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ORCIDMarc Toussaint
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- affiliation: TU Berlin, Germany
- affiliation (former): University of Edinburgh, UK
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2020 – today
- 2023
[j39]Servet B. Bayraktar, Andreas Orthey
, Zachary K. Kingston, Marc Toussaint, Lydia E. Kavraki:
Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces. IEEE Robotics Autom. Lett. 8(8): 4529-4536 (2023)- [j38]Valentin N. Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint:
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly. IEEE Trans. Robotics 39(1): 239-252 (2023) - [c140]Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence:
PaLM-E: An Embodied Multimodal Language Model. ICML 2023: 8469-8488 - [c139]Joaquim Ortiz de Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint:
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning. ICRA 2023: 3729-3735 - [i84]Camille Phiquepal, Marc Toussaint:
Control-Tree Optimization: an approach to MPC under discrete Partial Observability. CoRR abs/2302.00116 (2023) - [i83]Valentin N. Hartmann, Joaquim Ortiz de Haro, Marc Toussaint:
Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort. CoRR abs/2303.00637 (2023) - [i82]Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence:
PaLM-E: An Embodied Multimodal Language Model. CoRR abs/2303.03378 (2023) - [i81]Welf Rehberg, Joaquim Ortiz de Haro, Marc Toussaint, Wolfgang Hönig:
Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning. CoRR abs/2304.14062 (2023) - [i80]Valentin N. Hartmann, Marc Toussaint:
Towards computing low-makespan solutions for multi-arm multi-task planning problems. CoRR abs/2305.17527 (2023) - [i79]Hongyou Zhou, Ingmar Fabian Schubert, Marc Toussaint, Ozgur S. Oguz:
Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation. CoRR abs/2306.17053 (2023) - [i78]Phillip Grote, Joaquim Ortiz de Haro, Marc Toussaint, Ozgur S. Oguz:
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning. CoRR abs/2309.07620 (2023) - [i77]Janis Eric Freund, Camille Phiquepal, Andreas Orthey, Marc Toussaint:
Asymptotically Optimal Belief Space Planning in Discrete Partially-Observable Domains. CoRR abs/2309.10672 (2023) - 2022
- [j37]David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, Daniel Weiskopf:
Visual analytics for nonlinear programming in robot motion planning. J. Vis. 25(1): 127-141 (2022) - [j36]Constantinos Chamzas, Carlos Quintero-Peña, Zachary K. Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E. Kavraki:
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets. IEEE Robotics Autom. Lett. 7(2): 882-889 (2022) - [j35]Nicolas Kubail Kalousdian, Grzegorz Lochnicki, Valentin N. Hartmann, Samuel Leder, Ozgur S. Oguz, Achim Menges, Marc Toussaint:
Learning Robotic Manipulation of Natural Materials With Variable Properties for Construction Tasks. IEEE Robotics Autom. Lett. 7(2): 5749-5756 (2022) - [j34]Camille Phiquepal, Andreas Orthey, Nicolas Viennot, Marc Toussaint:
Path-Tree Optimization in Discrete Partially Observable Environments Using Rapidly-Exploring Belief-Space Graphs. IEEE Robotics Autom. Lett. 7(4): 10160-10167 (2022) - [j33]Joaquim Ortiz de Haro, Erez Karpas, Michael Katz, Marc Toussaint:
A Conflict-Driven Interface Between Symbolic Planning and Nonlinear Constraint Solving. IEEE Robotics Autom. Lett. 7(4): 10518-10525 (2022) - [j32]Jung-Su Ha, Danny Driess, Marc Toussaint:
Deep Visual Constraints: Neural Implicit Models for Manipulation Planning From Visual Input. IEEE Robotics Autom. Lett. 7(4): 10857-10864 (2022) - [c138]Joaquim Ortiz de Haro, Erez Karpas, Marc Toussaint, Michael Katz:
Conflict-Directed Diverse Planning for Logic-Geometric Programming. ICAPS 2022: 279-287 - [c137]Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint:
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields. CoRL 2022: 1755-1768 - [c136]Francesco Grothe, Valentin N. Hartmann, Andreas Orthey, Marc Toussaint:
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time. ICRA 2022: 3314-3320 - [c135]Jay Kamat, Joaquim Ortiz de Haro, Marc Toussaint, Florian T. Pokorny, Andreas Orthey:
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. IROS 2022: 4492-4497 - [c134]Wolfgang Hönig, Joaquim Ortiz de Haro, Marc Toussaint:
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning. IROS 2022: 13540-13547 - [c133]Marc Toussaint, Jason Harris, Jung-Su Ha, Danny Driess, Wolfgang Hönig:
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation. IROS 2022: 13753-13760 - [c132]Cornelius V. Braun, Joaquim Ortiz de Haro, Marc Toussaint, Ozgur S. Oguz:
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning. IROS 2022: 13761-13768 - [c131]Jason Harris, Danny Driess, Marc Toussaint:
FC3: Feasibility-Based Control Chain Coordination. IROS 2022: 13769-13776 - [c130]Valentin N. Hartmann, Marlin P. Strub, Marc Toussaint, Jonathan D. Gammell:
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort. ISRR 2022: 555-571 - [c129]Danny Driess, Ingmar Schubert, Pete Florence, Yunzhu Li, Marc Toussaint:
Reinforcement Learning with Neural Radiance Fields. NeurIPS 2022 - [i76]Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint:
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields. CoRR abs/2202.11855 (2022) - [i75]Jay Kamat, Joaquim Ortiz de Haro, Marc Toussaint, Florian T. Pokorny, Andreas Orthey:
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. CoRR abs/2203.01751 (2022) - [i74]Francesco Grothe, Valentin N. Hartmann, Andreas Orthey, Marc Toussaint:
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time. CoRR abs/2203.02176 (2022) - [i73]Marc Toussaint, Jason Harris, Jung-Su Ha, Danny Driess, Wolfgang Hönig:
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation. CoRR abs/2203.05390 (2022) - [i72]Wolfgang Hönig, Joaquim Ortiz de Haro, Marc Toussaint:
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning. CoRR abs/2203.11108 (2022) - [i71]Camille Phiquepal, Andreas Orthey, Nicolas Viennot, Marc Toussaint:
Path-Tree Optimization in Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs. CoRR abs/2204.04444 (2022) - [i70]Jason Harris, Danny Driess, Marc Toussaint:
FC3: Feasibility-Based Control Chain Coordination. CoRR abs/2205.04362 (2022) - [i69]Valentin N. Hartmann, Marlin P. Strub, Marc Toussaint, Jonathan D. Gammell:
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort. CoRR abs/2205.08480 (2022) - [i68]Danny Driess, Ingmar Schubert, Peter R. Florence, Yunzhu Li, Marc Toussaint:
Reinforcement Learning with Neural Radiance Fields. CoRR abs/2206.01634 (2022) - [i67]Joaquim Ortiz de Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint:
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning. CoRR abs/2210.12386 (2022) - [i66]Philipp Kratzer, Marc Toussaint, Jim Mainprice:
Planning Coordinated Human-Robot Motions with Neural Network Full-Body Prediction Models. CoRR abs/2210.13317 (2022) - [i65]Joaquim Ortiz de Haro, Erez Karpas, Michael Katz, Marc Toussaint:
A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving. CoRR abs/2211.15275 (2022) - [i64]S. Bora Bayraktar, Andreas Orthey, Zachary K. Kingston, Marc Toussaint, Lydia E. Kavraki:
Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces. CoRR abs/2212.02955 (2022) - 2021
- [j31]Danny Driess, Jung-Su Ha, Marc Toussaint:
Learning to solve sequential physical reasoning problems from a scene image. Int. J. Robotics Res. 40(12-14): 1435-1466 (2021) - [j30]Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni, Rohit Prakash, Marc Toussaint, Jim Mainprice:
MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze. IEEE Robotics Autom. Lett. 6(1): 367-373 (2021) - [j29]Andreas Orthey, Marc Toussaint:
Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning. IEEE Trans. Robotics 37(6): 1891-1905 (2021) - [c128]Marie-Therese Khoury, Andreas Orthey, Marc Toussaint:
Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts. CASE 2021: 1547-1553 - [c127]Joaquim Ortiz de Haro, Jung-Su Ha, Danny Driess, Marc Toussaint:
Structured deep generative models for sampling on constraint manifolds in sequential manipulation. CoRL 2021: 213-223 - [c126]Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake:
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning. CoRL 2021: 245-255 - [c125]Ingmar Schubert, Ozgur S. Oguz, Marc Toussaint:
Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks. ICLR 2021 - [c124]Joaquim Ortiz de Haro, Valentin N. Hartmann, Ozgur S. Oguz, Marc Toussaint:
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation. ICRA 2021: 4606-4612 - [c123]Marc Toussaint, Jung-Su Ha, Ozgur S. Oguz:
Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning. ICRA 2021: 6600-6606 - [c122]Andreas Orthey, Marc Toussaint:
Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning. ICRA 2021: 7851-7857 - [c121]Camille Phiquepal, Marc Toussaint:
Control-Tree Optimization: an approach to MPC under discrete Partial Observability. ICRA 2021: 9666-9672 - [c120]Marc Tuscher, Julian Hörz, Danny Driess, Marc Toussaint:
Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping. ICRA 2021: 14185-14191 - [c119]Danny Driess, Jung-Su Ha, Russ Tedrake, Marc Toussaint:
Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input. ICRA 2021: 14298-14305 - [c118]Yoojin Oh, Marc Toussaint, Jim Mainprice:
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies. IROS 2021: 5305-5311 - [c117]Ingmar Schubert, Danny Driess, Ozgur S. Oguz, Marc Toussaint:
Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics. NeurIPS 2021: 1912-1924 - [c116]Hon Sum Alec Yu, Dingling Yao, Christoph Zimmer, Marc Toussaint, Duy Nguyen-Tuong:
Active Learning in Gaussian Process State Space Model. ECML/PKDD (3) 2021: 346-361 - [c115]An T. Le, Philipp Kratzer, Simon Hagenmayer, Marc Toussaint, Jim Mainprice:
Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks. RO-MAN 2021: 7-14 - [c114]Yoojin Oh, Tim Schäfer, Benedikt Rüther, Marc Toussaint, Jim Mainprice:
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures. RO-MAN 2021: 503-508 - [c113]Janik M. Hager, Ruben Bauer, Marc Toussaint, Jim Mainprice:
GraspME - Grasp Manifold Estimator. RO-MAN 2021: 626-632 - [c112]Andreas Orthey, Marc Toussaint:
Visualizing Local Minima in Multi-robot Motion Planning Using Multilevel Morse Theory. WAFR 2021: 502-517 - [e5]Dylan A. Shell, Marc Toussaint, M. Ani Hsieh:
Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021. 2021, ISBN 978-0-9923747-7-8 [contents] - [i63]David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, Daniel Weiskopf:
Visualization of Nonlinear Programming for Robot Motion Planning. CoRR abs/2101.12075 (2021) - [i62]Marc Tuscher, Julian Hörz, Danny Driess, Marc Toussaint:
Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping. CoRR abs/2103.05401 (2021) - [i61]An T. Le, Philipp Kratzer, Simon Hagenmayer, Marc Toussaint, Jim Mainprice:
Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks. CoRR abs/2104.08137 (2021) - [i60]Valentin Noah Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint:
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly. CoRR abs/2106.02489 (2021) - [i59]Yoojin Oh, Marc Toussaint, Jim Mainprice:
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures. CoRR abs/2107.01829 (2021) - [i58]Janik M. Hager, Ruben Bauer, Marc Toussaint, Jim Mainprice:
GraspME - Grasp Manifold Estimator. CoRR abs/2107.01836 (2021) - [i57]Andreas Orthey, Florian T. Pokorny, Marc Toussaint:
Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning. CoRR abs/2107.02498 (2021) - [i56]Ingmar Schubert, Ozgur S. Oguz, Marc Toussaint:
Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks. CoRR abs/2107.06661 (2021) - [i55]Hon Sum Alec Yu, Dingling Yao, Christoph Zimmer, Marc Toussaint, Duy Nguyen-Tuong:
Active Learning in Gaussian Process State Space Model. CoRR abs/2108.00819 (2021) - [i54]Yoojin Oh, Marc Toussaint, Jim Mainprice:
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies. CoRR abs/2108.10634 (2021) - [i53]Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake:
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning. CoRR abs/2110.00792 (2021) - [i52]Cornelius V. Braun, Joaquim Ortiz de Haro, Marc Toussaint, Ozgur S. Oguz:
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning. CoRR abs/2110.03420 (2021) - [i51]Nicholas Roy, Ingmar Posner, Tim D. Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Daniel E. Koditschek, Tomás Lozano-Pérez, Vikash Mansinghka, Christopher J. Pal, Blake A. Richards, Dorsa Sadigh, Stefan Schaal, Gaurav S. Sukhatme, Denis Thérien, Marc Toussaint, Michiel van de Panne:
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence. CoRR abs/2110.15245 (2021) - [i50]Ingmar Schubert, Danny Driess, Ozgur S. Oguz, Marc Toussaint:
Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics. CoRR abs/2111.07908 (2021) - [i49]Jung-Su Ha, Danny Driess, Marc Toussaint:
Learning Neural Implicit Functions as Object Representations for Robotic Manipulation. CoRR abs/2112.04812 (2021) - [i48]Constantinos Chamzas, Carlos Quintero-Peña, Zachary K. Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E. Kavraki:
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets. CoRR abs/2112.06402 (2021) - 2020
- [j28]Isabell Wochner, Danny Drieß, Heiko Zimmermann, Daniel F. B. Haeufle, Marc Toussaint, Syn Schmitt:
Optimality Principles in Human Point-to-Manifold Reaching Accounting for Muscle Dynamics. Frontiers Comput. Neurosci. 14: 38 (2020) - [j27]Andreas Orthey, Benjamin Frész, Marc Toussaint:
Motion Planning Explorer: Visualizing Local Minima Using a Local-Minima Tree. IEEE Robotics Autom. Lett. 5(2): 346-353 (2020) - [j26]Marc Toussaint, Jung-Su Ha, Danny Driess:
Describing Physics For Physical Reasoning: Force-Based Sequential Manipulation Planning. IEEE Robotics Autom. Lett. 5(4): 6209-6216 (2020) - [c111]Son Nguyen, Ozgur S. Oguz, Valentin N. Hartmann, Marc Toussaint:
Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning. CoRL 2020: 2104-2119 - [c110]Philipp Kratzer, Marc Toussaint, Jim Mainprice:
Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks. ICRA 2020: 1792-1798 - [c109]Jung-Su Ha, Danny Driess, Marc Toussaint:
A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty. ICRA 2020: 6745-6751 - [c108]Danny Driess, Ozgur S. Oguz, Jung-Su Ha, Marc Toussaint:
Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning. ICRA 2020: 9563-9569 - [c107]Valentin N. Hartmann, Ozgur S. Oguz, Danny Driess, Marc Toussaint, Achim Menges:
Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning. IROS 2020: 6886-6893 - [c106]Sabrina Hoppe, Markus Giftthaler, Robert Krug, Marc Toussaint:
Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG. IROS 2020: 9080-9087 - [c105]Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal:
An Interior Point Method Solving Motion Planning Problems with Narrow Passages. RO-MAN 2020: 547-552 - [c104]Philipp Kratzer, Niteesh Balachandra Midlagajni, Marc Toussaint, Jim Mainprice:
Anticipating Human Intention for Full-Body Motion Prediction in Object Grasping and Placing Tasks. RO-MAN 2020: 1157-1163 - [c103]Yoojin Oh, Shao-Wen Wu, Marc Toussaint, Jim Mainprice:
Natural Gradient Shared Control. RO-MAN 2020: 1223-1229 - [c102]Danny Driess, Jung-Su Ha, Marc Toussaint:
Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image. Robotics: Science and Systems 2020 - [c101]Christian Henkel, Marc Toussaint:
Optimized directed roadmap graph for multi-agent path finding using stochastic gradient descent. SAC 2020: 776-783 - [c100]David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, Daniel Weiskopf:
Visualization of nonlinear programming for robot motion planning. VINCI 2020: 10:1-10:8 - [e4]Marc Toussaint, Antonio Bicchi, Tucker Hermans:
Robotics: Science and Systems XVI, Virtual Event / Corvalis, Oregon, USA, July 12-16, 2020. 2020, ISBN 978-0-9923747-6-1 [contents] - [i47]Andreas Orthey, Marc Toussaint:
Visualizing Local Minima in Multi-Robot Motion Planning using Morse Theory. CoRR abs/2002.04385 (2020) - [i46]Marc Toussaint, Jung-Su Ha, Danny Drieß:
Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning. CoRR abs/2002.12780 (2020) - [i45]Jung-Su Ha, Danny Drieß, Marc Toussaint:
Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty. CoRR abs/2003.04259 (2020) - [i44]Valentin N. Hartmann, Ozgur S. Oguz, Danny Drieß, Marc Toussaint, Achim Menges:
Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning. CoRR abs/2003.07754 (2020) - [i43]Christian Henkel, Marc Toussaint:
Optimized Directed Roadmap Graph for Multi-Agent Path Finding Using Stochastic Gradient Descent. CoRR abs/2003.12924 (2020) - [i42]Danny Drieß, Jung-Su Ha, Marc Toussaint:
Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image. CoRR abs/2006.05398 (2020) - [i41]Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal:
An Interior Point Method Solving Motion Planning Problems with Narrow Passages. CoRR abs/2007.04842 (2020) - [i40]Sabrina Hoppe, Marc Toussaint:
Qgraph-bounded Q-learning: Stabilizing Model-Free Off-Policy Deep Reinforcement Learning. CoRR abs/2007.07582 (2020) - [i39]Andreas Orthey, Sohaib Akbar, Marc Toussaint:
Multilevel Motion Planning: A Fiber Bundle Formulation. CoRR abs/2007.09435 (2020) - [i38]Philipp Kratzer, Niteesh Balachandra Midlagajni, Marc Toussaint, Jim Mainprice:
Anticipating Human Intention for Full-Body Motion Prediction in Object Grasping and Placing Tasks. CoRR abs/2007.10038 (2020) - [i37]Yoojin Oh, Shao-Wen Wu, Marc Toussaint, Jim Mainprice:
Natural Gradient Shared Control. CoRR abs/2007.15308 (2020) - [i36]Andreas Orthey, Marc Toussaint:
Section Patterns: Efficiently Solving Narrow Passage Problems using Multilevel Motion Planning. CoRR abs/2010.14524 (2020) - [i35]Andreas Orthey, Marc Toussaint:
Sparse Multilevel Roadmaps on Fiber Bundles for High-Dimensional Motion Planning. CoRR abs/2011.00832 (2020) - [i34]Marie-Therese Khoury, Andreas Orthey, Marc Toussaint:
Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts. CoRR abs/2011.01552 (2020) - [i33]Joaquim Ortiz de Haro, Valentin N. Hartmann, Ozgur S. Oguz, Marc Toussaint:
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation. CoRR abs/2011.04828 (2020) - [i32]Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni, Rohit Prakash, Marc Toussaint, Jim Mainprice:
MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze. CoRR abs/2011.11552 (2020)
2010 – 2019
- 2019
- [j25]Sabrina Hoppe, Zhongyu Lou, Daniel Hennes, Marc Toussaint:
Planning Approximate Exploration Trajectories for Model-Free Reinforcement Learning in Contact-Rich Manipulation. IEEE Robotics Autom. Lett. 4(4): 4042-4047 (2019) - [c99]Muhammad Usman Khalid, Janik M. Hager, Werner Kraus, Marco F. Huber, Marc Toussaint:
Deep Workpiece Region Segmentation for Bin Picking. CASE 2019: 1138-1144 - [c98]Andreas Doerr, Michael Volpp, Marc Toussaint, Sebastian Trimpe, Christian Daniel:
Trajectory-Based Off-Policy Deep Reinforcement Learning. ICML 2019: 1636-1645 - [c97]Danny Drieß, Daniel Hennes, Marc Toussaint:
Active Multi-Contact Continuous Tactile Exploration with Gaussian Process Differential Entropy. ICRA 2019: 7844-7850 - [c96]Camille Phiquepal, Marc Toussaint:
Combined Task and Motion Planning under Partial Observability: An Optimization-Based Approach. ICRA 2019: 9000-9006 - [c95]Marc Toussaint, Kelsey R. Allen, Kevin A. Smith, Joshua B. Tenenbaum:
Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning - Extended Abtract. IJCAI 2019: 6231-6235 - [c94]