SLMC
Statistical Learning and Motor Control Group
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Publications

An up-to-date publication list can be found here. [J]:Journal, [C]:Conference, [B]:Book Chapters, [W]:Workshops/Posters], [P]:Patents

  • 2024

  • [C165] Victor Leve, Joao Moura, Namiko Saito, Steve Tonneau and Sethu Vijayakumar, Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation, Proc. IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nancy, France (2024). [pdf] [video] [citation]
  • [C164] Jiayi Wang, Saeid Samadi, Hefan Wang, Pierre Fernbach, Olivier Stasse, Sethu Vijayakumar and Steve Tonneau, NAS: N-step computation of All Solutions to the footstep planning problem, Proc. IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nancy, France (2024). [pdf] [video] [citation]
  • [C163] Juan Del Aguila Ferrandis, Joao Moura and Sethu Vijayakumar, Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions, Proc. The Conference on Robot Learning (CoRL 2024), Munich, Germany (2024). [pdf] [video] [citation]
  • [C162] Namiko Saito, Joao Moura and Sethu Vijayakumar, Long-horizon Manipulation through Hierarchical Motion Planning with Subgoal Prediction, Proc. 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands (2024). [pdf] [video] [citation]
  • [C161] Joao Moura, Theodoros Stouraitis, Namiko Saito and Sethu Vijayakumar, Optimal Shared Autonomy for Contact-rich Robotic Manipulation, Proc. 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands (2024). [pdf] [citation]
  • [C160] Namiko Saito, Joao Moura, Hiroki Uchida and Sethu Vijayakumar, Latent Object Characteristics Recognition with Visual to Haptic-Audio Cross-modal Transfer Learning , Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, UAE (2024). [pdf] [video] [citation]
  • [C159] Andreas Sochopoulos, Michael Gienger and Sethu Vijayakumar, Learning Deep Dynamical Systems using Stable Neural ODEs, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, UAE (2024). [pdf] [video] [citation]
  • [J63] Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, and Steve Tonneau, Online Multi-Contact Receding Horizon Planning via Value Function Approximation, IEEE Transactions on Robotics (T-RO), vol. 40, pp. 2791-2810 (2024)  [pdf][DOI][video] [citation]
  • [J62] Lei Yan, Theodoros Stouraitis, Joao Moura, Wenfu Xu, Michael Gienger, and Sethu Vijayakumar, Impact-Aware Bimanual Catching of Large-Momentum Objects, IEEE Transactions on Robotics (T-RO), vol. 40, pp. 2543-2563 (2024) (Presented at: 40th Anniversary of IEEE International Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands) [pdf] [DOI] [video] [citation]
  • [C158] Andreas Christou, Antonio J. del-Ama, Juan C. Moreno and Sethu Vijayakumar, Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study, Proc. IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan (2024). [pdf] [video] [citation]
  • [C157] Marina Y. Aoyama, Joao Moura, Namiko Saito and Sethu Vijayakumar, Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation, Proc. IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan (2024). [pdf] [video] [citation]
  • [C156] Russell Buchanan*, Adrian Röfer, Joao Moura, Abhinav Valada and Sethu Vijayakumar, Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing, Proc. IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan (2024) (Also presented at: IEEE ICRA 2024 Workshop on A Future Roadmap for Sensorimotor Skill Learning for Robot Manipulation). [pdf] [video] [citation]
  • [C155] Keyhan Kouhkiloui Babarahmati, Mohammadreza Kasaei, Michael Mistry and Sethu Vijayakumar, Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control, Proc. IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan (2024) (Also presented at:  IEEE ICRA 2024 Workshop on Human-Centric Multilateral Teleoperation Augmentation). [pdf] [video] [citation] IEEE ICRA 2024 Workshop Best Poster Award
  • [J61] Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag, Sethu Vijayakumar and Michael Mistry, Safe and compliant control of redundant robots using superimposition of passive task-space controllers, Nonlinear Dynamics, vol. 112, pp. 1023-1038 (2023). [pdf] [DOI] [citation]

  • 2023

  • [J60] Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis and Sethu Vijayakumar, RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms, Autonomous Robots, vol. 77(8), pp. 1463-1481 (2023). [pdf] [DOI] [video] [citation]
  • [J59] Daniel Gordon, Andreas Christou, Theodoros Stouraitis, Michael Gienger and Sethu Vijayakumar, Adaptive Assistive Robotics: A Framework for Triadic Collaboration Between Humans and Robots, Royal Society Open Science, vol. 10: 221617 (2023). [pdf] [DOI] [citation]
  • [J58] Ke Wang, Guiyang Xin, Songyan Xin, Michael Mistry, Sethu Vijayakumar and Petar Kormushev, A unified model with inertia shaping for highly dynamic jumps of legged robots, Mechatronics, vol. 95: 103040 (2023). [pdf] [DOI] [citation]
  • [C154] Juan Del Aguila Ferrandis, Joao Moura and Sethu Vijayakumar, Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2023), Detroit, USA (2023). [pdf] [video] [citation]
  • [C153] Ruaridh Mon-Williams, Theodoros Stouraitis and Sethu Vijayakumar, A Behavioural Transformer for Effective Collaboration between a Robot and a Non-stationary Human, Proc. IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2023), Busan, Korea (2023). [pdf] [video] [citation]
  • [J57] Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau and Sethu Vijayakumar,  Inverse-Dynamics MPC via Nullspace Resolution, IEEE Transactions on Robotics (T-RO), vol. 39(4), pp. 3222-3241 (2023). (Presented at: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2023), Detroit, USA). [pdf] [DOI] [video] [citation]
  • [C152] Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan and Sethu Vijayakumar, Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection, Proc. IEEE International Conference on Robotics and Automation (ICRA 2023), London, UK (2023). [pdf][video][citation]
  • [C151] Namiko Saito, Joao Moura, Tetsuya Ogata, Marina Y. Aoyama, Shingo Murata, Shigeki Sugano and Sethu Vijayakumar, Structured Motion Generation with Predictive Learning: Proposing Subgoal for Long-Horizon Manipulation, Proc. IEEE International Conference on Robotics and Automation (ICRA 2023), London, UK (2023). [pdf][video][citation]
  • [C150] Daniel F. N. Gordon, Andreas Christou, Theodoros Stouraitis, Michael Gienger and Sethu Vijayakumar, Learning Personalised Human Sit-to-Stand Motion Strategies via Inverse Musculoskeletal Optimal Control, Proc. IEEE International Conference on Robotics and Automation (ICRA 2023), London, UK (2023). [pdf][citation]
  • [C149] Christopher Edwin Mower, Joao Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren and Christos Bergeles, OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control, Proc. IEEE International Conference on Robotics and Automation (ICRA 2023), London, UK (2023). [pdf][video][citation]
  • [W13] Saeid Samadi, Wenqian Du and Sethu Vijayakumar, Geometric Evaluation of Balance Regions for Multi-Contact Humanoids Using Contact Stability Criteria, IEEE ICRA 2023 Workshop on Geometric Representations: The Roles of Modern Screw Theory, Lie Algebra, and Geometric Algebra in Robotics (2023).
  • [W12] Sandor Felber, Joao Moura, and Sethu Vijayakumar, A Control System Framework for Robust Deployability of Teleoperation Devices in Shared Workspaces, IEEE ICRA 2023 Workshop on Bridging the Lab-to-Real Gap: Conversations with Academia, Industry, and Government (2023). [pdf]
  • [J56] Mathew Jose Pollayil, Franco Angelini, Guiyang Xin, Michael Mistry, Sethu Vijayakumar, Antonio Bicchi, Manolo Garabini, Choosing Stiffness and Damping for Optimal Impedance Planning, IEEE Transactions on Robotics (T-RO), vol. 39, no. 2, pp. 1281-1300 (2023). [pdf] [DOI] [video] [citation]

  • 2022

  • [J55] Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Sola, Nicolas Mansard and Sethu Vijayakumar,  A Feasibility-Driven Approach to Control-Limited DDP, Autonomous Robots, vol. 46(8), pp. 985-1005 (2022). [pdf] [DOI] [video] [citation]

  • [C148] Andreas Christou, Daniel Gordon, Theodoros Stouraitis and Sethu Vijayakumar, Designing Personalised Rehabilitation Controllers using Offline Model-Based Optimisation, Proc. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO 2022), Xishuangbanna, China (2022) [pdf] [citation] IEEE Robio 2022 Best Paper Finalist

  • [C147] Christopher Mower, Theodoros Stouraitis, Joao Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles and Sethu Vijayakumar, ROS Py-Bullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction, Conference on Robot Learning (CoRL 2022), Auckland, New Zealand (2022) [pdf] [video] [citation]

  • [J54] Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam and Sethu Vijayakumar, RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects, IEEE Robotics and Automation Letters (RAL), vol. 7(3), pp. 8209-8216 (2022). (Presented at: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2022)) [pdf] [DOI] [video] [citation]

  • [C146] Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau and Sethu Vijayakumar,  A Versatile Co-Design Approach For Dynamic Legged Robots, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan (2022). [pdf] [video] [citation]

  • [C145] Jiayi Wang, Teguh Santoso Lembono, Sanghyun Kim, Sylvain Calinon, Sethu Vijayakumar and Steve Tonneau, Learning to Guide Online Multi-Contact Receding Horizon Planning, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan (2022). [pdf] [video] [citation]

  • [J53] Christian Rauch, Ran Long, Vladimir Ivan and Sethu Vijayakumar, Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models, IEEE Robotics and Automation Letters (RAL), vol. 7(4), pp. 11394-11401 (2022). (Presented at: IEEE International Conference on Robotics and Automation (ICRA 2023), London, UK) [pdf] [DOI] [video] [citation]

  • [J52] Daniel F. N. Gordon, Christopher McGreavy, Andreas Christou and Sethu Vijayakumar, Human-in-the-loop Optimization of Exoskeleton Assistance via Online Simulation of Metabolic Cost, IEEE Transactions on Robotics (T-RO), vol. 38, no. 3, pp. 1410-1429 (2022). (Presented at: IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia, USA ) [pdf] [DOI] [video] [citation]
  • [J51] Violet Borkowska, Alistair McConnell, Sethu Vijayakumar, Adam Stokes and Aidan Roche, A Haptic Sleeve as a Method of Mechanotactile Feedback Restoration for Myoelectric Hand Prosthesis Users, Frontiers in Rehabilitation Science, 3:806479 (2022). [pdf] [DOI] [citation]
  • [J50] Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar and Julie Shah, Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty, IEEE Robotics and Automation Letters (RAL), vol. 7(3), pp. 5958-5965 (2022). [pdf] [DOI] [video] [citation]

  • [C144] Joao Moura, Theodoros Stouraitis and Sethu Vijayakumar, Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints, Proc. IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia, USA (2022). [pdf] [video] [citation] [online presentation]

  • 2021

  • [J49] Wolfgang Xaver Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis and Sethu Vijayakumar, Memory Clustering using Persistent Homology for Multimodality and Discontinuity-Sensitive Learning of Optimal Control Warm Starts, IEEE Transactions on Robotics (T-RO), vol. 37, no. 5, pp. 1649-1660 (2021). (Presented at: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic) [pdf] [DOI] [video] [citation]

  • [J48] Carlo Tiseo, Wolfgang Xaver Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar and Michael Mistry, HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems, IEEE Transactions on Neural Systems and Rehabilitation Engineering (IEEE-TNSRE), vol. 29, pp. 1432-1440 (2021). [pdf] [DOI] [citation]

  • [C143] Huayan Zhang, Tianwei Zhang, Tin Lun Lam and Sethu Vijayakumar, PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic (2021). [pdf] [video] [digest] [citation]

  • [C142] Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam and Sethu Vijayakumar, AcousticFusion: Fusing Sound Source Localization to Visual SLAM in dynamic environments, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic (2021). [pdf] [video] [digest] [citation]

  • [J47] Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo and Sethu Vijayakumar, Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories, Robotics and Autonomous Systems, vol. 142, pp. 103814 (2021). [pdf] [DOI] [citation]

  • [C141] Chris Mower, Joao Moura and Sethu Vijayakumar, Skill-based Shared Control, Proc. Robotics: Science and Systems (R:SS 2021), [Held Virtually] (2021). [pdf][video] [online presentation] [citation]

  • [C140] Jiayi Wang, Sanghyun Kim, Sethu Vijayakumar and Steve Tonneau, Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion, Proc. IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids 2020), Munich, Germany (2021). [pdf] [video] [digest] [citation]

  • [J46] Lei Yan, Theodoros Stouraitis and Sethu Vijayakumar, Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation, IEEE Robotics and Automation Letters (RAL), vol. 6(2), pp. 2311-2318 (2021) (Presented at: IEEE International Conference on Robotics and Automation ICRA 2021)  [pdf] [DOI] [video] [digest] [online presentation] [citation]

  • [J45] Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan and Sethu Vijayakumar, RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects, IEEE Robotics and Automation Letters (RAL), vol. 6(2), pp. 3703-3710 (2021) (Presented at: IEEE International Conference on Robotics and Automation ICRA 2021) [pdf] [DOI] [video] [digest] [online presentation] [citation]

  • [J44] Guiyang Xin, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar and Michael Mistry, Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion, IEEE Robotics and Automation Letters (RAL), vol. 6(3), pp. 4488-4495 (2021) (Presented at: IEEE International Conference on Robotics and Automation ICRA 2021) [pdf] [DOI] [video] [digest] [citation]

  • [C139] Henrique Ferrolho, Vladimir Ivan, Wolfgang Xaver Merkt, Ioannis Havoutis and Sethu Vijayakumar, Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization, Proc. IEEE International Conference on Robotics and Automation (ICRA 2021), Xian, China (2021). [pdf] [video] [digest] [online presentation] [citation]

  • [C138] Jiatao Ding, Songyan Xin, Tin Lun Lam and Sethu Vijayakumar, Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies,  Proc. IEEE International Conference on Robotics and Automation (ICRA 2021), Xian, China (2021). [pdf] [video] [digest] [online presentation] [citation]

  • [C137] Carlo Tiseo, Vladimir Ivan, Wolfgang Xaver Merkt, Ioannis Havoutis, Michael Mistry and Sethu Vijayakumar, A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots, Proc. IEEE International Conference on Robotics and Automation (ICRA 2021), Xian, China (2021). [pdf] [video] [digest] [online presentation] [citation]

  • [C136] Xiaoyu Zhang, Lei Yan, Tin Lun Lam and Sethu Vijayakumar, Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation, Proc. IEEE International Conference on Robotics and Automation (ICRA 2021), Xian, China (2021). [pdf] [video] [digest] [online presentation] [citation]

  • [B11] Lei Yan, Bingshan Hu, and Sethu Vijayakumar, A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots, In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science (vol. 13016). Springer, Cham (2021). [pdf] [DOI] [citation]

  • [C135] Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sylvain Calinon, Sethu Vijayakumar, Michel Taix and Nicolas Mansard, Whole Body Model Predictive Control with Memory of Motion: Experiments on a Torque-Controlled TALOS, Proc. IEEE International Conference on Robotics and Automation (ICRA 2021), Xian, China (2021). [pdf] [video] [digest] [online presentation] [citation]

  • [C134] Traiko Dinev*, Wolfgang Xaver Merkt*, Vladimir Ivan, Ioannis Havoutis and Sethu Vijayakumar, Sparsity-Inducing Optimal Control via Differential Dynamic Programming , Proc. IEEE International Conference on Robotics and Automation (ICRA 2021), Xian, China (2021). [pdf] [video] [digest] [online presentation] [citation]

  • 2020

  • [J43] Theodoros Stouraitis, Iordanis Chatzinikolaidis, Michael Gienger and Sethu Vijayakumar, Online Hybrid Motion Planning for Dyadic collaborative Manipulation via Bilevel Optimization, IEEE Transactions on Robotics (T-RO), vol. 36, no. 5, pp. 1452-1471 (2020). [pdf] [DOI] [video] [citation] IEEE RAS TC Best Paper Finalist 2020

  • [C133] Henrique Ferrolho, Wolfgang Xaver Merkt, Vladimir Ivan, Wouter Wolfslag and Sethu Vijayakumar, Optimizing Dynamic Trajectories for Robustness to Disturbances using Polytopic Projections, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA (2020). [pdf] [video] [digest] [online presentation] [citation]

  • [C132] Theodoros Stouraitis, Lei Yan, Joao Moura, Michael Gienger and Sethu Vijayakumar, Multi-mode Trajectory Optimization for Impact-aware Manipulation, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA (2020). [pdf] [video] [digest] [online presentation] [citation]

  • [C131] Songyang Xin and Sethu Vijayakumar, Online Dynamic Motion Planning and Control for Wheeled Biped Robots, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA (2020). [pdf] [video] [digest] [online presentation] [citation]

  • [C130] Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau and Sethu Vijayakumar, Automatic Gait Pattern Selection for Legged Robots, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA (2020). [pdf] [video] [digest] [online presentation] [citation]

  • [C129] Traiko Dinev, Songyang Xin, Wolfgang Merkt, Vladimir Ivan and Sethu Vijayakumar, Modeling and Control of a Hybrid Wheeled Jumping Robot, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA (2020). [pdf] [video] [digest] [online presentation] [citation]

  • [C128] Wouter Wolfslag, Christopher McGreavy, Guiyang Xin, Carlo Tiseo, Sethu Vijayakumar and Zhibin Li, Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA (2020). [pdf] [video] [digest] [online presentation] [citation]

  • [C127] Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar and Michael Mistry, Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots, Proc. 16th IEEE International Conference on Automation Science and Engineering (CASE 2020), Hong Kong (2020). [pdf] [online presentation] [citation]

  • [J42] Agamemnon Krasoulis, Sethu Vijayakumar and Kianoush Nazarpour, Multi-Grip Classification-Based Prosthesis Control With Two EMG-IMU Sensors, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 28:2, pp. 508-518 (2020) [pdf] [DOI] [citation]

  • [C126] Vladimir Ivan, Arnau Garriga-Casanovas, Pouyan Khalili, Wolfgang Merkt, Frederic Cegla and Sethu Vijayakumar, Autonomous Non-destructive Remote Robotic Inspection of Offshore Assets, Proc. Offshore Technology Conference (OTC 2020), Houston, USA (2020). [pdf] [online presentation] [citation]

  • [C125] Carlo Tiseo, Wolfgang Merkt, Keyhan Babarahmat, Wouter Wolfslag, Sethu Vijayakumar and Michael Mistry, Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance, Proc. 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2020), New York, USA (2020). [pdf][video] [citation]

  • [C124] Carlos Mastalli, Rohan Budhiraja, Wolfgang Xaver Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar and Nicolas Mansard, Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control, Proc. IEEE International Conference on Robotics and Automation (ICRA 2020), Paris, France (2020). [pdf] [video] [online presentation] [citation]

  • [C123] Christopher McGreavy, Kai Yuan, Daniel F. N. Gordon, Kang Tan, Wouter Wolfslag, Sethu Vijayakumar and Zhibin Li, Unified Push Recovery Fundamentals: Inspiration from Human Study, Proc. IEEE International Conference on Robotics and Automation (ICRA 2020), Paris, France (2020). [pdf] [citation]

  • [P2] Hugh Gill, Sethu Vijayakumar and Ian Saunders, Prosthetic Feedback Apparatus and Methods, Patent Number: US 20200054466A1 (2020). [link]

  • 2019

  • [C122] Franco Angelini, Guiyan Xin, Wouter Wolfslag, Carlo Tiseo, Michael Mistry, Manolo Garabini, Antonio Bicchi and Sethu Vijayakumar, Online Optimal Impedance Planning for Legged Robots, Proc. IEEE Intl. Conf. on Intelligent Robots and Systems (IROS 2019), Macau, China (2019). [pdf] [video] [citation]

  • [C121] Joao Moura, Vladimir Ivan, Mustafa Suphi Erden and Sethu Vijayakumar, Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution, Proc. Robotics: Science and Systems (RSS 2019), Frieberg, Germany (2019). [pdf][poster][citation] RSS 2019 Best Paper Award Finalist

  • [C120] Wolfgang Merkt, Vladimir Ivan and Sethu Vijayakumar, Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments, Proc. IEEE Intl. Conf. on Intelligent Robots and Systems (IROS 2019), Macau, China (2019). [pdf] [citation]

  • [J41] Agamemnon Krasoulis, Sethu Vijayakumar and Kianoush Nazarpour, Effect of user adaptation on Prosthetic Finger Control with an Intuitive Myoelectric Decoder, Frontiers in Neuroscience, vol. 12:58 (2019) [pdf] [DOI] [citation] Neuroprosthetics Editor's Pick 2021

  • [C119] Francois Heremans, Sethu Vijayakumar, Mohamed Bouri, Bruno Dehez and Renaud Ronsse Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis, Proc. 16th IEEE Intl. Conf. on Rehabilitation Robotics(ICORR 2019), Toronto, Canada (2019). [pdf] [citation]

  • [C118] Chris Mower, Wolfgang Merkt, Aled Davies and Sethu Vijayakumar, Comparing Alternate Modes of Teleoperation for Constrained Tasks, Proc. 15th IEEE Intl. Conf. on Automation Science and Engineering (CASE 2019), Vancouver, BC, Canada (2019). [pdf] [citation]

  • [C117] Wolfgang Merkt, Vladimir Ivan, Yiming Yang and Sethu Vijayakumar, Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation, Proc. 15th IEEE Intl. Conf. on Automation Science and Engineering (CASE 2019), Vancouver, BC, Canada (2019). [pdf] [citation]

  • [C116] Chris Mower, Joao Moura, Aled Davies and Sethu Vijayakumar, Modulating Human Input for Shared Autonomy in Dynamic Environments, Proc. 28th IEEE Intl. Conf. on Robot and Human Interactive Comm.(ROMAN 2019), New Delhi, India (2019). [pdf] [citation]

  • [B10] Vladimir Ivan, Yiming Yang, Wolfgang Merkt, Michael P. Camilleri, Sethu Vijayakumar, EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control, In: Koubaa A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, Springer, vol. 778, pp. 211-240 (2019) [preprint pdf] [software webpage] [DOI] [citation]

  • 2018

  • [C115] Theodoros Stouraitis, Iordanis Chatzinikolaidis, Michael Gienger and Sethu Vijayakumar, Dyadic collaborative Manipulation through Hybrid Trajectory Optimization, Proc. Conference on Robot Learning (CoRL 2018), Madrid (2018). [pdf] [link] [video] [citation] CoRL 2018 Best Paper Award finalist

  • [C114] Henrique Ferrolho,Wolfgang Merkt, Yiming Yang, Vladimir Ivan, and Sethu Vijayakumar Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments, Proc. IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China (2018) [pdf] [video] [citation]

  • [C113] Yiming Yang, Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar, Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints, Proc. IEEE-RAS 18th Intl. Conf. on Humanoid Robots (Humanoids 2018), Beijing, China (2018) [pdf] [citation]

  • [J40] Iris Kyranou, Sethu Vijayakumar and Mustapha Suphi Erden, Causes of Performance Degradation in Non-invasive Electromyographic Pattern Recognition in Upper Limb Prostheses, Frontiers in Neurorobotics, vol. 12:58 (2018) [pdf] [DOI] [citation]

  • [C112] Iordanis Chatzinikolaidis, Theodoros Stouratis, Sethu Vijayakumar and Zhibin Li Nonlinear Optimization Using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper, Proc. IEEE-RAS 18th Intl. Conf. on Humanoid Robots (Humanoids), Beijing, China (2018) [pdf] [citation]

  • [C111] Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar and Zhibin Li, Learning Whole-body Motor Skills for Humanoids, Proc. IEEE-RAS 18th Intl. Conf. on Humanoid Robots Humanoids), Beijing, China (2018) [pdf] [citation]

  • [C110] Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar, Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments, Proc. IEEE Intl. Conf. on Intelligent Robotics (IROS 2018), Madrid (2018). [pdf] [DOI] [citation]

  • [C109] Daniel Gordon, Takamitsu Matsubara, Tomoyuki Noda, Tatsuya Teramae, Jun Morimoto and Sethu Vijayakumar, Bayesian Optimisation of Exoskeleton Design Parameters, Proc. 7th IEEE Intl. Conf. on Biomedical Robotics and Biomechatronics (Biorob 2018), Enschede, Netherlands (2018). [pdf] [citation]

  • [C108] Lei Yan, Yiming Yang, Wenfu Xu, and Sethu Vijayakumar, Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum, Proc. IEEE Intl. Conf. on Intelligent Robotics (IROS 2018), Madrid (2018). [pdf] [video] [citation]

  • [J39] Leopoldo Armesto, Joao Moura, Vladimir Ivan, Mustafa Suphi Erden, Antonio Sala and Sethu Vijayakumar, Constraint-aware Learning of Policies by Demonstration, International Journal of Robotics Research (IJRR), Vol. 37(13-14), pp. 1673-1689 (2018). [pdf] [DOI] [video] [citation]

  • [J38] Daniel Gordon, Graham Henderson and Sethu Vijayakumar, Effectively quantifying the performance of lower-limb exoskeletons over a range of walking conditions, Frontiers in Robotics and AI, vol. 5, pp. 61-77 (2018) [pdf] [DOI] [citation]

  • [J37] Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Zhibin Li and Sethu Vijayakumar, HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Environments, IEEE Robotics and Automation Letters, vol. 3(1), pp. 551-558(2018) [pdf] [DOI] [video] [citation]

  • [C107] Agamemnon Krasoulis, Sethu Vijayakumar and Kianoush Nazarpour, Continuous Versus Discrete Simultaneous Control of Prosthetic Fingers, Proc. Intl. Conf. IEEE Engineering in Medicine and Biology Society (EMBC'18), Honolulu, Hawaii (2018). [pdf] [citation]

  • 2017

  • [J36] Yiming Yang, Wolfgang Merkt, Henrique Ferrolho, Vladimir Ivan and Sethu Vijayakumar, Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps, IEEE Robotics and Automation Letters, vol. 2(4), pp. 2279-2286 (2017) [pdf] [DOI] [video] [citation] (also presented at: IEEE Intl. Conf. on Intelligent Robots and Systems (IROS'17), Vancouver, Canada (2017)).

  • [C106] Qingbiao Li, Iordanis Chatzinikolaidis, Yiming Yang, Sethu Vijayakumar and Zhibin Li, Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation, Proc. 17th IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK (2017) [pdf] [citation]

  • [C105] Graham Henderson, Daniel Gordon and Sethu Vijayakumar, Identifying invariant gait stability metrics for exoskeleton assistance, Proc. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO '17), Macau, China (2017) [pdf] [citation]

  • [J35] Agamemnon Krasoulis, Iris Kyranou, Mustapha Suphi Erden, Kianoush Nazarpour and Sethu Vijayakumar, Improved Prosthetic Hand Control with Concurrent Use of Myoelectric and Inertial Measurements, Journal of NeuroEngineering and Rehabilitation (JNER), 14:71 (2017). [pdf] [DOI] [video] [citation]

  • [C104] Leopoldo Armesto, Joao Moura, Valdimir Ivan, Antonio Sala and Sethu Vijayakumar, Learning of Constrained Generalizable Policies by Demonstration, Proc. Robotics: Science and Systems (R:SS 2017), Cambridge, Mass., USA (2017). [pdf] [citation]

  • [C103] Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher Mower, Maurice Fallon and Sethu Vijayakumar, Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring, Proc. 13th IEEE Conference on Automation Science and Engineering, Xian, China (2017). [pdf] [video] [citation] First Prize at Robots for Resilient Infrastructure Challenge 2017, Leeds, UK (coverage)

  • [J34] Jun Nakanishi, Andreea Radulescu, David Braun and Sethu Vijayakumar, Spatio-temporal Stiffness Optimization with Switching Dynamics, Autonomous Robots, vol. 41(2), pp. 273-291 (2017). [pdf] [DOI] [citation]

  • [C102] Leopoldo Armesto, Jorren Bosga, Valdimir Ivan and Sethu Vijayakumar, Efficient Learning of Constraints and Generic Null Space Policies, Proc. IEEE International Conference on Robotics and Automation (ICRA 2017), Singapore (2017). [pdf] [citation]

  • [C101] Agamemnon Krasoulis, Kianoush Nazarpour and Sethu Vijayakumar, Use of Regularized Discriminant Analysis Improves Myoelectric Hand Movement Classification, Proc. 8th Intl. Conf. IEEE EMBC Neural Engineering Conference (NER'17) (2017). [pdf] [citation]

  • [B9] Andreea Radulescu, Jun Nakanishi, David Braun and Sethu Vijayakumar, Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch, J.-P. Laumond et al. (eds.), Geometric and Numerical Foundations of Movements, Springer Tracts in Advanced Robotics 117, pp. 393-419 (2017). [DOI] [pdf] [citation]

  • [J33] Luigi Acerbi, Sethu Vijayakumar and Daniel Wolpert, Target Uncertainty Mediates Sensorimotor Error Correction, PLoS ONE 12(1): e0170466 (2017). [pdf] [DOI] [citation]

  • [J32] David Braun, Andrius Sutas and Sethu Vijayakumar, Self-tuning Bistable Parametric Feedback Oscillator: Near-optimal Amplitude Maximization without Model Information, Physics Review E, vol. 95(1), 12201 (2017). [pdf] [DOI] [citation]

  • 2016

  • [C100] Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice Fallon and Sethu Vijayakumar, iDRM: Humanoid Motion Planning with Realtime End-Pose Selection in Complex Environments, Proc. 16th IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico (2016) [pdf] [video] [citation]

  • [B8] Jo-Anne Ting, Franziska Meier, Sethu Vijayakumar and Stefan Schaal, Locally Weighted Regression for Control, C. Sammut, G.I. Webb (eds.), Encyclopedia of Machine Learning and Data Mining (2016). [pdf] [DOI] [citation]

  • [C99] Yiming Yang, Vladimir Ivan, Wolfgang Merkt and Sethu Vijayakumar, Scaling Sampling based Motion Planning to Humanoid Robots, Proc. IEEE International Conf. on Robotics and Biomimetics (ROBIO 2016), Qingdao, China (2016). [pdf] [video] [citation]

  • [C98] Iris Kyranou, Agamemnon Krasoulis, Mustafa Suphi Erden, and Sethu Vijayakumar, Real-time Classification of Multi-modal Sensory Data for Prosthetic Hand Control, Proc. 6th IEEE/RAS/EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob '16), Singapore (2016). [pdf] [citation]

  • [B7] Andreea Radulescu, Jun Nakanishi and Sethu Vijayakumar, Optimal Control of Multi-phase Movements with Learned Dynamics, A. Gruca et al. (eds.), Man-MachineMachine Interactions 4, Advances in Intelligent Systems and Computing 391, pp. 61-76 (2016). [DOI][pdf] [citation]

  • [C97]Jose Cano Reyes, Alejandro Bordallo, Vijay Nagarajan, Subramanian Ramamoorthy and Sethu Vijayakumar, Automatic Configuration of ROS Applications for Near-Optimal Performance, Proc. IEEE International Conf. on Intelligent Robotics (IROS 2016), Daejong, Korea (2016). [pdf] [citation]

  • [J31] Alexander Enoch and Sethu Vijayakumar, Rapid Manufacture of Novel Variable Impedance Robots, ASME Journal of Mechanisms and Robotics, (8)1, pp. 1-11, (2016). [pdf] [DOI] [citation]

  • 2015

  • [C96] Konrad Rawlik, Dmitry Zarubin, Marc Toussaint and Sethu Vijayakumar, An Approximate Inference Approach to Temporal Optimization for Robotics, Proc. 17th International Symposium on Robotics Research (ISRR 2015), Sestri Levante, Italy (2015). [pdf] [citation]

  • [C95] Vladimir Ivan and Sethu Vijayakumar, Space-time Area Coverage Control for Robot Motion Synthesis, Proc. 17th IEEE International Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey (2015). [pdf] [video] [citation]

  • [C94] Yiming Yang, Vladimir Ivan and Sethu Vijayakumar, Real-Time Motion Adaptation using Relative Distance Space Representation, Proc. 17th IEEE International Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey (2015). [pdf] [video] [citation]

  • [C93] Agamemnon Krasoulis, Kianoush Nazarpour, and Sethu Vijayakumar, Towards Low-Dimensionsal Proportional Myoelectric Control, Proc. Intl. Conf. IEEE Engineering in Medicine and Biology Society (EMBC'15), Milan, Italy (2015). [pdf] [citation]

  • [C92] Jose Cano Reyes, Eduardo Molinos, Vijay Nagarajan and Sethu Vijayakumar, Dynamic process migration in heterogeneous ROS-based environments, Proc. 17th IEEE International Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey (2015). [pdf] [citation]

  • [C91] Hsiu-Chin Lin, Matthew Howard and Sethu Vijayakumar, Learning Null Space Projections, Proc. IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle,WA, USA (2015). [pdf] [online] [citation]

  • [C90] Agamemnon Krasoulis, Sethu Vijayakumar and Kianoush Nazarpour, Evaluation of Regression Methods for the Continuous Decoding of Finger Movement from Surface EMG and Accelerometry, Proc. 7th Intl. Conf. IEEE EMBC Neural Engineering Conference (NER'15) pp. 631-634, (2015). [pdf] [citation]

  • 2014

  • [C89] Luigi Acerbi, Wei-Ji Ma and Sethu Vijayakumar, A Framework for Testing Identifiability of Bayesian Models of Perception, Proc. Advances in Neural Information Processing Systems (NIPS '14), Montreal, Canada (20014). [pdf][poster] [citation]

  • [J30] Luigi Acerbi, Sethu Vijayakumar and Daniel Wolpert, On the Origins of Suboptimality in Human Probabilistic Inference, PLoS Computational Biology, 10(6): e1003661. doi:10.1371/journal.pcbi.1003661 (2014). [pdf] [DOI] [citation]

  • [C88] Agamemnon Krasoulis, Thomas Hall, Sethu Vijayakumar, Andrew Jackson and Kianoush Nazarpour, Generalizability of EMG decoding using Local Field Potentials, Proc. Intl. Conf. IEEE Engineering in Medicine and Biology Society (EMBC'14), Chicago (2014). [pdf][DOI] [citation]

  • [W11] Karl Pauwels, Leonardo Rubin, Vladimir Ivan, Sethu Vijayakumar and Eduardo Ros, Real-time RGB-D-based Object and Manipulator Pose Estimation, In: Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Robotics: Science and Systems (R:SS 2014), Berkeley, CA (2014). [pdf] [citation]

  • [J29] Hsiu-Chin Lin, Matthew Howard and Sethu Vijayakumar, A Novel Approach for Representing and Generalising Periodic Gaits, Robotica, 32:08, pp. 1225-1244 (2014). [pdf] [DOI] [citation]

  • [C87] Luigi Acerbi, Sethu Vijayakumar and Daniel Wolpert, A matter of uncertainty: Optimality and sub-optimality in sensorimotor learning, Proc. Decision Making Bristol 2014, Bristol (2014). [abstract] [citation]

  • [C86] Karl Pauwels, Vladimir Ivan, Eduardo Ros and Sethu Vijayakumar, Real-time object pose recognition and tracking with an imprecisely calibrated moving RGB-D camera, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago (2014). [pdf] [digest] [video] [citation]

  • [C85] Hsiu-Chin Lin, Matthew Howard and Sethu Vijayakumar, A Novel Approach for Generalising Walking Gaits across Embodiments and Behaviours, Proc. IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), Brazil (2014) [pdf] [citation]

  • [C84] Luigi Acerbi, Sethu Vijayakumar and Daniel Wolpert, Probing the sources of suboptimality in human Bayesian inference, Proc. Computational and Systems Neuroscience (Cosyne 2014), Salt Lake City (2014). [pdf abstract] [poster] [citation]

  • 2013

  • [C83] Jun Nakanishi, Andreea Radulescu and Sethu Vijayakumar, Spatio-temporal Optimization of Multi-phase Movements: Dealing with Contacts and Switching Dynamics, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo (2013). [pdf] [video] [citation]

  • [C82] Peter Sandilands, Vladimir Ivan, Taku Komura and Sethu Vijayakumar, Dexterous Reaching, Grasp Transfer and Planning Using Electrostatic Representations, Proc. 2013 IEEE-RAS International Conference on Humanoid Robots, Atlanta, USA (2013). [pdf] [citation]

  • [J28] David Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schaeffer and Sethu Vijayakumar, Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints, IEEE Transactions on Robotics (IEEE T-RO), 29(5), pp. 1085-1101 (2013). [pdf] [citation] [link to IROS video] 2013 IEEE Transactions on Robotics Best Paper award

  • [C81] Konrad Rawlik, Marc Toussaint and Sethu Vijayakumar, Path Integral Control by Reproducing Kernel Hilbert Space Embedding, Proc. International Joint Conference on Artificial Intelligence (IJCAI 2013), Beijing, China(2013). [pdf] [citation]

  • [C80] Konrad Rawlik, Marc Toussaint and Sethu Vijayakumar, On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference [Award Track], Proc. International Joint Conference on Artificial Intelligence (IJCAI 2013), Beijing, China (2013). [pdf] [citation]

  • [P1] Hugh Gill, Sethu Vijayakumar and Ian Saunders, Improvements in or relating to prosthetics and orthotics, Patent Number: WO 2013024306 (2013). [link]

  • [J27] Vladimir Ivan, Dmitry Zarubin, Marc Toussaint and Sethu Vijayakumar, Topology-based Representations for Motion Planning and Generalization in Dynamic Environments with Interactions, International Journal of Robotics Research (IJRR), vol. 32, pp. 1151-1163 (2013). [pdf] [DOI] [video] [citation]

  • [J26] Matthew Howard, David J. Braun, Sethu Vijayakumar, Transferring Human Impedance Behaviour to Heterogeneous Variable Impedance Actuators, IEEE Transactions on Robotics, 29(4), pp. 847-862 (2013). [pdf] [DOI] [citation]

  • [J25] Angel Llamazares *, Vladimir Ivan *, Eduardo Molinos, Manuel Ocano and Sethu Vijayakumar, Dynamic Obstacle Avoidance using Bayesian Occupancy Filter and Approximate Inference, Sensors 13 (3), pp. 2929-2944 (2013). [pdf][ DOI] [citation]

  • 2012

  • [C79] Alexander Enoch, Andrius Sutas, Shinichiro Nakaoka and Sethu Vijayakumar, BLUE: A Bipedal Robot with Variable Stiffness and Damping, Proc. 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan (2012). [pdf] [video] [digest] [citation]

  • [J24] Luigi Acerbi, Daniel Wolpert and Sethu Vijayakumar, Internal Representations of Temporal Statistics and Feedback Calibrate Motor-Sensory Interval Timing, PLoS Computational Biology, 8(11): e1002771, doi:10.1371/journal.pcbi.1002771 (2012). [pdf] [DOI] [citation]

  • [J23] David Braun, Matthew Howard and Sethu Vijayakumar, Optimal Variable Stiffness Control: Formulation and Application to Explosive Movement Tasks, Autonomous Robots, vol. 33, pp. 237-253 (2012) [pdf] [DOI] [video] [citation]

  • [J22] Ian Saunders and Sethu Vijayakumar, Continuous Evolution of Statistical Estimators for Optimal Decision-Making, PLoS ONE, vol. 7, No. 6 (2012) [pdf] [DOI] [citation]

  • [C78] David Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schaeffer and Sethu Vijayakumar, Optimal Torque and Stiffness Control in Compliantly Actuated Robots, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2012), Portugal (2012). [pdf] [video] [digest] [citation]

  • [C77] Konrad Rawlik, Marc Toussaint and Sethu Vijayakumar, On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference, Proc. Robotics: Science and Systems (R:SS 2012), Sydney, Australia(2012). [pdf] [citation]  R:SS 2012 Best Paper Award Runner-up

  • [C76] Jun Nakanishi and Sethu Vijayakumar, Exploiting Passive Dynamics with Variable Stiffness Actuation in Robot Brachiation, Proc. Robotics: Science and Systems (R:SS 2012), Sydney, Australia(2012). [pdf][video] [citation]

  • [C75] Dmitry Zarubin, Vladimir Ivan, Marc Toussaint, Taku Komura and Sethu Vijayakumar, Hierarchical Motion Planning in Topological Representations, Proc. Robotics: Science and Systems (R:SS 2012), Sydney, Australia (2012). [pdf] [video] [citation]

  • [C74] Andreaa Radulescu, Matthew Howard, David Braun and Sethu Vijayakumar, Exploiting Variable Physical Damping in Rapid Movement Tasks, Proc. 2012 IEEE ASME International Conference on Advanced Intelligent Mechatronics, Taiwan (2012). [pdf] [video] [citation]  AIM 2012 Best Student Paper Award Finalist

  • 2011

  • [B6] Sethu Vijayakumar, Timothy Hospedales and Adrian Haith, Generative Probabilistic Modeling: Understanding Causal Sensorimotor Integration, In Trommershauser, Kording & Landy (Eds), Sensory Cue Integration, pp. 63-81, Oxford University Press (2011) [OUP] [preprint] [citation]

  • [J21] Ian Saunders and Sethu Vijayakumar, The Role of Feed-Forward and Feedback Processes for Closed-Loop Prosthesis Control, Journal of Neuroengineering and Rehabilitation (JNER),8:60 (2011). [pdf] [DOI] [citation]

  • [C73] Takeshi Mori, Matthew Howard and Sethu Vijayakumar, Model Free Apprenticeship Learning for Transfer of Human Impedance Behaviour, Proc. 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia (2011). [pdf] [citation]

  • [C72] Jun Nakanishi, Konrad Rawlik and Sethu Vijayakumar, Stiffness and Temporal Optimization in Periodic Movements: An Optimal Control Approach, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2011, San Francisco (2011). [pdf] [video] [citation]

  • [C71] Hannes Saal, Nicolas Heess and Sethu Vijayakumar, Multimodal Nonlinear Filtering using Gauss-Hermite Quadrature, Proc. 21st European Conference on Machine Learning (ECML PKDD 2011), Athen, Greece (2011). [pdf] [poster] [citation]

  • [C70] David Braun, Matthew Howard and Sethu Vijayakumar, Exploiting Variable Stiffness in Explosive Movement Tasks, Proc. Robotics: Science and Systems (R:SS 2011), Los Angeles, CA, USA (2011). [pdf][video] [video-2link] [citation]

  • [J20] Djordje Mitrovic, Stefan Klanke and Sethu Vijayakumar, Learning Impedance Control of Antagonistic Systems based on Stochastic Optimization Principles, International Journal of Robotic Research (IJRR), Vol. 30, No. 5, pp. 556-573 (2011). [pdf] [DOI] [citation]

  • [C69] Matthew Howard, David Braun and Sethu Vijayakumar, Constraint-based Equilibrium and Stiffness Control of Variable Stiffness Actuators, Proc. IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China (2011). [pdf] [citation]

  • [C68] Luigi Acerbi and Sethu Vijayakumar, Bayesian Causal Inference Drives Temporal Sensorimotor Recalibration, Proc. Computational and Systems Neuroscience COSYNE '11, Salt Lake City, Utah (2011). [abstract] [poster] [citation]

  • 2010

  • [C67] Konrad Rawlik, Marc Toussaint and Sethu Vijayakumar, An Approximate Inference Approach to Temporal Optimization in Optimal Control, Proc. Advances in Neural Information Processing Systems (NIPS '10), Vancouver, Canada(2010). [pdf] [poster] [citation]

  • [J20] Djordje Mitrovic, Stefan Klanke, Rieko Osu, Mitsuo Kawato and Sethu Vijayakumar, A Computational Model of Limb Impedance Control based on Principles of Internal Model Uncertainty, PLoS ONE, Vol. 5, No. 10 (2010). [pdf] [DOI] [citation]

  • [J19] Jo-Anne Ting, Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal, Efficient Learning and Feature Selection in High Dimensional Regression, Neural Computation, vol. 22, no. 4, pp. 831-886 (2010). [pdf] [citation]

  • [C66] Matthew Howard, Djordje Mitrovic and Sethu Vijayakumar, Transferring Impedance Control Strategies Between Heterogeneous Systems via Apprenticeship Learning, Proc. 2010 IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA (2010). [pdf] [poster] [citation]

  • [C65] Djordje Mitrovic, Stefan Klanke, Matthew Howard and Sethu Vijayakumar, Exploiting Sensorimotor Stochasticity for Learning Control of Variable Impedance Actuators, Proc. 2010 IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA (2010). [pdf] [poster] [citation]

  • [B5] Jo-Anne-Ting, Sethu Vijayakumar and Stefan Schaal, Locally Weighted Regression for Control, In: Sammut, C. and Webb, G. I. (Eds.) Encyclopedia of Machine Learning, pp. 613-624, Springer (2010). [pdf] [citation]

  • [C64] Hannes Saal, Jo-Anne-Ting and Sethu Vijayakumar, Active Estimation of Object Dynamics Parameters with Tactile Sensors, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). [pdf][video] [citation]

  • [C63] Edmond Ho, Taku Komura, Subramanian Ramamoorthy and Sethu Vijayakumar, Controlling Humanoid Robots in Topology Coordinates, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). [pdf] [citation]

  • [C62] Chris Towell, Matthew Howard and Sethu Vijayakumar, Learning Nullspace Policies, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). [pdf] [video] [citation]

  • [C61] Sebastian Bitzer, Matthew Howard and Sethu Vijayakumar, Using Dimensionality Reduction to Exploit Constraints in Reinforcement Learning, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). [pdf][video] [citation]

  • [C60] Hannes Saal, Jo-Anne-Ting and Sethu Vijayakumar Active sequential learning with tactile feedback, In: Teh YW and Titterington M (Eds.), Proc. 13th Int. Conf. on Artificial Intelligence and Statistics (AISTATS 2010), JMLR: WCP 9:677-684, Chia Laguna, Sardinia, Italy (2010). [pdf] [citation]

  • [C59] Djordje Mitrovic, Sho Nagashima, Stefan Klanke, Takamitsu Matsubara and Sethu Vijayakumar, Optimal Feedback Control for Anthropomorphic Manipulators, Proc. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, USA (2010). [pdf][video] [citation]

  • [B4] Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar, Methods for Learning Control Policies from Variable Constraint Demonstrations, In: O. Sigaud and J. Peters (eds.): From Motor Learning to Interaction Learning in Robots, SCI 264, pp. 253-291, Springer-Verlag (2010). [pdf] [citation]

  • [B3] Djordje Mitrovic, Stefan Klanke and Sethu Vijayakumar, Adaptive Optimal Feedback Control with Learned Internal Dynamics Models, In: O. Sigaud and J. Peters (eds.): From Motor Learning to Interaction Learning in Robots, SCI 264, pp. 65-84, Springer-Verlag (2010). [pdf] [citation]

  • 2009

  • [C58] Hannes Saal, Jo-Anne-Ting and Sethu Vijayakumar, Active Filtering for Robot Tactile Learning, In: Workshop on Adaptive Sensing, Active Learning, and Experimental Design, Neural Information Processing Systems (NIPS 2009), Whistler, Canada (2009). [pdf] [citation]

  • [J18] Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar, A Novel Method for Learning Policies from Variable Constraint Data, Autonomous Robots, vol. 27, pp. 105-121 (2009). [pdf] [ASIMO car wash video] [citation]

  • [C57] Sebastian Bitzer and Sethu Vijayakumar, Latent Spaces for Dynamic Movement Primitives, Proc. 9th IEEE RAS International Conference on humanoid Robots (Humanoids 2009), Paris, France (2009). [pdf] [citation]

  • [J17] Hannes Saal, Sethu Vijayakumar and Roland Johansson, Information about Complex Fingertip Parameters in Individual Human Tactile Afferent neurons, The Journal of Neuroscience, 29(25):8022-8031, (2009). [pdf] [citation]

  • [C56] Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar, Robust Constraint-consistent Learning, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), St. Louis, MO, USA (2009). [pdf] [citation]

  • [W11] Djordje Mitrovic, Stefan Klanke, Adrian Haith and Sethu Vijayakumar, A Theory of Impedance Control based on Internal Model Uncertainty, Proc. ESF Intl. Workshop on Computational Principles of Sensorimotor Learning, Irsee, Germany (2009).[pdf] [citation]

  • [W10] Ian Saunders and Sethu Vijayakumar, A Closed Loop Prosthetic Hand as a Model Sensorimotor Circuit, Proc. ESF Intl. Workshop on Computational Principles of Sensorimotor Learning, Irsee, Germany (2009). [pdf] [citation]

  • [C55] Jan Steffen, Stefan Klanke, Sethu Vijayakumar and Helge Ritter, Towards Semi-supervised Manifold Learning: UKR with Structural Hints, Proc. 7th International Workshop on Self Organizing Maps (WSOM 2009), Florida, USA (2009). [pdf] [citation]

  • [B2] Sethu Vijayakumar, Marc Toussaint, Georgios Petkos and Matthew Howard. Planning and Moving in Dynamic Environments: A statistical machine learning approach, in (eds.) Sendhoff, Koerner, Sporns, Ritter, Doya, Creating Brain Like Intelligence: From Principles to Complex Intelligent Systems, LNAI-Vol. 5436, Springer-Verlag ISBN: 978-3-642-00615-9 (2009). [pdf] [citation]

  • [C54] Sebastian Bitzer, Stefan Klanke and Sethu Vijayakumar, Does Dimensionality Reduction improve the Quality of Motion Interpolation?, Proc. 17th European Symposium on Artificial Neural Networks (ESANN 2009), Bruges, Belgium (2009). [pdf] [citation]

  • [W9] Narayanan Edakunni and Sethu Vijayakumar, Efficient Online classification using an Ensemble of Bayesian Linear Logistic Regressors, Proc. 8th International Workshop on Multiple Classifier Systems (MCS 2009), Reykjavik, Iceland (2009). [pdf] [citation]

  • [C53] Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar, A Novel Method for Learning Policies from Constrained Motion, Proc. IEEE International Conference on Robotics and Automation (ICRA '09), Kobe, Japan (2009). [pdf] [citation]

  • [C52] Jan Steffen, Stefan Klanke, Sethu Vijayakumar and Helge Ritter, Realizing Dexterous Manipulation with Structured Manifolds using UKR with Structural Hints, In Workshop: Approaches to Sensorimotor Learning on Humanoid Robots, IEEE International Conference on Robotics and Automation (ICRA '09), Kobe, Japan (2009). [pdf] [citation]

  • [J16] Heiko Hoffmann, Stefan Schaal and Sethu Vijayakumar, Local Dimensionality Reduction for Non-Parametric Regression, Neural Processing Letters, 29: 109-131, (2009). [pdf] [citation]

  • [J15] Timothy Hospedales and Sethu Vijayakumar, Multisensory Oddity Detection as Bayesian Inference, PLoS ONE, Vol. 4, No. 1 (2009). [pdf] [DOI] [citation]

  • [J14] Adrian Haith and Sethu Vijayakumar, Implications of different classes of sensorimotor disturbance for cerebellar-based motor learning models, Biological Cybernetics, Vol. 100, No. 1, pp. 81-95, Springer-Verlag (2009). [pdf][DOI] [citation]

  • 2008

  • [J13] Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar, Behaviour Generation in Humanoids by Learning Potential-based Policies from Constrained Motion, Applied Bionics and Biomechanics, Vol. 5, No. 4, pp.195-211, Taylor and Francis (2008). [pdf] [citation] [ballgrasp video]

  • [C51] Adrian Haith, Carl Jackson, Chris Miall and Sethu Vijayakumar, Unifying the Sensory and Motor Components of Sensorimotor Adaptation, Proc. Advances in Neural Information Processing Systems (NIPS '08), Vancouver, Canada (2008).[pdf] [spotlight, poster, audio] [citation]

  • [C50] Kian Ming Chai, Stefan Klanke, Chris Williams and Sethu Vijayakumar, Multi-task Gaussian Process Learning of Robot Inverse Dynamics, Proc. Advances in Neural Information Processing Systems (NIPS '08), Vancouver, Canada (2008).[pdf] [spotlight] [citation]

  • [C49] Jo-Anne Ting, Mrinal Kalakrishnan, Sethu Vijayakumar and Stefan Schaal, Bayesian Kernel Shaping for Learning Control, Proc. Advances in Neural Information Processing Systems (NIPS '08), Vancouver, Canada (2008).[pdf] [spotlight, audio] [citation]

  • [C48] Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar, Learning Potential-based Policies from Constrained Motion, Proc. 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Dejong, Korea (2008) [pdf] [citation]

  • [W8] Adrian Haith, Carl Jackson, Chris Miall and Sethu Vijayakumar, Interactions between sensory and motor components of adaptation predicted by a Bayesian model, In: Workshop on Advances in Computational Motor Control (ACMC 2008), Society for Neuroscience Meeting, Washington DC (2008).[pdf] [citation]

  • [C47] Hannes Saal, Roland Johansson and Sethu Vijayakumar, Spatiotemporal distribution of tactile information across the human fingertip, Proc. Sixth Forum of European Neuroscience (FENS 2008), Geneva, Switzerland (2008). [poster] [citation]

  • [J12] Masashi Sugiyama, Hirotaka Hachiya, Christopher Towell and Sethu Vijayakumar, Geodesic Gaussian kernels for value function approximation, Autonomous Robots, Vol. 25, pp. 287-304 (2008). [pdf][DOI] [citation]

  • [J11] Timothy Hospedales and Sethu Vijayakumar, Bayesian Structure Inference for Multisensory Scene Understanding, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 30, no. 12, pp. 2140-2157 (2008). [pdf][DOI] [citation]

  • [J10] Stefan Klanke, Sethu Vijayakumar and Stefan Schaal, A Library for Locally Weighted Projection Regression, Journal of Machine Learning Research (JMLR), vol. 9, pp. 623--626 (2008). [pdf][DOI] [citation]

  • [C46] Djordje Mitrovic, Stefan Klanke, Sethu Vijayakumar, Adaptive Optimal Control for Redundantly Actuated Arms, Asada et. al (eds.) Proc. Tenth International Conference on the Simulation of Adaptive Behavior (SAB '08), Springer-Verlag LNAI 5040, pp. 93-102, Osaka, Japan(2008). [pdf] [citation]

  • [C45] Sebastian Bitzer, Ioannis Havoutis and Sethu Vijayakumar, Synthesising Novel Movements through Latent Space Modulation of Scalable Control Policies, Asada et. al (eds.) Proc. Tenth International Conference on the Simulation of Adaptive Behavior (SAB '08), Springer-Verlag LNAI 5040, pp. 199-209, Osaka, Japan (2008). [pdf] [citation]

  • [C44] Adrian Haith and Sethu Vijayakumar, A Bayesian Model of Multimodal Visuo-motor Adaptation, Proc. 18th Meeting of the Society for Neural Control of Movement (NCM 2008), Florida, USA (2008). [poster] [citation]

  • [C43] Jo-Anne Ting, Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal, A Bayesian Approach to Empirical Local Linearization For Robotics, Proc. IEEE International Conference on Robotics and Automation (ICRA '08), Pasadena, CA (2008).[pdf][DOI] [citation]

  • [C42] Djordje Mitrovic, Stefan Klanke, Sethu Vijayakumar, Optimal control with adaptive internal dynamics models, Proc. Fifth International Conference on Informatics in Control, Automation and Robotics (ICINCO '08), Madeira, Portugal (2008). [pdf] [citation]

  • [C41] Hannes Saal, Sethu Vijayakumar and Roland Johansson, Information about present and past stimulus features in human tactile afferents, Proc. Computational and Systems Neuroscience COSYNE '08, Salt Lake City, Utah (2008). [poster] [citation]

  • 2007

  • [W7] Phillip Robbel, Marc Toussaint and Sethu Vijayakumar, Active Learning in Motor Control, In: Robotics Challenges for Machine Learning, Neural Information Processing Systems (NIPS 2007),Whistler, Canada (2007). [citation]

  • [C40] Djordje Mitrovic, Stefan Klanke and Sethu Vijayakumar, Optimal control with adaptive internal dynamics models, In: Robotics Challenges for Machine Learning, Neural Information Processing Systems (NIPS 2007),Whistler, Canada (2007). [poster] [citation]

  • [W6] Matthew Howard and Sethu Vijayakumar, Reconstructing Null-space Policies Subject to Dynamic Task Constraints in Redundant Manipulators, Proc. Workshop on Robotics and Mathematics (ROBOMAT '07), Coimbra, Portugal (2007). [pdf] [citation]

  • [C39] Georgios Petkos and Sethu Vijayakumar, Load estimation and control using learned dynamics models, Proc. IEEE International Conference on Intelligent Robots and Systems (IROS'07), San Diego, CA (2007). [pdf] [citation]

  • [C38] Graham McNeill and Sethu Vijayakumar, Linear and Nonlinear Generative Probabilistic Class Models for Shape Contours, Proc. International Conference on Machine Learning (ICML '07), Oregon, USA (2007). [pdf] [citation]

  • [C37] Adrian Haith and Sethu Vijayakumar, Robustness of VOR and OKR adaptation under kinematics and dynamics transformations, Proc. Sixth IEEE international Conference on Development and Learning (ICDL '07), London, UK (2007). [pdf] [citation]

  • [C36] Heiko Hoffmann, Georgios Petkos, Sebastian Bitzer and Sethu Vijayakumar, Sensor Assisted Adaptive Motor Control under continuously varying Context, Proc. Fourth International Conference on Informatics in Control, Automation and Robotics (ICINCO'07), Angers, France (2007). [pdf] [citation]

  • [C35] Georgios Petkos and Sethu Vijayakumar, Context Estimation and Learning Control through Latent Variable Extraction: From discrete to continuous contexts, Proc. IEEE International Conference on Robotics and Automation (ICRA '07), Rome, Italy (2007). [pdf] [citation]

  • [C34] Masashi Sugiyama, Hirotaka Hachiya, Christopher Towell and Sethu Vijayakumar, Value Function Approximation on Non-Linear Manifolds for Robot Motor Control, Proc. IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy (2007). [pdf] [citation]

  • [C33] Narayanan Edakunni, Stefan Schaal and Sethu Vijayakumar, Kernel Carpentry for Online Regression using Randomly Varying Coefficient Model, Proc. International Joint Conference on Artificial Intelligence (IJCAI '07), Hyderabad, India(2007). [pdf] [citation]

  • [C32] Timothy Hospedales, Joel Cartwright and Sethu Vijayakumar, Structure Inference for Bayesian Multisensory Perception and Tracking, Proc. International Joint Conference on Artificial Intelligence (IJCAI'07), Hyderabad, India (2007). [pdf] [citation]

  • 2006

  • [C31] Graham McNeill and Sethu Vijayakumar, Part-based Probabilistic Point Matching Using Equivalence Constraints, Proc. Advances in Neural Information Processing Systems (NIPS '06), Vancouver, Canada (2006). [pdf] [citation]

  • [C30] Matthew Howard , Michael Gienger, Christian Goerick and Sethu Vijayakumar, Learning Utility Surfaces for Movement Selection, Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kunmin, China (2006). [pdf] [citation]

  • [W5] Masashi Sugiyama, Hirotaka Hachiya, Christopher Towell and Sethu Vijayakumar, Geodesic Gaussian kernels for value function approximation, Proc. 2006 Workshop on Information-Based Induction Sciences (IBIS), Osaka, Japan (2006).[pdf] [citation]

  • [C29] Graham McNeill and Sethu Vijayakumar, Part-based Probabilistic Point Matching, Proc. International Conference on Pattern Recognition (ICPR), Hong Kong (2006). [pdf] [citation]

  • [B1] Sethu Vijayakumar, Aaron D'Souza and Stefan Schaal, Approximate nearest neighbor regression in very high dimensions, In (eds.) Shakhranovich, Darrell and Indyk, Nearest Neighbor Methods in Learning and Vision, MIT Press, Cambridge, MA, pp. 103-142 (2006). [pdf] [citation]

  • [C28] Graham McNeill and Sethu Vijayakumar, A Probabilistic Approach To Robust Shape Matching, Proc. International Conference on Image Processing (ICIP '06), Atlanta, GA (2006). [pdf] [citation]

  • [C27] Georgios Petkos, Marc Toussaint and Sethu Vijayakumar, Learning Multiple Models of Non-Linear Dynamics for Control under Varying Contexts, Proc. International Conference on Artificial Neural Networks (ICANN'06), Athens, Greece (2006). [pdf] [citation]

  • [C26] Graham McNeill and Sethu Vijayakumar, Hierarchical Procrustes Matching for Shape Retrieval, IEEE Conference on Computer Vision and Pattern Recognition (CVPR '06), New York, June 17-22 (2006). [pdf] [citation]

  • 2005

  • [J9] Sethu Vijayakumar, Aaron D'Souza and Stefan Schaal, Incremental Online Learning in High Dimensions, Neural Computation, vol. 17, no. 12, pp. 2602-2634 (2005). [pdf] [citation] [More detailed version of the paper Tech Report EDI-INF-RR-0284 of UEDIN]

  • [C25] Marc Toussaint and Sethu Vijayakumar, Learning Discontinuities with Product-of-Sigmoids for Switching between Local Models, Proc. 22nd. International Conference on Machine Learning (ICML '05), Bonn, Germany, Aug 7-11 (2005). [pdf] [citation]

  • [C24] Graham McNeill and Sethu Vijayakumar, 2D Shape Classification and Retrieval, Proc. 19th. International Joint Conference on Artificial Intelligence (IJCAI '05),Edinburgh, UK (2005). [pdf] [citation]

  • [C23] Marc Toussaint andSethu Vijayakumar, Learning Discontinuities for Switching between Local Models, Proc. 19th. International Joint Conference on Artificial Intelligence (IJCAI'05), Edinburgh, UK (2005). [pdf] [citation]

  • [C22] Jan Peters, Sethu Vijayakumar, Stefan Schaal, Natural Actor-Critic, (in) Gama, J.;Camacho, R., Brazdil, P., Jorge, A.Torgo, L. (eds.) Proc. 16th European Conference on Machine Learning (ECML'05), Porto, Portugal,  3720, pp.280-291, Springer (2005). [pdf] [citation]

  • 2004

  • [C21] Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal, Bayesian Backfitting Relevance Vector Machine, Proc. 21st Intl .Conf. on Machine Learning (ICML'04), Article No. 31, Banff, Canada, Jul 4-8 (2004). [pdf] [citation]

  • Stefan Schaal, Auke Ijspeert, Aude Billard, Sethu Vijayakumar, John Hallam and Jean-Arcady Meyer (Ed.), From Animals to Animats 8, MIT Press (2004). [citation]

  • [C20] Jan Peters, Sethu Vijayakumar and Stefan Schaal, Learning Motor Primitives with Reinforcement Learning, In: Laurent Itti (ed.) Proc. 11th Joint Symposium on Neural Computation, San Diego (2004).

  • 2003

  • [W4] Jan Peters,Sethu Vijayakumar, and Stefan Schaal, Scaling Reinforcement Learning Paradigms for Motor Control, Proc. 10th Joint Symposium on Neural Computation, UC Irvine, May 17 (2003). [abstract] [pdf] [citation]

  • [W3] Jan Peters, Sethu Vijayakumar, Stefan Schaal, Natural Actor-Critic, (in) Proc. Advances in Neural Information Processing Systems 16 Workshop ''Planning for the Real World: The promises and challenges of dealing with uncertainty'' (2003). [citation]

  • [W2] Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal, Bayesian Backfitting for High Dimensional Regression, Proc. 10th Joint Symposium on Neural Computation, UC Irvine, May 17 (2003). [pdf] [citation]

  • [C19] Jan Peters,Sethu Vijayakumar, and Stefan Schaal, Reinforcement Learning for Humanoid Robots - policy gradients and beyond, Proc. Third IEEE International Conference on Humanoid Robotics 2003, Germany. [pdf]

  • 2002

  • [J8] Sethu Vijayakumar, Aaron D'Souza, Tomohiro Shibata, Jorg Conradt and Stefan Schaal, Statistical Learning for Humanoid Robots, Autonomous Robots , Vol. 12, No.1, pp. 55-69 (2002). [pdf] [citation]

  • [W1] Sethu Vijayakumar, Aaron D'Souza, Jan Peters, Jorg Conradt, Tomasz Rutkowski, Auke Ijspeert, Jun Nakanishi, Masato Inoue, Tom Shibata, Arleen Wiryo, Laurent Itti, Shun-ichi Amari and Stefan Schaal, Real-Time Statistical Learning for Oculomotor Control and Visuomotor Coordination, Proc. Neural Information Processing Systems (NIPS 15) - Demonstration Track (2002). [citation]

  • [J7] Stefan Schaal, Chris Atkeson and Sethu Vijayakumar, Scalable Locally Weighted Statistical Techniques for Real Time Robot Learning, Applied Intelligence - Special issue on Scalable Robotic Applications of Neural Networks Vol. 17, No.1, pp. 49-60 (2002). Autonomous Robots , Vol. 12, No.1, pp. 55-69 (2002). [pdf] [citation]

  • 2001

  • [J6] Tomohiro Shibata, Sethu Vijayakumar, Jorg Conradt and Stefan Schaal, Biomimetic Oculomotor Control, Adaptive Behaviour - Special Issue on Biologically Inspired and Biomimetic System,vol. 9, No. 3-4, pp. 189-208 (2001). pdf] [citation]

  • [C18] Sethu Vijayakumar, Jorg Conradt, Tomohiro Shibata and Stefan Schaal, Overt Visual Attention for a Humanoid Robot, Proc. International Conference on Intelligence in Robotics and Autonomous Systems (IROS '01), Hawaii, pp. 2332-2337(2001). [pdf] [citation]

  • [C17] Stefan Schaal, Sethu Vijayakumar, Aaron D'Souza, Auke Ijspeert and Jun Nakanishi, Real-time statistical learning for robotics and human augmentation, Proc. Tenth International Symposium on Robotics Research (ISRR), Victoria, Australia, pp. 117-124 (2001). [pdf] [citation]

  • [C16] Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal, Are Internal Models of the Entire Body Learnable? In: Society for Neuroscience Abstracts. Vol. 27, Program No. 406.2, (2001). [abstract] [citation]

  • [C15] Tomohiro Shibata, Sethu Vijayakumar, Jorg Conradt and Stefan Schaal, Humanoid Oculomotor Control Based on Concepts of Computational Neuroscience, Proc. Second IEEE-RAS Intl. Conf. on Humanoid Robots, Waseda Univ., Japan, pp. 278-285 (2001). [pdf] [citation]

  • [C14] Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal, Learning Inverse Kinematics, Proc. International Conference on Intelligence in Robotics and Autonomous Systems (IROS 2001), Hawaii, pp. 298-303 (2001). [pdf] [citation]

  • [J5] Stefan Schaal, Sethu Vijayakumar and Aaron D'Souza, Online Statistical Robot Learning, Journal of the Robotics Society of Japan , Vol. 19, No. 5, pp. 561-568 (2001). [ pdf] [citation]

  • 2000

  • [C13] Sethu Vijayakumar and Stefan Schaal, Locally Weighted Projection Regression : An O(n) Algorithm for Incremental Real Time Learning in High Dimensional Space, Proc. of Seventeenth International Conference on Machine Learning (ICML2000) California, USA, pp.1079-1086 (2000) [ pdf] [citation]

  • [C12] Sethu Vijayakumar and Stefan Schaal, Fast and Efficient Incremental Learning for High-dimensional Movement Systems, Proc. International Conference on Robotics and Automation (ICRA2000), San Francisco, California, vol.2, pp.1894-1899 (2000) [pdf] [citation]

  • [C11] Sethu Vijayakumar and Stefan Schaal, Real Time Learning in Humanoids: A challenge for scalability of Online Algorithms, Proc. First IEEE-RAS Intl. Conf. on Humanoid Robots MIT (Humanoids), Cambridge, MA, USA (2000) [pdf] [citation]

  • [J4] Chris Atkeson, Josh Hale, Mitsuo Kawato, Shinya Kotosaka, Frank Pollick, Marcia Riley, Stefan Schaal, Tomohiro Shibata, Gaurav Tevatia, Ales Ude and Sethu Vijayakumar, Using Humanoid Robots to Study Human Behaviour, IEEE Intelligent Systems, Vol.15, No.4, pp.46-56, IEEE Computer Society(2000). [ pdf] [citation]

  • [C10] Jorg Conradt, Gaurav Tevatia, Sethu Vijayakumar and Stefan Schaal, Online Learning for Humanoid Robot Systems, Proc. of Seventeenth International Conference on Machine Learning(ICML2000) Stanford, California, pp.191-198 (2000) [pdf] [citation]

  • [C9] Stefan Schaal, Chris Atkeson and Sethu Vijayakumar, Real time robot learning with locally weighted statistical learning, Proc. International Conference on Robotics and Automation (ICRA2000), San Francisco, California, vol.1, pp.288-293, (2000). [pdf] [citation] ICRA 2000 Best Paper Award Finalist

  • 1999

  • [J3] Sethu Vijayakumar and Hidemitsu Ogawa, RKHS based Functional Analysis for Exact Incremental Learning Neurocomputing : Special Issue on Theoretical analysis of real valued function classes, Vol.29, No.1-3, pp.85-113, Elsevier Science(1999). [ pdf] [citation]

  • [C8] Sethu Vijayakumar and Si Wu, A gradient based technique for generating sparse representation in function approximation, Proc. International Conference on Neural Information processing(ICONIP'99), Perth, Australia, pp.314-319 (1999). [ pdf] [citation]

  • [C7] Sethu Vijayakumar and Si Wu, Sequential Support Vector Classifiers and Regression, Proc. International Conference on Soft Computing (SOCO'99), Genoa, Italy, pp.610-619 (1999). [pdf] [citation]

  • [J2] Sethu Vijayakumar and Hidemitsu Ogawa, Improving Generalization Ability through Active Learning, IEICE Transactions on Information and Systems IEICE-Japan, Vol.E82-D, No.2, pp.480-487(1999). [citation]

  • 1998

  • [C6] Sethu Vijayakumar, Masashi Sugiyama and Hidemitsu Ogawa, Training Data Selection for Optimal Generalization with Noise Variance Reduction in Neural Networks, In: Marinaro & Tagliaferri(ed.), Neural Nets WIRN Vietri-98, pp.153-166, Springer-Verlag(1998). [pdf] [citation]

  • [C5] Stefan Schaal, Sethu Vijayakumar and Chris Atkeson, Local Dimensionality Reduction, In: M.I.Jordan, M.J.Kearns, and S.A.Solla (eds.), Advances in Neural Information Processing Systems 10, pp.633-639, Cambridge, MA:MIT Press(1998).  [pdf] [citation]

  • [W1] Sethu Vijayakumar and Stefan Schaal, Robust local learning in high dimensional spaces, Proc. 5th Joint Symposium on Neural Computation, May 16,1998, San Diego, pp.186-193(1998).

  • [J1] Sethu Vijayakumar and Stefan Schaal, Local Adaptive Subspace Regression, Neural Processing Letters, Vol.7, No.3, pp 139-149, Kluwer Academic Press (1998). [ pdf ] [citation]

  • 1997

  • [C4] Sethu Vijayakumar and Stefan Schaal, Local Dimensionality Reduction for Locally Weighted Learning, Proc. IEEE International Symposium on Computational Intelligence in Robotics and Automation , (CIRA'97), July 10-11,1997,Monterey, California, pp.220-225 (1997). [pdf] [citation]

  • 1996

  • [C3] Sethu Vijayakumar and Hidemitsu Ogawa, Incremental Learning in Optimally Generalizing Neural Networks, IEICE Annual Paper Contest 1996, No.D-27, p.27 (1996). [citation]

  • 1995

  • [C2] Sethu Vijayakumar and Hidemitsu Ogawa, A Functional Analytic Approach to Incremental Learning in Optimally Generalizing NNs, Proc. IEEE International Conference on Neural Networks (ICNN '95), Australia, vol. 2, pp.777-782 (1995). [doi] ICNN 1995 Best Student Paper Award

  • [C1] Sethu Vijayakumar and Hidemitsu Ogawa, Incremental Learning with Optimal Generalizing Ability in Neural Networks, Technical Report of the IEICE, NC95-9, pp.65-72 (1995)

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