = {2015}
}

A. Kumar, S. Zilberstein, and M. Toussaint: Probabilistic Inference Techniques for Scalable Multiagent Decision Making. Journal of Artificial Intelligence Research, 53, 223-270, 2015. [Bibtex]

@Article{15-kumar-JAIR,
title = {Probabilistic Inference Techniques for Scalable Multiagent
Decision Making},
author  = {Akshat Kumar and Shlomo Zilberstein and Marc Toussaint},
journal  = {Journal of Artificial Intelligence Research},
volume  = {53},
pages = {223-270},
year = {2015}
}

J. Kulick, S. Otte, and M. Toussaint: Active Exploration of Joint Dependency Structures. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2015), 2015. [Bibtex]

@InProceedings{15-kulick-ICRA,
author  = {Johannes Kulick and Stefan Otte and Marc Toussaint},
title = {Active Exploration of Joint Dependency Structures},
booktitle  = icra # { (ICRA 2015)},
year = {2015},
youtube  = {6JBF-53iDOM}
}

N. A. Vien and M. Toussaint: Hierarchical Monte-Carlo Planning. In Proc. of The Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI 15), 2015. [Bibtex]

@InProceedings{15-vien-AAAI,
author  = {Ngo Anh Vien and Marc Toussaint},
title = {Hierarchical {Monte-Carlo} Planning},
booktitle  = {Proc{.} of The Twenty-Ninth AAAI Conference on Artificial
Intelligence (AAAI 15)},
year = {2015}
}

J. Kulick, S. Otte, and M. Toussaint: Robots Solving Serial Means-Means-End Problems. RSS Workshop on Combining AI Reasoning and Cognitive Science, 2015. [Bibtex]

@Misc{15-kulick-RSSws,
author  = {Johannes Kulick and Stefan Otte and Marc Toussaint},
title = {Robots Solving Serial Means-Means-End Problems},
howpublished  = {RSS Workshop on Combining AI Reasoning and Cognitive
Science},
year = {2015}
}

2014

J. Kulick, R. Lieck, and M. Toussaint: Active Learning of Hyperparameters: An Expected Cross Entropy Criterion for Active Model Selection. e-Print arXiv:1409.7552 Note that we have a newer version 1409.7552v2 on arXiv, 2014. [Bibtex]

@Misc{14-kulick-MaxCE,
author  = {Johannes Kulick and Robert Lieck and Marc Toussaint},
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},
pdf = {https://arxiv.org/abs/1409.7552v1}
}

M. Toussaint: A Novel Augmented Lagrangian Approach for Inequalities and Convergent Any-Time Non-Central Updates. e-Print arXiv:1412.4329, 2014. [Bibtex]

@Misc{14-toussaint-AugLag,
author  = {Marc Toussaint},
year = {2014},
title = {A Novel Augmented Lagrangian Approach for Inequalities and
Convergent Any-Time Non-Central Updates},
howpublished  = {e-Print arXiv:1412.4329},
pdf = {https://arxiv.org/abs/1412.4329}
}

M. Toussaint: KOMO: Newton methods for k-order Markov Constrained Motion Problems. e-Print arXiv:1407.0414, 2014. [Bibtex]

@Misc{14-toussaint-KOMO,
author  = {Marc Toussaint},
year = {2014},
title = {{KOMO}: {N}ewton methods for k-order {M}arkov Constrained
Motion Problems},
howpublished  = {e-Print arXiv:1407.0414},
pdf = {https://arxiv.org/abs/1407.0414}
}

M. Toussaint, N. Ratliff, J. Bohg, L. Righetti, P. Englert, and S. Schaal: Dual Execution of Optimized Contact Interaction Trajectories. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2014), 2014. [Bibtex]

@InProceedings{14-toussaint-IROS,
author  = {Marc Toussaint and Nathan Ratliff and Jeannette Bohg and
Ludovic Righetti and Peter Englert and Stefan Schaal},
title = {Dual Execution of Optimized Contact Interaction
Trajectories},
booktitle  = iros # { (IROS 2014)},
youtube  = {u0mIG4UWUC4},
year = {2014}
}

S. Otte, J. Kulick, M. Toussaint, and O. Brock: Entropy Based Strategies for Physical Exploration of the Environment’s Degrees of Freedom. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2014), 2014. [Bibtex]

@InProceedings{14-otte-IROS,
author  = {Stefan Otte and Johannes Kulick and Marc Toussaint and
Oliver Brock},
title = {Entropy Based Strategies for Physical Exploration of the
Environment's Degrees of Freedom},
booktitle  = iros # { (IROS 2014)},
year = {2014}
}

P. Englert and M. Toussaint: Reactive Phase and Task Space Adaptation for Robust Motion Execution. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2014), 2014. [Bibtex]

@InProceedings{14-englert-IROS,
author  = {Peter Englert and Marc Toussaint},
title = {Reactive Phase and Task Space Adaptation for Robust Motion
Execution},
booktitle  = iros # { (IROS 2014)},
year = {2014}
}

N. A. Vien and M. Toussaint: Model-Based Relational RL When Object Existence is Partially Observable. In Proc. of the Int. Conf. on Machine Learning (ICML 2014), 2014. [Bibtex]

@InProceedings{14-vien-ICML,
author  = {Ngo Anh Vien and Marc Toussaint},
title = {Model-Based Relational RL When Object Existence is
Partially Observable},
booktitle  = icml # { (ICML 2014)},
year = {2014}
}

N. Jetchev and M. Toussaint: Discovering relevant task spaces using inverse feedback control. Autonomous Robots, 37, 169-189, 2014. [Bibtex]

@Article{14-jetchev-AuRo,
title = {Discovering relevant task spaces using inverse feedback
control},
author  = {Nikolay Jetchev and Marc Toussaint},
year = {2014},
volume  = {37},
pages = {169-189},
journal  = {Autonomous Robots}
}

2013

N. A. Vien and M. Toussaint: Reasoning with Uncertainties Over Existence Of Objects. AAAI Technical Report FS-13-02, 2013. [Bibtex]

@Misc{13-vien-AAAIws,
year = {2013},
title = {Reasoning with Uncertainties Over Existence Of Objects},
author  = {Ngo Anh Vien and Marc Toussaint},
howpublished  = {AAAI Technical Report FS-13-02}
}

D. Zarubin, F. T. Pokorny, M. Toussaint, and D. Kragic: Caging Complex Objects with Geodesic Balls. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2013), 2013. [Bibtex]

@InProceedings{13-zarubin-IROS,
author  = {Dmitry Zarubin and Florian T. Pokorny and Mmarc Toussaint
and Danica Kragic},
title = {Caging Complex Objects with Geodesic Balls},
booktitle  = iros # { (IROS 2013)},
year = {2013}
}

D. Zarubin, F. T. Pokorny, D. Song, M. Toussaint, and D. Kragic: Topological Synergies for Grasp Transfer. ICRA Workshop on Hand Synergies – how to tame the complexity of grapsing, 2013. [Bibtex]

@Misc{13-zarubin-ICRAws,
year = {2013},
author  = {Dmitry Zarubin and Florian T. Pokorny and Dan Song and
Marc Toussaint and Danica Kragic},
title = {Topological Synergies for Grasp Transfer},
howpublished  = {ICRA Workshop on Hand Synergies -- how to tame the
complexity of grapsing}
}

K. Rawlik, M. Toussaint, and S. Vijayakumar: Path Integral Control by Reproducing Kernel Hilbert Space Embedding. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2013), 2013. [Bibtex]

@InProceedings{13-rawlik-IJCAI,
title = {Path Integral Control by Reproducing Kernel Hilbert Space
Embedding},
author  = {Konrad Rawlik and Marc Toussaint and Sethu Vijayakumar},
booktitle  = ijcai # { (IJCAI 2013)},
year = {2013}
}

A. Orthey, M. Toussaint, and N. Jetchev: Optimizing Motion Primitives to Make Symbolic Models More Predictive. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2013), 2013. [Bibtex]

@InProceedings{13-orthey-ICRA,
author  = {Andreas Orthey and Marc Toussaint and Nikolay Jetchev},
title = {Optimizing Motion Primitives to Make Symbolic Models More
Predictive},
booktitle  = icra # { (ICRA 2013)},
year = {2013}
}

J. Kulick, M. Toussaint, T. Lang, and M. Lopes: Active Learning for Teaching a Robot Grounded Relational Symbols. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2013), 2013. [Bibtex]

@InProceedings{13-kulick-IJCAI,
year = {2013},
title = {Active Learning for Teaching a Robot Grounded Relational
Symbols},
author  = {Johannes Kulick and Marc Toussaint and Tobias Lang and
Manuel Lopes},
booktitle  = ijcai # { (IJCAI 2013)}
}

N. Jetchev, T. Lang, and M. Toussaint: Learning Grounded Relational Symbols from Continuous Data for Abstract Reasoning. 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  = {Nikolay Jetchev and Tobias Lang and Marc Toussaint},
howpublished  = {ICRA Workshop on Autonomous Learning}
}

N. Jetchev and M. Toussaint: Fast Motion Planning from Experience: Trajectory Prediction for Speeding up Movement Generation. Autonomous Robots, 34, 111-127, 2013. [Bibtex]

@Article{13-jetchev-AuRo,
title = {Fast Motion Planning from Experience: Trajectory
Prediction for Speeding up Movement Generation},
author  = {Nikolay Jetchev and Marc Toussaint},
year = {2013},
volume  = {34},
pages = {111-127},
journal  = {Autonomous Robots}
}

V. Ivan, D. Zarubin, M. Toussaint, T. Komura, and S. Vijayakumar: Topology-based Representations for Motion Planning and Generalisation in Dynamic Environments with Interactions. International Journal of Robotics Research, 32, 1151-1163, 2013. [Bibtex]

@Article{13-ivan-IJRR,
author  = {Vladimir Ivan and Dmitry Zarubin and Marc Toussaint and
Taku Komura and Sethu Vijayakumar},
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}
}

S. Dragiev, M. Toussaint, and M. Gienger: Uncertainty Aware Grasping and Tactile Exploration. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2013), 2013. [Bibtex]

@InProceedings{13-dragiev-ICRA,
author  = {Stanimir Dragiev and Marc Toussaint and Michael Gienger},
title = {Uncertainty Aware Grasping and Tactile Exploration},
booktitle  = icra # { (ICRA 2013)},
year = {2013}
}

E. Rückert, G. Neumann, M. Toussaint, and W. Maass: Learned graphical models for probabilistic planning provide a new class of movement primitives. Frontiers in Computational Neuroscience, 6(97), 2013. [Bibtex]

@Article{13-ruckert-CompNeu,
author  = {Elmar R{\"u}ckert and Gerhard Neumann and Marc Toussaint
and Wolfgang Maass},
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}
}

M. Toussaint, T. Lang, and N. Jetchev: Kognitive Robotik – Herausforderungen an unser Verständnis natürlicher Umgebungen. Automatisierungstechnik, 61, 259-268, 2013. [Bibtex]

@Article{13-toussaint-AT,
author  = {Marc Toussaint and Tobias Lang and Nikolay Jetchev},
title = {{Kognitive Robotik -- Herausforderungen an unser
Verst{\"a}ndnis nat{\"u}rlicher Umgebungen}},
journal  = {Automatisierungstechnik},
year = {2013},
volume  = {61},
pages = {259-268}
}

2012

D. Zarubin, V. Ivan, M. Toussaint, and S. Vijayakumar: Hierarchical Motion Planning in Topological Representations. In Proc. of Robotics: Science and Systems (R:SS 2012), 2012. [Bibtex]

@InProceedings{12-zarubin-RSS,
author  = {Dmitry Zarubin and Vladimir Ivan and Marc Toussaint and
Sethu Vijayakumar},
title = {Hierarchical Motion Planning in Topological
Representations},
booktitle  = {Proc{.} of Robotics: Science and Systems (R:SS 2012)},
year = {2012}
}

M. Toussaint: The Bayesian Search Game. In Theory and Principled Methods for Designing Metaheuristics, Springer, 2012. [Bibtex]

@InCollection{12-toussaint-BayesSearch,
author  = {Marc Toussaint},
title = {The {B}ayesian Search Game},
year = {2012},
booktitle  = {Theory and Principled Methods for Designing
Metaheuristics},
editor  = {Yossi Borenstein and Alberto Moraglio},
publisher  = {Springer}
}

K. Rawlik, M. Toussaint, and S. Vijayakumar: On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference. In Proc. of Robotics: Science and Systems (R:SS 2012), \emph{Runner Up Best Paper Award}, 2012. [Bibtex]

@InProceedings{12-rawlik-RSS,
author  = {Konrad Rawlik and Marc Toussaint and Sethu Vijayakumar},
title = {On Stochastic Optimal Control and Reinforcement Learning
by Approximate Inference},
booktitle  = {Proc{.} of Robotics: Science and Systems (R:SS 2012)},
note = {\emph{Runner Up Best Paper Award}},
year = {2012}
}

M. Lopes, T. Lang, and M. Toussaint: Exploration in Model-based Reinforcement Learning by Empirically Estimating Learning Progress. In Advances in Neural Information Processing Systems (NIPS 2012), 2012. [Bibtex]

@InProceedings{12-lopes-NIPS,
author  = {Manuel Lopes and Tobias Lang and Marc Toussaint},
title = {Exploration in Model-based Reinforcement Learning by
Empirically Estimating Learning Progress},
booktitle  = {Advances in Neural Information Processing Systems (NIPS
2012)},
year = {2012}
}

T. Lang, M. Toussaint, and K. Kersting: Exploration in Relational Domains for Model-based Reinforcement Learning. Journal of Machine Learning Research, 13, 3691-3734, 2012. [Bibtex]

@Article{12-lang-JMLR,
title = {Exploration in Relational Domains for Model-based
Reinforcement Learning},
author  = {Tobias Lang and Marc Toussaint and Kristian Kersting},
journal  = {Journal of Machine Learning Research},
year = {2012},
volume  = {13},
pages = {3691-3734}
}

A. Kumar, S. Zilberstein, and M. Toussaint: Message Passing Algorithms for MAP Estimation Using DC Programming. In Int. Conf. on Artificial Intelligence and Statistics (AISTATS 2012), 656-664, 2012. [Bibtex]

@InProceedings{12-kumar-AISTATS,
author  = {Akshat Kumar and Shlomo Zilberstein and Marc Toussaint},
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}
}

M. Botvinick and M. Toussaint: Planning as probabilistic inference. Trends in Cognitive Sciences, 16, 485-488, 2012. [Bibtex]

@Article{12-botvinick-TICS,
author  = {Matthew Botvinick and Marc Toussaint},
title = {Planning as probabilistic inference},
journal  = {Trends in Cognitive Sciences},
volume  = {16},
pages = {485-488},
year = {2012}
}

2011

M. Toussaint, A. Storkey, and S. Harmeling: Expectation-Maximization methods for solving (PO)MDPs. In Bayesian Time Series Models, 388-413, Cambridge University Press, 2011. [Bibtex]

@InCollection{11-toussaint-EM,
author  = {Marc Toussaint and Amos Storkey and Stefan Harmeling},
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}
}

P. Poupart, M. Toussaint, and T. Lang: Analyzing and Escaping Local Optima in Planning as Inference for Partially Observable Domains. In European Conf. on Machine Learning (ECML 2011), 2011. [Bibtex]

@InProceedings{11-poupart-ECML,
author  = {Pascal Poupart and Marc Toussaint and Tobias Lang},
year = {2011},
title = {Analyzing and Escaping Local Optima in Planning as
Inference for Partially Observable Domains},
booktitle  = {European Conf{.} on Machine Learning (ECML 2011)}
}

P. Poupart, M. Toussaint, and T. Lang: Escaping Local Optima in POMDP Planning as Inference. 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  = {Pascal Poupart and Marc Toussaint and Tobias Lang},
year = {2011},
booktitle  = {10th Int{.} Conf{.} on Autonomous Agents and Multiagent
Systems (AAMAS 2011)}
}

A. Kumar, S. Zilberstein, and M. Toussaint: Scalable Multiagent Planning Using Probabilistic Inference. 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  = {Akshat Kumar and Shlomo Zilberstein and Marc Toussaint},
year = {2011},
booktitle  = {Proc{.} of the 22nd Int{.} Joint Conf{.} on Artificial
Intelligence (IJCAI 2011)}
}

N. Jetchev and M. Toussaint: Task Space Retrieval Using Inverse Feedback Control. In Proc. of the Int. Conf. on Machine Learning (ICML 2011), 2011. [Bibtex]

@InProceedings{11-jetchev-ICML,
title = {Task Space Retrieval Using Inverse Feedback Control},
author  = {Nikolay Jetchev and Marc Toussaint},
year = {2011},
booktitle  = icml # { (ICML 2011)}
}

S. Dragiev, M. Toussaint, and M. Gienger: Gaussian Process Implicit Surfaces for Shape Estimation and Grasping. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2011), 2011. [Bibtex]

@InProceedings{11-dragiev-ICRA,
author  = {Stanimir Dragiev and Marc Toussaint and Michael Gienger},
title = {Gaussian Process Implicit Surfaces for Shape Estimation
and Grasping},
booktitle  = icra # { (ICRA 2011)},
year = {2011}
}

2010

M. Toussaint, N. Plath, T. Lang, and Nikolay Jetchev: Integrated motor control, planning, grasping and high-level reasoning in a blocks world using probabilistic inference. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2010), 2010. [Bibtex]

@InProceedings{10-toussaint-ICRA,
author  = {Marc Toussaint and Nils Plath and Tobias Lang and Nikolay
Jetchev},
title = {Integrated motor control, planning, grasping and
high-level reasoning in a blocks world using probabilistic
inference},
booktitle  = icra # { (ICRA 2010)},
year = {2010}
}

M. Toussaint and C. Goerick: A Bayesian view on motor control and planning. In From motor to interaction learning in robots, Springer, 2010. [Bibtex]

@InCollection{10-toussaint-BayesianControl,
author  = {Marc Toussaint and Christian Goerick},
title = {A {B}ayesian view on motor control and planning},
booktitle  = {From motor to interaction learning in robots},
publisher  = {Springer},
editor  = {Olivier Sigaud and Jan Peters},
year = {2010}
}

K. Rawlik, M. Toussaint, and S. Vijayakumar: An Approximate Inference Approach to Temporal Optimization in Optimal Control. In Advances in Neural Information Processing Systems (NIPS 2010), 2010. [Bibtex]

@InProceedings{10-rawlik-NIPS,
author  = {Konrad Rawlik and Marc Toussaint and Sethu Vijayakumar},
year = {2010},
title = {An Approximate Inference Approach to Temporal Optimization
in Optimal Control},
booktitle  = {Advances in Neural Information Processing Systems (NIPS
2010)}
}

K. Rawlik, M. Toussaint, and S. Vijayakumar: Approximate Inference and Stochastic Optimal Control. e-Print arXiv:1009.3958, 2010. [Bibtex]

@Misc{10-rawlik-tr,
author  = {Konrad Rawlik and Marc Toussaint and Sethu Vijayakumar},
year = {2010},
title = {Approximate Inference and Stochastic Optimal Control},
howpublished  = {e-Print arXiv:1009.3958}
}

J. Morimoto, C. Jenkins, and M. Toussaint: (Eds.) Special Issue “Robot Learning in Practice”. IEEE Robotics and Automation Magazine, 17(2), 17-18, 2010. [Bibtex]

@InCollection{10-morimoto-RAM,
author  = {Jun Morimoto and Chad Jenkins and Marc Toussaint},
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}
}

T. Lang and M. Toussaint: Planning with Noisy Probabilistic Relational Rules. Journal of Artificial Intelligence Research, 39, 1-49, 2010. [Bibtex]

@Article{10-lang-JAIR,
author  = {Tobias Lang and Marc Toussaint},
title = {Planning with Noisy Probabilistic Relational Rules},
journal  = {Journal of Artificial Intelligence Research},
year = {2010},
volume  = {39},
pages = {1-49}
}

T. Lang and M. Toussaint: Probabilistic backward and forward reasoning in stochastic relational worlds. In Proc. of the Int. Conf. on Machine Learning (ICML 2010), 2010. [Bibtex]

@InProceedings{10-lang-ICML,
author  = {Tobias Lang and Marc Toussaint},
year = {2010},
title = {Probabilistic backward and forward reasoning in stochastic
relational worlds},
booktitle  = icml # { (ICML 2010)}
}

T. Lang, M. Toussaint, and K. Kersting: Exploration in Relational Worlds. In Proc. of the European Conf. on Machine Learning (ECML 2010), 2010. [Bibtex]

@InProceedings{10-lang-ECML,
author  = {Tobias Lang and Marc Toussaint and Kristian Kersting},
year = {2010},
title = {Exploration in Relational Worlds},
booktitle  = {Proc{.} of the European Conf{.} on Machine Learning (ECML
2010)}
}

N. Jetchev and M. Toussaint: Trajectory Prediction in Cluttered Voxel Environments. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA 2010), 2010. [Bibtex]

@InProceedings{10-jetchev-ICRA,
author  = {Nikolay Jetchev and Marc Toussaint},
title = {Trajectory Prediction in Cluttered Voxel Environments},
booktitle  = icra # { (ICRA 2010)},
year = {2010}
}

M. Gienger, M. Toussaint, and C. Goerick: Whole-body Motion Planning – Building Blocks for Intelligent. In Motion Planning for Humanoid Robots, 67-98, Springer, 2010. [Bibtex]

@InCollection{10-gienger-WholeBody,
title = {Whole-body Motion Planning -- Building Blocks for
Intelligent},
author  = {Michael Gienger and Marc Toussaint and Christian Goerick},
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

N. Vlassis and M. Toussaint: Model-Free Reinforcement Learning as Mixture Learning. In Proc. of the Int. Conf. on Machine Learning (ICML 2009), 1081-1088, 2009. [Bibtex]

@InProceedings{09-vlassis-ICML,
title = {Model-Free Reinforcement Learning as Mixture Learning},
author  = {Nikos Vlassis and Marc Toussaint},
booktitle  = icml # { (ICML 2009)},
year = {2009},
pages = {1081-1088},
isbn = {978-1-60558-516-1}
}

N. Vlassis, M. Toussaint, G. Kontes, and S. Piperidis: Learning model-free robot control by a Monte Carlo EM algorithm. Autonomous Robots, special issue on Robot Learning, 27, 123-130, 2009. [Bibtex]

@Article{09-vlassis-AuRo,
title = {Learning model-free robot control by a {Monte Carlo EM}
algorithm},
author  = {Nikos Vlassis and Marc Toussaint and Georgios Kontes and
Savas Piperidis},
journal  = {Autonomous Robots, special issue on Robot Learning},
year = {2009},
volume  = {27},
pages = {123-130}
}

S. Vijayakumar, M. Toussaint, G. Petkos, and M. Howard: Planning and Moving in Dynamic Environments – A Statistical Machine Learning Approach. In Creating Brain-Like Intelligence – From Basic Principles to Complex Intelligent Systems, 5436/2009, 151-191, Springer, 2009. [Bibtex]

@InCollection{09-vijayakumar-MotionSurvey,
author  = {Sethu Vijayakumar and Marc Toussaint and Giorgios Petkos
and Matthew Howard},
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}
}

M. Toussaint: Lecture Note: Influence Diagrams. Personal Lecture Note, 2009. [Bibtex]

@Misc{09-toussaint-b,
author  = {Marc Toussaint},
title = {Lecture Note: Influence Diagrams},
howpublished  = {Personal Lecture Note},
year = {2009},
pdf = {../notes/influence-diagrams.pdf}
}

M. Toussaint: Lecture Notes: Stochastic Optimal Control. Personal Lecture Note, 2009. [Bibtex]

@Misc{09-toussaint-a,
author  = {Marc Toussaint},
title = {Lecture Notes: Stochastic Optimal Control},
howpublished  = {Personal Lecture Note},
year = {2009},
pdf = {../notes/soc.pdf}
}

M. Toussaint: Pros and Cons of truncated Gaussian EP in the context of Approximate Inference Control. 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  = {Marc Toussaint},
howpublished  = {NIPS Workshop on Probabilistic Approaches for Robotics and
Control},
editor  = {Marc Peter Deisenroth and Bert Kappen and Emanuel Todorov
and Duy Nguyen-Tuong and Carl Edward Rasmussen and Jan
Peterset},
year = {2009}
}

M. Toussaint: Probabilistic inference as a model of planned behavior. Künstliche Intelligenz, 3/09, 23-29, 2009. [Bibtex]

@Article{09-toussaint-KI,
author  = {Marc Toussaint},
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}
}

M. Toussaint: Robot Trajectory Optimization using Approximate Inference. In Proc. of the Int. Conf. on Machine Learning (ICML 2009), 1049-1056, ACM, 2009. [Bibtex]

@InProceedings{09-toussaint-ICML,
title = {Robot Trajectory Optimization using Approximate
Inference},
author  = {Marc Toussaint},
booktitle  = icml # { (ICML 2009)},
publisher  = {ACM},
year = {2009},
pages = {1049-1056},
isbn = {978-1-60558-516-1}
}

N. Plath and M. Toussaint: Multi-class image segmentation using Conditional Random Fields and Global Classification. In Proc. of the Int. Conf. on Machine Learning (ICML 2009), 817-824, ACM, 2009. [Bibtex]

@InProceedings{09-plath-ICML,
title = {Multi-class image segmentation using Conditional Random
Fields and Global Classification},
author  = {Nils Plath and Marc Toussaint},
booktitle  = icml # { (ICML 2009)},
publisher  = {ACM},
year = {2009},
pages = {817-824},
isbn = {978-1-60558-516-1}
}

T. Lang and M. Toussaint: Approximate Inference for Planning in Stochastic Relational Worlds. In Proc. of the Int. Conf. on Machine Learning (ICML 2009), 585-592, ACM, 2009. [Bibtex]

@InProceedings{09-lang-ICML,
title = {Approximate Inference for Planning in Stochastic
Relational Worlds},
author  = {Tobias Lang and Marc Toussaint},
booktitle  = icml # { (ICML 2009)},
publisher  = {ACM},
year = {2009},
pages = {585-592},
isbn = {978-1-60558-516-1}
}

T. Lang and M. Toussaint: Relevance Grounding for Planning in Relational Domains. In Proc. of the European Conf. on Machine Learning (ECML 2009), 5781/2009, 736-751, Springer, 2009. [Bibtex]

@InProceedings{09-lang-ECML,
title = {Relevance Grounding for Planning in Relational Domains},
author  = {Tobias Lang and Marc Toussaint},
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}
}

N. Jetchev and M. Toussaint: Trajectory Prediction: Learning to Map Situations to Robot Trajectories. In Proc. of the Int. Conf. on Machine Learning (ICML 2009), 449-456, ACM, 2009. [Bibtex]

@InProceedings{09-jetchev-ICML,
title = {Trajectory Prediction: Learning to Map Situations to Robot
Trajectories},
author  = {Nikolay Jetchev and Marc Toussaint},
booktitle  = icml # { (ICML 2009)},
publisher  = {ACM},
year = {2009},
pages = {449-456},
isbn = {978-1-60558-516-1}
}

2008

V. Willert, J. Eggert, M. Toussaint, and E. Körner: Probabilistic Exploitation of the Lucas and Kanade Smoothness Constraint. In The seventh Int. Conf. on Machine Learning and Applications (ICMLA 2008), 259-266, ACM, 2008. [Bibtex]

@InProceedings{08-willert-ICMLA,
author  = {Volker Willert and Julian Eggert and Marc Toussaint and
Edgar K{\"o}rner},
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}
}

M. Toussaint, L. Charlin, and P. Poupart: Hierarchical POMDP Controller Optimization by Likelihood Maximization. In Uncertainty in Artificial Intelligence (UAI 2008), 562-570, AUAI Press, \emph{Runner Up Best Paper Award}, 2008. [Bibtex]

@InProceedings{08-toussaint-UAI,
author  = {Marc Toussaint and Laurent Charlin and Pascal Poupart},
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}}
}

M. Toussaint, L. Charlin, and P. Poupart: Hierarchical POMDP Controller Optimization by Likelihood Maximization. In AAAI Workshop on Advancements in POMDP Solvers, 2008. [Bibtex]

@Misc{08-toussaint-AAAIws,
author  = {Marc Toussaint and Laurent Charlin and Pascal Poupart},
title = {Hierarchical {POMDP} Controller Optimization by Likelihood
Maximization},
booktitle  = {AAAI Workshop on Advancements in POMDP Solvers},
year = {2008}
}

M. Gienger, M. Toussaint, and C. Goerick: Task Maps in Humanoid Robot Manipulation. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2008), 2758-2764, 2008. [Bibtex]

@InProceedings{08-gienger-IROS,
author  = {Michael Gienger and Marc Toussaint and Christian Goerick},
title = {Task Maps in Humanoid Robot Manipulation},
booktitle  = iros # { (IROS 2008)},
year = {2008},
pages = {2758-2764}
}

M. Gienger, M. Toussaint, N. Jetchev, A. Bendig, and C. Goerick: Optimization of fluent approach and grasp motions. In 8th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2008), 111-117, 2008. [Bibtex]

@InProceedings{08-gienger-Humanoids,
author  = {Michael Gienger and Marc Toussaint and Nikolay Jetchev and
Achim Bendig and Christian Goerick},
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

B. Williams, M. Toussaint, and A. Storkey: Modelling motion primitives and their timing in biologically executed movements. In Advances in Neural Information Processing Systems 20 (NIPS 2007), MIT Press, 2007. [Bibtex]

@InProceedings{07-williams-NIPS,
author  = {Ben Williams and Marc Toussaint and Amos Storkey},
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}
}

B. Williams, M. Toussaint, and A. Storkey: A primitive based generative model to infer timing information in unpartitioned handwriting data. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2007), 2007. [Bibtex]

@InProceedings{07-williams-IJCAI,
author  = {Ben Williams and Marc Toussaint and Amos Storkey},
year = {2007},
title = {A primitive based generative model to infer timing
information in unpartitioned handwriting data},
booktitle  = ijcai # { (IJCAI 2007)}
}

V. Willert, M. Toussaint, J. Eggert, and E. Körner: Uncertainty Optimization for Robust Dynamic Optical Flow Estimation. In Sixth Int Conf on Machine Learning and Applications (ICMLA 2007), 450-457, ACM, 2007. [Bibtex]

@InProceedings{07-willert-ICMLA,
author  = {Volker Willert and Marc Toussaint and Julian Eggert and
Edgar K{\"o}rner},
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}
}

M. Toussaint and C. Goerick: Probabilistic inference for structured planning in robotics. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS 2007), 3068-3073, 2007. [Bibtex]

@InProceedings{07-toussaint-IROS,
author  = {Marc Toussaint and Christian Goerick},
year = {2007},
pages = {3068-3073},
title = {Probabilistic inference for structured planning in
robotics},
booktitle  = iros # { (IROS 2007)}
}

M. Toussaint, M. Gienger, and Christian Goerick: Optimization of sequential attractor-based movement for compact behaviour generation. In 7th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2007), 2007. [Bibtex]

@InProceedings{07-toussaint-Humanoids,
author  = { Marc Toussaint and Michael Gienger and Christian
Goerick},
year = {2007},
title = {Optimization of sequential attractor-based movement for
compact behaviour generation},
booktitle  = {7th IEEE-RAS Int{.} Conf{.} on Humanoid Robots (Humanoids
2007)}
}

M. Toussaint and W. von Seelen: Complex adaptation and system structure. BioSystems, 90, 769-782, 2007. [Bibtex]

@Article{07-toussaint-BioSystems,
author  = {Marc Toussaint and Werner von Seelen},
year = {2007},
title = {Complex adaptation and system structure},
journal  = {BioSystems},
volume  = {90},
pages = {769-782}
}

M. Toussaint, V. Willert, J. Eggert, and E. Körner: Motion Segmentation Using Inference in Dynamic Bayesian Networks. In British Machine Vision Conf. (BMVC 2007), 2007. [Bibtex]

@InProceedings{07-toussaint-BMVC,
author  = {Marc Toussaint and Volker Willert and Julian Eggert and
Edgar K{\"o}rner},
year = {2007},
title = {Motion Segmentation Using Inference in Dynamic Bayesian
Networks},
booktitle  = {British Machine Vision Conf{.} (BMVC 2007)}
}

M. Toussaint: Bayesian inference for motion control and planning. Technical Report 2007-22, ISSN 1436-9915, Technical University Berlin, 2007. [Bibtex]

@Misc{07-toussaint-BMCtr,
author  = {Marc Toussaint},
title = {Bayesian inference for motion control and planning},
howpublished  = {Technical Report 2007-22, ISSN 1436-9915, Technical
University Berlin},
year = {2007}
}

C. R. Stephens, M. Toussaint, David Whitler, and P. S. F. (Eds.): Foundations of Genetic Algorithms (FOGA 2007). Springer, Lecture Notes in Computer Science, Vol. 4436, Springer, ISBN: 978-3-540-73479-6, 2007. [Bibtex]

@Book{07-stephens-FOGA,
author  = {Christopher R. Stephens and Marc Toussaint and David
Whitler and Peter F. Stadler (Eds.)},
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}
}

P. Robbel, S. Vijayakumar, and M. Toussaint: Active Learning in Motor Control. NIPS Workshop on Robotics Challenges for Machine Learning, 2007. [Bibtex]

@Misc{07-robbel-NIPSws,
author  = {Phillip Robbel and Sethu Vijayakumar and Marc Toussaint},
year = {2007},
title = {Active Learning in Motor Control},
howpublished  = {NIPS Workshop on Robotics Challenges for Machine
Learning}
}

S. Harmeling and M. T. (2007): Bayesian Estimators for Robins-Ritov’s Problem. Technical Report EDI-INF-RR-1189, University of Edinburgh, School of Informatics, 2007. [Bibtex]

@Misc{07-harmeling-tr,
author  = {Stefan Harmeling and Marc Toussaint (2007)},
title = {Bayesian Estimators for {Robins-Ritov's} Problem},
howpublished  = {Technical Report EDI-INF-RR-1189, University of Edinburgh,
School of Informatics},
year = {2007}
}

2006

B. H. Williams, M. Toussaint, and A. J. Storkey: Extracting Motion Primitives from Natural Handwriting Data. 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  = {Ben H. Williams and Marc Toussaint and Amos J. Storkey},
booktitle  = {Int{.} Conf{.} on Artificial Neural Networks (ICANN
2006)}
}

M. Toussaint: Compact representations as a search strategy: Compression EDAs. Theoretical Computer Science, 361, 57-71, Elsevier, 2006. [Bibtex]

@Article{06-toussaint-TCS,
year = {2006},
author  = {Marc Toussaint},
title = {Compact representations as a search strategy: {Compression
EDAs}},
journal  = {Theoretical Computer Science},
publisher  = {Elsevier},
volume  = {361},
pages = {57-71}
}

M. Toussaint: A sensorimotor map: Modulating lateral interactions for anticipation and planning. Neural Computation, 18, 1132-1155, MIT Press, 2006. [Bibtex]

@Article{06-toussaint-NC,
year = {2006},
author  = {Marc Toussaint},
title = {A sensorimotor map: {M}odulating lateral interactions for
anticipation and planning},
journal  = {Neural Computation},
publisher  = {MIT Press},
volume  = {18},
pages = {1132-1155}
}

M. Toussaint and A. Storkey: Probabilistic inference for solving discrete and continuous state Markov Decision Processes. In Proc. of the Int. Conf. on Machine Learning (ICML 2006), 945-952, 2006. [Bibtex]

@InProceedings{06-toussaint-ICML,
title = {Probabilistic inference for solving discrete and
continuous state {Markov Decision Processes}},
author  = {Marc Toussaint and Amos Storkey},
pages = {945-952},
year = {2006},
booktitle  = icml # { (ICML 2006)}
}

M. Toussaint, S. Harmeling, and A. Storkey: Probabilistic inference for solving (PO)MDPs. Technical Report EDI-INF-RR-0934, University of Edinburgh, School of Informatics, 2006. [Bibtex]

@Misc{06-toussaint-tr,
author  = {Marc Toussaint and Stefan Harmeling and Amos Storkey},
year = {2006},
title = {Probabilistic inference for solving {(PO)MDPs}},
howpublished  = {Technical Report EDI-INF-RR-0934, University of Edinburgh,
School of Informatics}
}

G. Petkos, M. Toussaint, and S. Vijayakumar: Learning Multiple Models of Non-Linear Dynamics for Control under Varying Contexts. 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  = {Georgios Petkos and Marc Toussaint and Sethu Vijayakumar},
booktitle  = {Int{.} Conf{.} on Artificial Neural Networks (ICANN
2006)}
}

F. V. Agakov, E. V. Bonilla, J. Cavazos, B. Franke, G. Fursin, M. F. P. O’Boyle, J. Thomson, M. Toussaint, and C. I. Williams: Using Machine Learning to Focus Iterative Optimization. In Int. Symposium on Code Generation and Optimization (CGO 2006), 295-305, 2006. [Bibtex]

@InProceedings{06-agakov,
author  = {Felix V. Agakov and Edwin V. Bonilla and John Cavazos and
Bj{\"o}rn Franke and Grigori Fursin and Michael F. P.
O'Boyle and John Thomson and Marc Toussaint and Christopher
K. I. Williams},
year = {2006},
title = {Using Machine Learning to Focus Iterative Optimization},
booktitle  = {Int{.} Symposium on Code Generation and Optimization (CGO
2006)},
pages = {295-305}
}

2005

M. Toussaint and A. Storkey: Probabilistic inference for computing optimal policies in MDPs. In NIPS Workshop on Game Theory, Machine Learning and Reasoning under Uncertainty, 2005. [Bibtex]

@Misc{05-toussaint-NIPSws,
author  = {Marc Toussaint and Amos Storkey},
title = {Probabilistic inference for computing optimal policies in
{MDPs}},
year = {2005},
booktitle  = {NIPS Workshop on Game Theory, Machine Learning and
Reasoning under Uncertainty}
}

M. Toussaint and S. Vijayakumar: Learning discontinuities for switching between local models. In Proc. of the Int. Joint Conf. on Artificial Intelligence (IJCAI 2005), 1744-1745, 2005. [Bibtex]

@InProceedings{05-toussaint-IJCAI,
author  = {Marc Toussaint and Sethu Vijayakumar},
title = {Learning discontinuities for switching between local
models},
year = {2005},
booktitle  = ijcai # { (IJCAI 2005)},
pages = {1744-1745}
}

M. Toussaint and S. Vijayakumar: Learning discontinuities with Product-of-Sigmoids for switching between local models. In Proc. of the Int. Conf. on Machine Learning (ICML 2005), 2005. [Bibtex]

@InProceedings{05-toussaint-ICML,
author  = {Marc Toussaint and Sethu Vijayakumar},
title = {Learning discontinuities with {Product-of-Sigmoids} for
switching between local models},
year = {2005},
booktitle  = icml # { (ICML 2005)}
}

M. Toussaint: Factorial Representations to Generate Arbitrary Search Distributions. In GECCO Workshop on Theory of Representations, 339-345, ACM Press, 2005. [Bibtex]

@Misc{05-toussaint-GECCOws,
author  = {Marc Toussaint},
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}
}

M. Toussaint: Compact Genetic Codes as a Search Strategy of Evolutionary Processes. In Foundations of Genetic Algorithms 8 (FOGA 2005), 3469, 75-94, 2005. [Bibtex]

@InProceedings{05-toussaint-FOGA,
author  = {Marc Toussaint},
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}
}

C. Igel, M. Toussaint, and W. Weishui: Rprop Using the Natural Gradient compared to Levenberg-Marquardt Optimization. In Trends and Applications in Constructive Approximation. Int. Series of Numerical Mathematics, 151, 259-272, Birkhäuser Verlag, Germany., 2005. [Bibtex]

@InCollection{05-igel-Rprop,
author  = {Christian Igel and Marc Toussaint and Wan Weishui},
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.}
}

A. V. Bogdanov, M. Toussaint, and S. Sandven: Recurrent modular network architecture for sea ice classification in the Marginal Ice Zone using ERS SAR images. In Image and Signal Processing for Remote Sensing XI, 5982, SPIE, Bellingham, WA, 2005. [Bibtex]

@InProceedings{05-bogdanov,
author  = {Andrey V. Bogdanov and Marc Toussaint and Stein Sandven},
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},
publisher  = {SPIE, Bellingham, WA},
editor  = {Lorenzo Bruzzone},
year = {2005}
}

2004

M. Toussaint: Notes on information geometry and evolutionary processes. Los Alamos pre-print nlin.AO/0408040, 2004. [Bibtex]

@Misc{04-toussaint-info,
author  = {Marc Toussaint},
year = {2004},
title = {Notes on information geometry and evolutionary processes},
howpublished  = {Los Alamos pre-print nlin.AO/0408040}
}

C. Igel and M. Toussaint: A No-Free-Lunch Theorem for Non-Uniform Distributions of Target Functions. Journal of Mathematical Modelling and Algorithms, 3, 313-322, 2004. [Bibtex]

@Article{04-igel-NFL,
author  = {Christian Igel and Marc Toussaint},
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

M. Toussaint: Learning a world model and planning with a self-organizing, dynamic neural system. In Advances in Neural Information Processing Systems 16 (NIPS 2003), 929-936, MIT Press, Cambridge, 2003. [Bibtex]

@InProceedings{03-toussaint-NIPS,
author  = {Marc Toussaint},
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}
}

M. Toussaint: The evolution of genetic representations and modular adaptation. 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  = {Marc Toussaint},
title = {The evolution of genetic representations and modular
adaptation},
year = {2003},
month = {April},
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.}
}

M. Toussaint: Demonstrating the Evolution of Complex Genetic Representations: An Evolution of Artificial Plants. In Genetic and Evolutionary Computation Conf. (GECCO 2003), 86-97, 2003. [Bibtex]

@InProceedings{03-toussaint-GECCOb,
author  = {Marc Toussaint},
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}
}

M. Toussaint: The structure of evolutionary exploration: On crossover, buildings blocks, and Estimation-Of-Distribution Algorithms. In Genetic and Evolutionary Computation Conf. (GECCO 2003), 1444-1456, 2003. [Bibtex]

@InProceedings{03-toussaint-GECCOa,
author  = {Marc Toussaint},
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}
}

M. Toussaint: On the evolution of phenotypic exploration distributions. In Foundations of Genetic Algorithms 7 (FOGA 2003), 169-182, Morgan Kaufmann, 2003. [Bibtex]

@InProceedings{03-toussaint-FOGA,
author  = {Marc Toussaint},
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}
}

C. Igel and M. Toussaint: Neutrality and Self-adaptation. Natural Computation, 2, 117-132, 2003. [Bibtex]

@Article{03-igel-NatComp,
author  = {Christian Igel and Marc Toussaint},
title = {Neutrality and {S}elf-adaptation},
year = {2003},
journal  = {Natural Computation},
volume  = {2},
pages = {117-132}
}

C. Igel and M. Toussaint: On Classes of Functions for which No Free Lunch Results Hold. Information Processing Letters, 86, 317-321, 2003. [Bibtex]

@Article{03-igel-NFL,
author  = {Christian Igel and Marc Toussaint},
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

M. Toussaint: On model selection and the disability of neural networks to decompose tasks. In Proc. of Int. Joint Conf. on Neural Networks (IJCNN 2002), 245-250, 2002. [Bibtex]

@InProceedings{02-toussaint-IJCNNb,
author  = {Marc Toussaint},
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}
}

M. Toussaint: A neural model for multi-expert architectures. In Proc. of Int. Joint Conf. on Neural Networks (IJCNN 2002), 2755-2760, 2002. [Bibtex]

@InProceedings{02-toussaint-IJCNNa,
author  = {Marc Toussaint},
title = {A neural model for multi-expert architectures},
year = {2002},
booktitle  = {Proc{.} of Int{.} Joint Conf{.} on Neural Networks (IJCNN
2002)},
pages = {2755-2760}
}

M. Toussaint and C. Igel: Neutrality: A Necessity for Self-Adaptation. In Proc. of IEEE Congress on Evolutionary Computation (CEC 2002), 1354-1359, 2002. [Bibtex]

@InProceedings{02-toussaint-CEC,
author  = {Marc Toussaint and Christian Igel},
title = {Neutrality: {A} Necessity for Self-Adaptation},
year = {2002},
booktitle  = {Proc{.} of IEEE Congress on Evolutionary Computation (CEC
2002)},
pages = {1354-1359}
}

M. Hüsken, C. Igel, and M. Toussaint: Task-Dependent Evolution of Modularity in Neural Networks. Connection Science, 14, 219-229, 2002. [Bibtex]

@Article{02-husken-ConSci,
author  = {Michael H{\"u}sken and Christian Igel and Marc Toussaint},
title = {Task-Dependent Evolution of Modularity in Neural
Networks},
year = {2002},
journal  = {Connection Science},
volume  = {14},
pages = {219-229}
}

2001

M. Toussaint: Self-adaptive exploration in evolutionary search. Technical Report IRINI-2001-05, Institut für Neuroinformatik, Ruhr-Universität Bochum, Germany, 2001. [Bibtex]

@Misc{01-toussaint-tr,
author  = {Marc Toussaint},
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}
}

M. Hüsken, C. Igel, and M. Toussaint: Task-Dependent Evolution of Modularity in Neural Networks – A Quantitative Case Study. In Genetic and Evolutionary Computation Conf. (GECCO 2001), 187-193, 2001. [Bibtex]

@InProceedings{01-husken-GECCO,
author  = {Michael H{\"u}sken and Christian Igel and Marc Toussaint},
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

M. Toussaint: A numeric solution for metric-affine gravity and Einstein’s gravitational theory with Proca matter. General Relativity and Gravitation, 32, 1689-1709, 2000. [Bibtex]

@Article{00-toussaint-proca,
author  = {Marc Toussaint},
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 = {arXiv:gr-qc/9910042}
}

M. Toussaint: A gauge theoretical view of the charge concept in Einstein gravity. General Relativity and Gravitation, 32, 885-896, 2000. [Bibtex]

@Article{00-toussaint-gauge,
author  = {Marc Toussaint},
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 = {arXiv:gr-qc/9907024}
}

F. W. . and M. Toussaint: Schwarze Löcher. MNU (Der mathematische und naturwissenschaftliche Unterricht), 6, 327-333, 2000. [Bibtex]

@Article{00-hehl-MNU,
author  = {Friedrich W{.} Hehl and Marc Toussaint},
title = {Schwarze {L\"ocher}},
journal  = {MNU (Der mathematische und naturwissenschaftliche
Unterricht)},
volume  = {6},
pages = {327-333},
year = {2000}
}

1999

M. Toussaint: Gauge Theory of Gravity: Foundations, the charge concept, and a numeric solution. Diploma thesis, Institute for Theoretical Physics, Cologne, 1999. [Bibtex]

@Misc{99-toussaint-diploma,
author  = {Marc Toussaint},
title = {Gauge Theory of Gravity: Foundations, the charge concept,
and a numeric solution},
year = {1999},
howpublished  = {Diploma thesis, Institute for Theoretical Physics,
Cologne}
}

M. Toussaint: Lectures on Reduce and Maple at UAM I – Mexico. arXiv:cs.SC/0105033, 1999. [Bibtex]

@Misc{99-toussaint-mexico,
author  = {Marc Toussaint},
title = {Lectures on {R}educe and {M}aple at {UAM I} - {M}exico},
year = {1999},
howpublished  = {arXiv:cs.SC/0105033},
pdf = {https://arxiv.org/abs/cs.sc/0105033}
}