submitted

Ting, J.;D'Souza, A.;Schaal, S. (submitted). Efficient learning and feature detection in high dimensional spaces, Neural Computation.
[Keywords: high-dimensional regression, feature selection, generalized linear models, variational bayesian methods, sparse bayesian learning]
[Detail] [BibTeX] [PDF]

Hoffman, H.;Vijayakumar, S.;Schaal, S. (submitted). Local dimensionality reduction for non-parametric regression, Artificial Intelligence Review.
[Keywords: locally weighted learning, dimensionality reduction,correlation, dimensionality reduction, factor analysis, incremental learning, kernel function, locally-weighted regression, partial least squares, principal component analysis, principal component regres]
[Detail] [BibTeX] [PDF]

Edakunni, N. U.;Schaal, S.;Vijayakumar, S. (submitted). Probabilistic incremental locally weighted learning using randomly varying coefficient model, Machine Learning.
[Keywords: locally weighted learning, bayesian regression, bandwidth adaptation, variational methods, online learning]
[Detail] [BibTeX]

in preparation

Schaal, S. (in preparation). The SL simulation and real-time control software package, University of Southern California.
[Keywords: simulation environment, documentation, real-time control envirionment, motor control]
[Detail] [BibTeX] [PDF]

accepted

Ting, J.;D'Souza, A.;Yamamoto, K.;Yoshioka, T.;Hoffman, D.;Kakei, S.;Sergio, L.;Kalaska, J.;Kawato, M.;Strick, P.;Schaal, S. (accepted). Variational Bayesian Least Squares: An application to brain-machine interface data, Neural Networks: Special Issue on Neuroinformatics.
[Keywords: motor control, computational neuroscience, emg reconstruction, motor cortex, brain machine interfaces, bayesian least squares]
[Detail] [BibTeX]

2008

Tevatia, G.;Schaal, S. (2008). Efficient inverse kinematics algorithms for highdimensional movement systems, CLMC Technical Report: TR-CLMC-2008-1.
[Keywords: inverse kinematics, extended jacobian]
[Detail] [BibTeX] [PDF]

Peters, J., Schaal, S. (2008). Learning to Control in Operational Space, The International Journal of Robotics Research, 27, 2, pp.197-212.
[Keywords: operational space control, robot learning, reinforcement learning, reward-weighted regression]
[Detail] [BibTeX] [PDF]

Peters, J.; Schaal, S. (2008). Natural Actor-Critic, Neurocomputing, 71, 7-9, pp.1180-1190.
[Keywords: reinforcement learning, policy gradient, natural actor-critic, natural gradients]
[Detail] [BibTeX] [PDF]

Peters, J.;Mistry, M.;Udwadia, F. E.;Nakanishi, J.;Schaal, S. (2008). A unifying methodology for robot control with redundant DOFs, Autonomous Robots, 24, 1, pp.1-12.
[Detail] [BibTeX] [PDF]

Ting, J., D'Souza, A., Vijayakumar, S., Schaal, S. (2008). A Bayesian Approach to Empirical Local Linearization for Robotics, International Conference on Robotics and Automation (ICRA2008).
[Keywords: local linear models, bayesian approach, linearizations, machine learning]
[Detail] [BibTeX] [PDF]

Mistry, M.,Theodorou, E., & Schaal, S (2008). Resolving redundancy in joint space vs. end-effector space force fields, 8th Annual Meeting of the Society for the Neural Control of Movement.
[Keywords: redundancy resolution, motor control, motor learning, psychophysics]
[Detail] [BibTeX]

Peters, J.;Schaal, S. (2008). Reinforcement learning of motor skills with policy gradients, Neural Networks, 21, pp.682–697.
[Keywords: reinforcement learning, policy gradient methods, natural gradients, natural actor-critic, motor skills, motor primitives]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (2008). Operational space control: A theoretical and emprical comparison, International Journal of Robotics Research, 27, 6, pp.737-757.
[Keywords: task space control, operational space control, redundancy resolution, humanoid robotics]
[Detail] [BibTeX] [PDF]

Mistry, M.;Theodorou, E.;Hoffmann, H.;Schaal, S. (2008). The dual role of uncertainty in force field learning, Abstracts of the Eighteenth Annual Meeting of Neural Control of Movement (NCM).
[Keywords: computational motor control, optimal control, redundancy resolution, internal model]
[Detail] [BibTeX]

Hoffmann, H.;Theodorou, E.;Schaal, S. (2008). Behavioral experiments on reinforcement learning in human motor control, Abstracts of the Eighteenth Annual Meeting of Neural Control of Movement (NCM).
[Keywords: computational motor control, optimal control, reinforcement learning]
[Detail] [BibTeX]

2007

Mistry, M., Theodorou, E., Hoffmann, H., Schaal, S. (2007). Uncertain 3D Force Fields in Reaching Movements: Do Humans Favor Robust or Average Permormance?, Abstracts of the 37th Meeting of the Society of Neuroscience.
[Detail] [BibTeX] [PDF]

Schaal, S; Mohajerian, P.; Ijspeert, A. (2007). Dynamics systems vs. optimal control — a unifying view, Progress in Brain Research, 165, pp.425-445.
[Keywords: discrete movement; rhythmic movement; movement primitives; dynamic systems; optimization; computational motor control]
[Detail] [BibTeX]

Peters, J., Schaal, S. (2007). Policy Learning for Motor Skills, Proceedings of 14th International Conference on Neural Information Processing (ICONIP).
[Keywords: machine learning, reinforcement learning, robotics, motor primitives, policy gradients, natural actor-critic, reward-weighted regression]
[Detail] [BibTeX]

Ting, J.; Theodorou, E.; Schaal, S. (2007). Learning an Outlier-Robust Kalman Filter, European Conference on Machine Learning (ECML 2007), pp.748-756, Springer.
[Keywords: automatic outlier detection, kalman filter, system dynamics, weighted least squares, bayesian statistical learning]
[Detail] [BibTeX] [PDF]

Ting, J.; D'Souza, A.; Yamamoto, K.; Yoshioka, T.; Hoffman, D.; Kakei, S.; Sergio, L.; Kalaska, J.; Kawato, M.; Strick, P.; Schaal, S. (2007). Using variational Bayesian least squares for EMG data prediction from M1 and premotor cortex neural firing, Abstracts of the 37th Meeting of the Society of Neuroscience.
[Keywords: motoneuron-muscle interface, emg prediction, m1, premotor cortex, feature selection, bayesian regression, computational neuroscience]
[Detail] [BibTeX] [PDF]

Ting, J.; Theodorou, E.; Schaal, S. (2007). Learning an Outlier-Robust Kalman Filter, CLMC Technical Report: TR-CLMC-2007-1.
[Keywords: automatic outlier detection, kalman filter, system dynamics, weighted least squares, bayesian statistical learning]
[Detail] [BibTeX] [PDF]

Peters, J.; Schaal, S.; Schoelkopf, B. (2007). Towards Machine Learning of Motor Skills, Proceedings of Autonome Mobile Systeme (AMS).
[Keywords: motor skill learning, robotics, natural actor-critic, reward-weighted regeression]
[Detail] [BibTeX] [PDF]

Theodorou, E; Peters, J; Schaal, S. (2007). Reinforcement Learning for Optimal Control of Arm Movements, Abstracts of the 37st Meeting of the Society of Neuroscience..
[Keywords: optimal control,reinforcement learning, arm movements]
[Detail] [BibTeX]

Edakunni, N. U.;Schaal, S.;Vijayakumar, S. (2007). Kernel carpentry for onlne regression using randomly varying coefficient model, Proceedings of the 20th International Joint Conference on Artificial Intelligence.
[Keywords: bayesian weighted regression, variational bayes]
[Detail] [BibTeX] [PDF]

Mistry, M.;Nakanishi, J.;Schaal, S. (2007). Task space control with prioritization for balance and locomotion, IEEE International Conference on Intelligent Robotics Systems (IROS 2007).
[Keywords: operational space control, locomotion, balance, hierarchical]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Mistry, M.;Peters, J.;Schaal, S. (2007). Experimental evaluation of task space position/orientation control towards compliant control for humanoid robots, IEEE International Conference on Intelligent Robotics Systems (IROS 2007).
[Keywords: operational space control, quaternion, task space control, resolved motion rate control, resolved acceleration, force control]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Mistry, M.;Schaal, S. (2007). Inverse dynamics control with floating base and constraints, International Conference on Robotics and Automation (ICRA2007), pp.1942-1947.
[Detail] [BibTeX] [PDF]

Peters, J. (2007). Machine Learning of Motor Skills for Robotics, Ph.D. Thesis, Department of Computer Science, University of Southern California.
[Keywords: machine learning, reinforcement learning, robotics, motor primitives, policy gradients, natural actor-critic, reward-weighted regression]
[Detail] [BibTeX]

Peters, J.;Schaal, S. (2007). Reinforcement learning for operational space control, International Conference on Robotics and Automation (ICRA2007), pp.2111-2116.
[Keywords: operational space control, reinforcement learning, weighted regression, em-algorithm]
[Detail] [BibTeX] [PDF]

Peters, J.;Schaal, S. (2007). Using reward-weighted regression for reinforcement learning of task space control, Proceedings of the 2007 IEEE Internatinal Symposium on Approximate Dynamic Programming and Reinforcement Learning.
[Keywords: reinforcement learning, cart-pole, policy gradient methods]
[Detail] [BibTeX] [PDF]

Peters, J.;Schaal, S. (2007). Applying the episodic natural actor-critic architecture to motor primitive learning, Proceedings of the 2007 European Symposium on Artificial Neural Networks (ESANN).
[Keywords: reinforcement learning, policy gradient methods, motor primitives, natural actor-critic]
[Detail] [BibTeX] [PDF]

Peters, J.;Schaal, S. (2007). Reinforcement learning by reward-weighted regression for operational space control, Proceedings of the International Conference on Machine Learning (ICML2007).
[Keywords: reinforcement learning, operational space control, weighted regression]
[Detail] [BibTeX] [PDF]

Peters, J.;Theodorou, E.;Schaal, S. (2007). Policy gradient methods for machine learning, INFORMS Conference of the Applied Probability Society.
[Keywords: policy gradient methods, reinforcement learning, simulation-optimization]
[Detail] [BibTeX]

Pongas, D.;Mistry, M.;Schaal, S. (2007). A robust quadruped walking gait for traversing rough terrain, International Conference on Robotics and Automation (ICRA2007), pp.1474-1479.
[Keywords: quadruped locomotion, static walk, crawl gait, cog trajectory, rough terrain, internal-model control]
[Detail] [BibTeX] [PDF]

Riedmiller, M.;Peters, J.;Schaal, S. (2007). Evaluation of policy gradient methods and variants on the cart-pole benchmark, Proceedings of the 2007 IEEE Internatinal Symposium on Approximate Dynamic Programming and Reinforcement Learning.
[Keywords: reinforcement learning, cart-pole, policy gradient methods]
[Detail] [BibTeX] [PDF]

Schaal, S. (2007). The new robotics - towards human-centered machines, HFSP Journal Frontiers of Interdisciplinary Research in the Life Sciences, 1, 2, pp.115-126.
[Keywords: assistive robotics, humanoid robotics, perspective]
[Detail] [BibTeX] [PDF]

Schaal, S. (2007). The computational neurobiology of reaching and pointing - a foundation for motor learning: By Reza Shadmehr and Steven P. Wise, Network, 18, 1, pp.1-3.
[Detail] [BibTeX] [PDF]

Ting, J.;Theodorou, E.;Schaal, S. (2007). A Kalman filter for robust outlier detection, IEEE International Conference on Intelligent Robotics Systems (IROS 2007).
[Keywords: kalman filter, variational bayes, outliers]
[Detail] [BibTeX] [PDF]

Ting, J.;D'Souza, A.;Schaal, S. (2007). Automatic outlier detection: A Bayesian approach, International Conference on Robotics and Automation (ICRA2007), pp.2489-2494.
[Keywords: weighted regression, outliers, bayesian statistics]
[Detail] [BibTeX] [PDF]

Ting, J.; Schaal, S. (2007). Bayesian Nonparametric Regression with Local Models, Workshop on Robotic Challenges for Machine Learning, NIPS 2007.
[Keywords: local models, bayesian nonparametric regression, machine learning, statistical learning]
[Detail] [BibTeX]

Mohajerian, P.;Hoffman, H.;Mistry, M.;Schaal, S. (2007). A computational model of arm trajectory modification using dynamic movement primitives, Abstracts of the 37st Meeting of the Society of Neuroscience.
[Keywords: motor control, computational neuroscience, behavior, movement primitives, trajectory formation]
[Detail] [BibTeX]

Hoffman, H.;Schaal, S. (2007). A computational model of human trajectory planning based on convergent flow fields, Abstracts of the 37st Meeting of the Society of Neuroscience.
[Keywords: motor control, computational neuroscience, behavior, motor primitives, force fields]
[Detail] [BibTeX]

2006

Peters, J.; Schaal, S. (2006). Policy Gradient Methods for Robotics, Proceedings of the IEEE International Conference on Intelligent Robotics Systems (IROS).
[Keywords: policy gradient methods, reinforcement learning, robotics]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;D'Souza, A.;Schaal, S. (2006). Approximate nearest neighbor regression in very high dimensions, in: Shakhnarovich, G.;Darrell, T.;Indyk, P. (eds.), Nearest-Neighbor Methods in Learning and Vision, pp.103-142, Cambridge, MA: MIT Press.
[Detail] [BibTeX]

Peters, J.;Schaal, S. (2006). Learning operational space control, in: Burgard, W.;Sukhatme, G. S.;Schaal, S. (eds.), Robotics: Science and Systems (RSS 2006), Cambridge, MA: MIT Press.
[Keywords: operational space control redundancy forward models inverse models compliance reinforcement leanring locally weighted learning]
[Detail] [BibTeX] [PDF]

Peters, J.;Schaal, S. (2006). Reinforcement Learning for Parameterized Motor Primitives, Proceedings of the 2006 International Joint Conference on Neural Networks (IJCNN 2006).
[Keywords: motor primitives, reinforcement learning]
[Detail] [BibTeX] [PDF]

Ting, J.;D'Souza, A.;Schaal, S. (2006). Bayesian regression with input noise for high dimensional data, Proceedings of the 23rd International Conference on Machine Leanring (ICML 2006).
[Keywords: bayesian regression linear models dimensionality reduction input noise rigid body dynamics parameter identification]
[Detail] [BibTeX] [PDF]

Ting, J.;Mistry, M.;Nakanishi, J.;Peters, J.;Schaal, S. (2006). A Bayesian approach to nonlinear parameter identification for rigid body dynamics, in: Burgard, W.;Sukhatme, G. S.;Schaal, S. (eds.), Robotics: Science and Systems (RSS 2006), Cambridge, MA: MIT Press.
[Keywords: bayesian regression linear models dimensionality reduction input noise rigid body dynamics parameter identification]
[Detail] [BibTeX] [PDF]

Theodorou, E. (2006). Statistical Learning of LQG controllers, Technical Report-2006-1.
[Keywords: lqg controllers, statistical learning, system identification]
[Detail] [BibTeX] [PDF]

Peters, J.;Schaal, S. (2006). Policy gradient methods for robotics, Proceedings of the IEEE International Conference on Intelligent Robotics Systems (IROS 2006).
[Keywords: policy gradient methods, reinforcement learning, robotics]
[Detail] [BibTeX] [PDF]

2005

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (2005). Comparative experiments on task space control with redundancy resolution, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.3901-3908.
[Keywords: manipulator dynamics redundant manipulators space optimization dynamical decoupling humanoid robots inverse kinematics motor coordination redundancy resolution robot dynamics seven-degree-of-freedom anthropomorphic robot arm task space control dynamical d]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Farrell, J. A.;Schaal, S. (2005). Composite adaptive control with locally weighted statistical learning, Neural Networks, 18, 1, pp.71-90.
[Keywords: adaptive control, statistical learning, composite control law, provably stable, locally weighted regression]
[Detail] [BibTeX] [PDF]

Shibata, T.;Tabata, H.;Schaal, S.;Kawato, M. (2005). A model of smooth pursuit based on learning of the target dynamics using only retinal signals, Neural Networks, 18, pp.213-225.
[Keywords: oculomotor control learning biomimetic robotics internal models]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;D'Souza, A.;Schaal, S. (2005). Incremental online learning in high dimensions, Neural Computation, 17, 12, pp.2602-2634.
[Keywords: nonlinear regression locally weighted learning nonparametric partial least squares factor analysis confidence statistical learning dimensionality reduction principle components]
[Detail] [BibTeX] [PDF]

Mistry, M.;Mohajerian, P.;Schaal, S. (2005). Arm movement experiments with joint space force fields using an exoskeleton robot, IEEE Ninth International Conference on Rehabilitation Robotics, pp.408-413.
[Keywords: computational motor control trajectory planning inverse kinematics force control human motor control torque perturbations]
[Detail] [BibTeX] [PDF]

Schaal, S.;Schweighofer, N. (2005). Computational motor control in humans and robots, Curr Opin Neurobiol, 15, 6, pp.675-82.
[Detail] [BibTeX] [PDF]

Theodorou, E. (2005). Linear and Nonlinear Estimation models applied to Hemodynamic Model, Technical Report-2005-1.
[Keywords: stochastic estimation, kalman filters, shaping filters, hemodynamic model]
[Detail] [BibTeX] [PDF]

Peters, J.;Vijayakumar, S.;Schaal, S. (2005). Natural Actor-Critic, in: Gama, J.;Camacho, R.;Brazdil, P.;Jorge, A.;Torgo, L. (eds.), Proceedings of the 16th European Conference on Machine Learning (ECML 2005), 3720, pp.280-291, Springer.
[Keywords: reinforcement learning, policy gradients, natural gradients]
[Detail] [BibTeX] [PDF]

Peters, J.;Mistry, M.;Udwadia, F. E.;Schaal, S. (2005). A new methodology for robot control design, The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005).
[Keywords: robot control, nonlinear control, gauss principle]
[Detail] [BibTeX] [PDF]

Peters, J.;Mistry, M.;Udwadia, F. E.;Cory, R.;Nakanishi, J.;Schaal, S. (2005). A unifying framework for the control of robotics systems, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.1824-1831.
[Detail] [BibTeX] [PDF]

Ting, J.;D'Souza, A.;Yamamoto, K.;Yoshioka, T.;Hoffman, D.;Kakei, S.;Sergio, L.;Kalaska, J.;Kawato, M.;Strick, P.;Schaal, S. (2005). Predicting EMG Data from M1 Neurons with Variational Bayesian Least Squares, in: Weiss, Y.;Schölkopf, B.;Platt, J. (eds.), Advances in Neural Information Processing Systems 18 (NIPS 2005), Cambridge, MA: MIT Press.
[Keywords: bayesian regression, linear models, dimensionality reduction, feature selection, brain machine interfaces]
[Detail] [BibTeX] [PDF]

Pongas, D.;Billard, A.;Schaal, S. (2005). Rapbid synchronization and accurate phase-locking of rhythmic motor primitives, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.2911-2916.
[Keywords: earning from demonstration periodic movement phase locking rhythm generation rhythmic motor rhythmic movement pattern synchronization motor primitives periodic movement synchronization and phase locking learning from demonstration]
[Detail] [BibTeX] [PDF]

Hidaka,Y; Theodorou, E. (2005). Parametric and Non-Parametric approaches for nonlinear tracking of moving objects, Technical Report-2005-1.
[Keywords: stochastic estimation, kalman filters, particle filters, tracking.]
[Detail] [BibTeX] [PDF]

2004

Billard, A.;Epars, Y.;Calinon, S.;Cheng, G.;Schaal, S. (2004). Discovering optimal imitation strategies, Robotics and Autonomous Systems, 47, 2-3, pp.68-77.
[Keywords: imitation, intent extraction, motor control]
[Detail] [BibTeX]

Nakanishi, J.;Farrell, J. A.;Schaal, S. (2004). Learning Composite Adaptive Control for a Class of Nonlinear Systems, IEEE International Conference on Robotics and Automation, pp.2647-2652.
[Keywords: adaptive control, learning, composite control law, provably stable, locally weighted regression]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Morimoto, J.;Endo, G.;Cheng, G.;Schaal, S.;Kawato, M. (2004). Learning from demonstration and adaptation of biped locomotion, Robotics and Autonomous Systems, 47, 2-3, pp.79-91.
[Keywords: movement primitives, locomotion, phase resetting, learning from demonstration]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Morimoto, J.;Endo, G.;Cheng, G.;Schaal, S.;Kawato, M. (2004). A framework for learning biped locomotion with dynamic movement primitives, IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004), IEEE.
[Keywords: movement primitives, dynamic systems, locomotion, phase resetting, learning]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Schaal, S. (2004). Feedback error learning and nonlinear adaptive control, Neural Networks, 17, 10, pp.1453-1465.
[Keywords: adaptive control, feedback error learning, learning]
[Detail] [BibTeX] [PDF]

Schaal, S.;Ijspeert, A.;Billard, A. (2004). Computational approaches to motor learning by imitation, in: Frith, C. D.;Wolpert, D. (eds.), The Neuroscience of Social Interaction, 1431, pp.199-218, Oxford University Press.
[Keywords: imitation learning computational review movement primitives duality of movement generation and recognition motor control]
[Detail] [BibTeX] [PDF]

Schaal, S.;Peters, J.;Nakanishi, J.;Ijspeert, A. (2004). Learning Movement Primitives, International Symposium on Robotics Research (ISRR2003), Springer.
[Keywords: movement primitives, supervised learning, reinforcment learning, locomotion, phase resetting, learning from demonstration]
[Detail] [BibTeX] [PDF]

Schaal, S.;Sternad, D.;Osu, R.;Kawato, M. (2004). Rhythmic movement is not discrete, Nature Neuroscience, 7, 10, pp.1137-1144.
[Keywords: fmri discrete rhythmic movement movement primitives]
[Detail] [BibTeX] [PDF]

D'Souza, A (2004). Towards Tractable Parameter-Free Statistical Learning (Phd Thesis), Department of Computer Science, University of Southern California.
[Keywords: parameter-free statistical learning]
[Detail] [BibTeX] [PDF]

Ting, J.; D'Souza, A.; Schaal, S. (2004). Predicting EMG Activity from Neural Firing in M1 with Bayesian Backfitting, Proceedings of the 11th Joint Symposium of Neural Computation (JSNC 2004).
[Keywords: bayesian backfitting, emg prediciton, m1, variational methods, linear models, statistical learning]
[Detail] [BibTeX] [PDF]

Peters, J., Schaal, S. (2004). Learning Motor Primitives with Reinforcement Learning, Proceedings of the 11th Joint Symposium on Neural Computation.
[Keywords: natural policy gradients, motor primitives, natural actor-critic]
[Detail] [BibTeX]

2003

Billard, A.;Epars, Y.;Schaal, S.;Cheng, G. (2003). Discovering imitation strategies through categorization of multi-cimensional data, IEEE International Conference on Intelligent Robots and Systems (IROS 2003).
[Keywords: movement primitives, sequencing]
[Detail] [BibTeX] [PDF]

D'Souza, A.;Vijayakumar, S.;Schaal, S. (2003). Bayesian backfitting, Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003).
[Keywords: statistical learning, bayesian variational methods, linear regression, graphical models]
[Detail] [BibTeX] [PDF]

Ijspeert, A.;Nakanishi, J.;Schaal, S. (2003). Learning attractor landscapes for learning motor primitives, in: Becker, S.;Thrun, S.;Obermayer, K. (eds.), Advances in Neural Information Processing Systems 15, pp.1547-1554, Cambridge, MA: MIT Press.
[Keywords: learning nonlinear attractor landscapes movement primitives humanoid robotics statistical learning]
[Detail] [BibTeX] [PDF]

Mohajerian, P.;Peters, J.;Ijspeert, A.;Schaal, S. (2003). A unifying computational framework for optimization and dynamic systemsapproaches to motor control, Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003).
[Keywords: computational motor control, optimization, dynamic systems, formal modeling]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Morimoto, J.;Endo, G.;Schaal, S.;Kawato, M. (2003). Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives, Workshop on Robot Learning by Demonstration, IEEE International Conference on Intelligent Robots and Systems (IROS 2003).
[Keywords: movement primitives, locomotion, phase resetting, learning from demonstration]
[Detail] [BibTeX] [PDF]

Peters, J.;Vijayakumar, S.;Schaal, S. (2003). Reinforcement learning for humanoid robotics, Humanoids2003, Third IEEE-RAS International Conference on Humanoid Robots.
[Keywords: reinforcement learning, policy gradients, movement primitives, behaviors, dynamic systems, humanoid robotics]
[Detail] [BibTeX] [PDF]

Peters, J.;Vijayakumar, S.;Schaal, S. (2003). Scaling reinforcement learning paradigms for motor learning, Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003).
[Keywords: reinforcement learning, neurodynamic programming, actorcritic methods, policy gradient methods, natural policy gradient]
[Detail] [BibTeX] [PDF]

Schaal, S. (2003). Dynamic movement primitives - A framework for motor control in humans and humanoid robots, The International Symposium on Adaptive Motion of Animals and Machines.
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, fmri, behavioral evidence]
[Detail] [BibTeX] [PDF]

Schaal, S. (2003). Movement planning and imitation by shaping nonlinear attractors, Proceedings of the 12th Yale Workshop on Adaptive and Learning Systems.
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes]
[Detail] [BibTeX] [PDF]

Schaal, S.;Ijspeert, A.;Billard, A. (2003). Computational approaches to motor learning by imitation, Philosophical Transaction of the Royal Society of London: Series B, Biological Sciences, 358, 1431, pp.537-547.
[Keywords: imitation learning, computational, review, movement primitives, duality of movement generation and recognition, motor control]
[Detail] [BibTeX] [PDF]

Schaal, S.;Peters, J.;Nakanishi, J.;Ijspeert, A. (2003). Control, planning, learning, and imitation with dynamic movement primitives, Workshop on Bilateral Paradigms on Humans and Humanoids, IEEE International Conference on Intelligent Robots and Systems (IROS 2003).
[Keywords: movement primitives, supervised learning, reinforcment learning, locomotion, phase resetting, learning from demonstration]
[Detail] [BibTeX] [PDF]

2002

Ijspeert, J. A.;Nakanishi, J.;Schaal, S. (2002). Movement imitation with nonlinear dynamical systems in humanoid robots, International Conference on Robotics and Automation (ICRA2002).
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, humanoid robotics, overall best paper award]
[Detail] [BibTeX] [PDF]

Ijspeert, J. A.;Nakanishi, J.;Schaal, S. (2002). Learning rhythmic movements by demonstration using nonlinear oscillators, IEEE International Conference on Intelligent Robots and Systems (IROS 2002), pp.958-963, Piscataway, NJ: IEEE.
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, discrete, rhythmic]
[Detail] [BibTeX] [PDF]

Mehta, B.;Schaal, S. (2002). Forward models in visuomotor control, J Neurophysiol, 88, 2, pp.942-53.
[Keywords: internal models, forward models, delay compensation, blank out, pole balancing, predictive control]
[Detail] [BibTeX] [PDF]

Nakanishi, J.;Farrell, J. A.;Schaal, S. (2002). A locally weighted learning composite adaptive controller with structure adaptation, IEEE International Conference on Intelligent Robots and Systems (IROS 2002).
[Keywords: adaptive control, learning, composite control law, provably stable, locally weighted regression]
[Detail] [BibTeX] [PDF]

Schaal, S. (2002). Learning robot control, in: Arbib, M. A. (eds.), The handbook of brain theory and neural networks, 2nd Edition, pp.983-987, MIT Press.
[Keywords: robot learning, review, reinforcement learning, supervised learning, real-time learning]
[Detail] [BibTeX] [PDF]

Schaal, S. (2002). Arm and hand movement control, in: Arbib, M. A. (eds.), The handbook of brain theory and neural networks, 2nd Edition, pp.110-113, MIT Press.
[Detail] [BibTeX] [PDF]

Schaal, S.;Atkeson, C. G.;Vijayakumar, S. (2002). Scalable techniques from nonparameteric statistics for real-time robot learning, Applied Intelligence, 17, 1, pp.49-60.
[Keywords: statistical learning, nonparametric regression, distance metric, dimensionality reduction, high dimensional learning, robot learning, real-time learning]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;D'Souza, A.;Shibata, T.;Conradt, J.;Schaal, S. (2002). Statistical learning for humanoid robots, Autonomous Robots, 12, 1, pp.59-72.
[Keywords: statistical learning, nonparametric regression, distance metric, dimensionality reduction, high dimensional learning, humanoid robotics, oculomotor control, internal models]
[Detail] [BibTeX] [PDF]

2001

Billard, A.;Schaal, S. (2001). Robust learning of arm trajectories through human demonstration, IEEE International Conference on Intelligent Robots and Systems (IROS 2001), Piscataway, NJ: IEEE.
[Keywords: imitation learning, movement primitives, humanoid robotics]
[Detail] [BibTeX] [PDF]

D'Souza, A.;Vijayakumar, S.;Schaal, S. (2001). Learning inverse kinematics, IEEE International Conference on Intelligent Robots and Systems (IROS 2001), Piscataway, NJ: IEEE.
[Keywords: inverse kinematics, humanoid robotics, high dimensional, resolved motion rate control, local learning, null space optimization]
[Detail] [BibTeX] [PDF]

Ijspeert, A.;Nakanishi, J.;Schaal, S. (2001). Trajectory formation for imitation with nonlinear dynamical systems, IEEE International Conference on Intelligent Robots and Systems (IROS 2001), pp.752-757.
[Keywords: movement primitives behaviors dynamic systems computational motor control attractor landscapes]
[Detail] [BibTeX] [PDF]

Ijspeert, A. J.;Nakanishi, J.;Shibata, T.;Schaal, S. (2001). Nonlinear dynamical systems for imitation with humanoid robots, Humanoids2001, Second IEEE-RAS International Conference on Humanoid Robots.
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, humanoid robotics]
[Detail] [BibTeX] [PDF]

Kotosaka, S.;Schaal, S. (2001). Synchronized robot drumming by neural oscillator, Journal of the Robotics Society of Japan, 19, 1, pp.116-123.
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, humanoid robotics, drumming, synchronization, best annual paper award of the japanese robotics society]
[Detail] [BibTeX]

Schaal, S.;Sternad, D. (2001). Origins and violations of the 2/3 power law in rhythmic 3D movements, Experimental Brain Research, 136, pp.60-72.
[Keywords: computational motor control, trajectory planning, power law, movement segmentation, motor primitives, rhythmic movement]
[Detail] [BibTeX] [PDF]

Schaal, S.;Vijayakumar, S.;D'Souza, A.;Ijspeert, A.;Nakanishi, J. (2001). Real-time statistical learning for robotics and human augmentation, in: Jarvis, R. A.;Zelinsky, A. (eds.), International Symposium on Robotics Research.
[Keywords: humanoid robotics, statistical learning, movement primitives, real-time learning]
[Detail] [BibTeX] [PDF]

Shams, L.;Schaal, S. (2001). Graph-matching vs. entropy-based methods for object detection, Neural Networks, 14, 3, pp.345-354.
[Keywords: object recognition, computer vision, statistical learning, nonparametric density estimation, graph matching, entropy, mutual information]
[Detail] [BibTeX] [PDF]

Shibata, T.;Schaal, S. (2001). Biomimetic gaze stabilization based on feedback-error learning with nonparametric regression networks, Neural Networks, 14, 2, pp.201-216.
[Keywords: oculomotor control, cerebellum, vor, okr, learning, locally weighted learning, feedback error learning, best annual paper award of the japanese neural networks society]
[Detail] [BibTeX] [PDF]

Shibata, T.;Schaal, S. (2001). Fast learning of biomimetic oculomotor control with nonparametric regression networks (in Japanese), Journal of the Robotics Society of Japan, 19, 4, pp.468-479.
[Detail] [BibTeX]

Shibata, T.;Schaal, S. (2001). Biomimetic smooth pursuit based on fast learning of the target dynamics, IEEE International Conference on Intelligent Robots and Systems (IROS 2001).
[Keywords: oculomotor control, cerebellum, smooth pursuit learning, locally weighted learning, tracking, target dynamics]
[Detail] [BibTeX] [PDF]

Shibata, T.;Vijayakumar, S.;Conradt, J.;Schaal, S. (2001). Biomimetic oculomotor control, Adaptive Behavior, 9, 3/4, pp.189-207.
[Keywords: oculomotor control, cerebellum, smooth pursuit learning, locally weighted learning, tracking, target dynamics, visual attention, humanoid robotics]
[Detail] [BibTeX] [PDF]

Shibata, T.;Vijayakumar, S.;Conradt, J.;Schaal, S. (2001). Humanoid oculomotor control based on concepts of computational neuroscience, Humanoids2001, Second IEEE-RAS International Conference on Humanoid Robots.
[Keywords: oculomotor control, smooth pursuit learning, locally weighted learning, tracking, target dynamics, vor, visual attention, okr]
[Detail] [BibTeX] [PDF]

Sternad, D.;Duarte, M.;Katsumata, H.;Schaal, S. (2001). Bouncing a ball: Tuning into dynamic stability, Journal of Experimental Psychology: Human Perception and Performance, 27, 5, pp.1163-1184.
[Keywords: dynamic systems approach, computational motor control, task dynamics, perception-action coupling, movement primitives]
[Detail] [BibTeX]

Vijayakumar, S.;Conradt, J.;Shibata, T.;Schaal, S. (2001). Overt visual attention for a humanoid robot, IEEE International Conference on Intelligent Robots and Systems (IROS 2001).
[Keywords: oculomotor control, visual attention, dynamic fields, saccades]
[Detail] [BibTeX] [PDF]

2000

Atkeson, C. G.;Hale, J.;Kawato, M.;Kotosaka, S.;Pollick, F.;Riley, M.;Schaal, S.;Shibata, S.;Tevatia, G.;Ude, A. (2000). Using Humanoid Robots to Study Human Behaviour, IEEE Intelligent Systems, 15, 4, pp.46-56.
[Keywords: humanoid robotics, motor primitives, motion capture, computational motor control]
[Detail] [BibTeX] [PDF]

Conradt, J.;Tevatia, G.;Vijayakumar, S.;Schaal, S. (2000). On-line learning for humanoid robot systems, Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), 1, pp.191-198.
[Keywords: humanoid robotics, on-line learning, nonparametric regression, supersmoothing, incremental]
[Detail] [BibTeX] [PDF]

Kotosaka, S.;Schaal, S. (2000). Synchronized robot drumming by neural oscillator, The International Symposium on Adaptive Motion of Animals and Machines.
[Keywords: trajectory formation, learning, nonlinear dynamics, motor skill acquisition, pattern generators, drumming]
[Detail] [BibTeX] [PDF]

Kotosaka, S.;Shibata, T.;Schaal, S. (2000). Humanoid Robot DB, Proceedings of the International Conference on Machine Automation (ICMA2000), pp.21-26.
[Keywords: humanoid robotics, computational motor control]
[Detail] [BibTeX]

Nakanishi, J.;Fukuda, T.;Koditschek, D. E. (2000). A brachiating robot controller, IEEE Transactions on Robotics and Automation, 16, 2, pp.109-123.
[Keywords: dynamic systems, nonlinear robot control, brachiation, dynamically dexterous robotics, limit cycles, locomotion, swing map, symmetry, target dynamics, task encoding, underactuated system.]
[Detail] [BibTeX] [PDF]

Schaal, S.;Atkeson, C. G.;Vijayakumar, S. (2000). Real-time robot learning with locally weighted statistical learning, International Conference on Robotics and Automation (ICRA2000).
[Keywords: real-time robot learning, statistical learning, humanoid robotics, finalist for overall best paper award]
[Detail] [BibTeX] [PDF]

Schaal, S.;Kotosaka, S.;Sternad, D. (2000). Nonlinear dynamical systems as movement primitives, Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots, CD-Proceedings.
[Keywords: trajectory formation, learning, nonlinear dynamics, motor skill acquisition, pattern generators]
[Detail] [BibTeX] [PDF]

Schaal, S.;Sternad, D.;Dean, W.;Kotoska, S.;Osu, R.;Kawato, M. (2000). Reciprocal excitation between biological and robotic research, Sensor Fusion and Decentralized Control in Robotic Systems III, Proceedings of SPIE, 4196, pp.30-40.
[Keywords: humanoid robotics, computational motor control, neuroscience, dynamic systems approach, pattern generators]
[Detail] [BibTeX] [PDF]

Shibata, T.;Schaal, S. (2000). Biomimetic gaze stabilization, in: Demiris, J.;Birk, A. (eds.), Robot learning: an Interdisciplinary approach, pp.31-52, World Scientific.
[Keywords: oculomotor control, cerebellum, vor, okr, learning, locally weighted learning, feedback error learning]
[Detail] [BibTeX] [PDF]

Shibata, T.;Schaal, S. (2000). Fast learning of biomimetic oculomotor control with nonparametric regression networks, International Conference on Robotics and Automation (ICRA2000), pp.3847-3854.
[Keywords: oculomotor control, cerebellum, vor, okr, learning, locally weighted learning, feedback error learning]
[Detail] [BibTeX] [PDF]

Sternad, D.;Dean, W. J.;Schaal, S. (2000). Interaction of rhythmic and discrete pattern generators in single joint movements, Human Movement Science, 19, 4, pp.627-665.
[Keywords: movement primitives, behaviors, dynamic systems, computational motor control, movement sequencing, discrete, rhythmic, superposition, phase resetting]
[Detail] [BibTeX] [PDF]

Sternad, D.;Duarte, M.;Katsumata, H.;Schaal, S. (2000). Dynamics of a bouncing ball in human performance, Physical Review E, 63, 011902, pp.1-8.
[Keywords: dynamic systems approach, computational motor control, task dynamics, perception-action coupling, movement primitives, special press comment]
[Detail] [BibTeX] [PDF]

Tevatia, G.;Schaal, S. (2000). Inverse kinematics for humanoid robots, International Conference on Robotics and Automation (ICRA2000), pp.294-299.
[Keywords: inverse kinematics humanoid robotics high dimensional resolved motion rate control efficient extended jacobian]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;Schaal, S. (2000). Locally weighted projection regression: An O(n) algorithm for incremental real time learning in high dimensional spaces, Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), 1, pp.288-293.
[Keywords: nonparametric regression, linear models, principle components, dimensionality reduction, supersmoothing, highdimensional regression]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;Schaal, S. (2000). Fast and efficient incremental learning for high-dimensional movement systems, International Conference on Robotics and Automation (ICRA2000).
[Keywords: robot learning, humanoids, high-dimensional, locally weighted regression, dimensionality reduction, partial least squares]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;Schaal, S. (2000). Real Time Learning in Humanoids: A challenge for scalability of Online Algorithms, Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots, CD-Proceedings.
[Keywords: humanoid robotics, learning, high-dimensional, internal models, locally weighted regression]
[Detail] [BibTeX] [PDF]

1999

Schaal, S. (1999). Is imitation learning the route to humanoid robots?, Trends in Cognitive Sciences, 3, 6, pp.233-242.
[Keywords: imitation learning, movement primitives, humanoid robotics, review, internal models]
[Detail] [BibTeX] [PDF]

Schaal, S. (1999). Nonparametric regression for learning nonlinear transformations, in: Ritter, H.;Cruse, H.;Dean, J. (eds.), Prerational Intelligence in Strategies, High-Level Processes and Collective Behavior, 2, pp.595-621, Kluwer Academic Publishers.
[Keywords: nonparametric regression, learning, review, statistical learning, lazy learning]
[Detail] [BibTeX] [PDF]

Sternad, D.;Schaal, D. (1999). Segmentation of endpoint trajectories does not imply segmented control, Experimental Brain Research, 124, 1, pp.118-136.
[Keywords: trajectory formation, segementation, movement primitives, motor control, piecewise planarity]
[Detail] [BibTeX] [PDF]

1998

Schaal, S.;Atkeson, C. G. (1998). Constructive incremental learning from only local information, Neural Computation, 10, 8, pp.2047-2084.
[Keywords: statistical learning, nonparametric regression, distance metric, incremental learning, on-line learning, supersmoothing]
[Detail] [BibTeX] [PDF]

Schaal, S.;Sternad, D. (1998). Programmable pattern generators, 3rd International Conference on Computational Intelligence in Neuroscience, pp.48-51.
[Keywords: movement primitives behaviors dynamic systems computational motor control attractor landscapes]
[Detail] [BibTeX] [PDF]

Schaal, S.;Vijayakumar, S.;Atkeson, C. G. (1998). Local dimensionality reduction, in: Jordan, M. I.;Kearns, M. J.;Solla, S. A. (eds.), Advances in Neural Information Processing Systems 10, pp.633-639, MIT Press.
[Keywords: dimensionality reduction, partial least squares, pca, regression, high dimensions, local]
[Detail] [BibTeX] [PDF]

Shibata, T.;Schaal, S. (1998). Biomimetic gaze stabilization based on a study of the vestibulocerebellum, European Workshop on Learning Robots, pp.84-94.
[Keywords: oculomotor control, cerebellum, vor, okr, learning, locally weighted learning, feedback error learning]
[Detail] [BibTeX] [PDF]

Shibata, T.;Schaal, S. (1998). Towards biomimetic vision, International Conference on Intelligence Robots and Systems, pp.872-879.
[Keywords: oculomotor control, cerebellum, vor, okr, learning, locally weighted learning, feedback error learning]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;Schaal, S. (1998). Local adaptive subspace regression, Neural Processing Letters, 7, 3, pp.139-149.
[Keywords: nonparametric regression, linear models, principle components, dimensionality reduction, supersmoothing]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;Schaal, S. (1998). Robust local learning in high dimensional spaces, 5th Joint Symposium on Neural Computation, pp.186-193, Institute for Neural Computation, University of California, San Diego.
[Keywords: nonparametric regression, linear models, principle components, dimensionality reduction, supersmoothing]
[Detail] [BibTeX]

1997

Atkeson, C. G.;Moore, A. W.;Schaal, S. (1997). Locally weighted learning, Artificial Intelligence Review, 11, 1-5, pp.11-73.
[Keywords: statistical learning, nonparametric regression, distance metric, lazy learning]
[Detail] [BibTeX] [PDF]

Atkeson, C. G.;Moore, A. W.;Schaal, S. (1997). Locally weighted learning for control, Artificial Intelligence Review, 11, 1-5, pp.75-113.
[Keywords: statistical learning, nonparametric regression, distance metric, lazy learning, learning control, reinforcement learning]
[Detail] [BibTeX] [PDF]

Atkeson, C. G.;Schaal, S. (1997). Robot learning from demonstration, in: Fisher Jr., D. H. (eds.), Machine Learning: Proceedings of the Fourteenth International Conference (ICML '97), pp.12-20, Morgan Kaufmann.
[Keywords: imitation learning, reinforcement learning, dynamic programming, motor skills]
[Detail] [BibTeX] [PDF]

Atkeson, C. G.;Schaal, S. (1997). Learning tasks from a single demonstration, IEEE International Conference on Robotics and Automation (ICRA97), 2, pp.1706-1712, Piscataway, NJ: IEEE.
[Keywords: learning from demonstration, imitation, reinforcement learning]
[Detail] [BibTeX] [PDF]

Schaal, S. (1997). Learning from demonstration, in: Mozer, M. C.;Jordan, M.;Petsche, T. (eds.), Advances in Neural Information Processing Systems 9, pp.1040-1046, MIT Press.
[Keywords: imitation learning, movement primitives, reinforcement learning, shaping, priming]
[Detail] [BibTeX] [PDF]

Vijayakumar, S.;Schaal, S. (1997). Local dimensionality reduction for locally weighted learning, International Conference on Computational Intelligence in Robotics and Automation, pp.220-225.
[Keywords: statistical learning, nonparametric regression, distance metric, dimensionality reduction, high dimensional learning]
[Detail] [BibTeX] [PDF]

1996

Miyamoto, H.;Gandolfo, F.;Gomi, H.;Schaal, S.;Koike, Y.;Rieka, O.;Nakano, E.;Wada, Y.;Kawato, M. (1996). A kendama learning robot based on a dynamic optimiation principle, Preceedings of the International Conference on Neural Information Processing, pp.938-942.
[Keywords: teaching by showing, task-level learning, dynamic optimization, imitation, humanoid robots]
[Detail] [BibTeX]

Miyamoto, H.;Schaal, S.;Gandolfo, F.;Koike, Y.;Osu, R.;Nakano, E.;Wada, Y.;Kawato, M. (1996). A Kendama learning robot based on bi-directional theory, Neural Networks, 9, 8, pp.1281-1302.
[Keywords: teaching by showing, task-level learning, dynamic optimization, imitation, humanoid robots]
[Detail] [BibTeX] [PDF]

Schaal, S.;Atkeson, C. G. (1996). From isolation to cooperation: An alternative of a system of experts, in: Touretzky, D. S.;Mozer, M. C.;Hasselmo, M. E. (eds.), Advances in Neural Information Processing Systems 8, pp.605-611, MIT Press.
[Keywords: statistical learning, nonparametric regression, distance metric, supersmoothing, mixture model, incremental learning]
[Detail] [BibTeX] [PDF]

Schaal, S.;Sternad, D.;Atkeson, C. G. (1996). One-handed juggling: A dynamical approach to a rhythmic movement task, Journal of Motor Behavior, 28, 2, pp.165-183.
[Keywords: biological motor control, trajectory formation, nonlinear dynamics, task dynamics, movement primitives]
[Detail] [BibTeX] [PDF]

1995

Atkeson, C. G.;Schaal, S. (1995). Memory-based neural networks for robot learning, Neurocomputing, 9, pp.1-27.
[Keywords: memory-based learning, juggling, locally weighted regression, nearest neighbor, internal models]
[Detail] [BibTeX] [PDF]

Miyamoto, H.;Gandolfo, F.;Gomi, H.;Schaal, S.;Koike, Y.;Osu, R.;Nakano, E.;Kawato, M. (1995). A kendama learning robot based on a dynamic optimization theory, Preceedings of the 4th IEEE International Workshop on Robot and Human Communication (RO-MAN'95), pp.327-332.
[Keywords: learning from demonstration, internal models, via points, robot learning, imitation, biomimetic robotics, reinforcement learning]
[Detail] [BibTeX]

Schaal, S.;Atkeson, C. G. (1995). Robot learning by nonparametric regression, in: Graefe, V. (eds.), Intelligent Robots and Systems, pp.137-153, Elsevier.
[Keywords: nonparametric regression, memory-based learning, statistical, robot, juggling]
[Detail] [BibTeX] [PDF]

Sternad, D.;Schaal, S.;Atkeson, C. G. (1995). Batting a ball: Dynamics of a rhythmic skill, in: Bardy, B.;Bostma, R.;Guiard, Y. (eds.), Studies in Perception and Action, pp.119-122, Erlbaum.
[Keywords: motor control, nonlinear dynamics, task dynamics, ball bouncing, open-loop stability]
[Detail] [BibTeX]

1994

Schaal, S. (1994). Nonparametric regression for learning, Conference on Adaptive Behavior and Learning, Center of Interdisciplinary Research (ZIF) Bielefeld Germany, also technical report TR-H-098 of the ATR Human Information Processing Research Laboratories.
[Keywords: nonparametric regression, review, statistical learning]
[Detail] [BibTeX] [PDF]

Schaal, S.;Atkeson, C. G. (1994). Robot juggling: An implementation of memory-based learning, Control Systems Magazine, 14, 1, pp.57-71.
[Keywords: nonparametric regression, memory-based learning, statistical, robot, juggling]
[Detail] [BibTeX] [PDF]

Schaal, S.;Atkeson, C. G. (1994). Assessing the quality of learned local models, in: Cowan, J.;Tesauro, G.;Alspector, J. (eds.), Advances in Neural Information Processing Systems 6, pp.160-167, Morgan Kaufmann.
[Keywords: nonparametric regression, confidence measures, exploration, linear models]
[Detail] [BibTeX] [PDF]

Schaal, S.;Atkeson, C. G. (1994). Robot learning by nonparametric regression, Proceedings of the International Conference on Intelligent Robots and Systems (IROS'94), pp.478-485, Munich Germany.
[Keywords: nonparametric regression, memory-based learning, statistical, robot, juggling]
[Detail] [BibTeX]

Schaal, S.;Atkeson, C. G. (1994). Memory-based robot learning, IEEE International Conference on Robotics and Automation, 3, pp.2928-2933.
[Keywords: nonparametric regression, memory-based learning, statistical, robot, juggling]
[Detail] [BibTeX]

1993

Atkeson, C. G.;Schaal, S. (1993). Roles for memory-based learning in robotics, Proceedings of the Sixth International Symposium on Robotics Research, pp.503-521.
[Keywords: statistical learning, robotics, nonparametric regression]
[Detail] [BibTeX]

Schaal, S.;Atkeson, C. G. (1993). Open loop stable control strategies for robot juggling, IEEE International Conference on Robotics and Automation, 3, pp.913-918, Piscataway, NJ: IEEE.
[Keywords: trajectory formation nonlinear nynamics motor skill acquisition]
[Detail] [BibTeX] [PDF]

Schaal, S.;Ehrlenspiel, K. (1993). Design concurrent calculation: A CAD- and data-integrated approach, Journal of Engineering Design, 4, pp.71-85.
[Keywords: computer-aided desing, knowledge-based reasoning, sql-databases, artificial intelligence]
[Detail] [BibTeX]

Schaal, S.;Sternad, D. (1993). Learning passive motor control strategies with genetic algorithms, in: Nadel, L.;Stein, D. (eds.), 1992 Lectures in complex systems, pp.913-918, Addison-Wesley.
[Keywords: trajectory formation, learning, nonlinear nynamics, motor skill acquisition]
[Detail] [BibTeX] [PDF]

Sternad, D.;Schaal, S. (1993). A genetic algorithm for evolution from an ecological perspective, in: Nadel, L.;Stein, D. (eds.), 1992 Lectures in Complex Systems, pp.223-231, Addison-Wesley.
[Keywords: artificial life, complex systems]
[Detail] [BibTeX]

1992

Ehrlenspiel, K.;Schaal, S. (1992). Ins CAD integrierte Kostenkalkulation (CAD-Integrated Cost Calculation), Konstruktion 44, 12, pp.407-414.
[Keywords: computer aided design, sql, knowledge-based systems, design-concurrent calculation]
[Detail] [BibTeX]

Schaal, S. (1992). Integrierte Wissensverarbeitung mit CAD am Beispiel der konstruktionsbegleitenden Kalkulation (Ways to smarter CAD Systems), Hanser 1992. (Konstruktionstechnik München Band 8). Zugl. München: TU Diss..
[Keywords: computer-aided desing, knowledge-based reasoning, sql-databases, artificial intelligence]
[Detail] [BibTeX]

Schaal, S. (1992). Informationssysteme mit CAD (Information systems within CAD), in: Milberg, J. (eds.), CAD/CAM Grundlagen, pp.199-204, Springer.
[Keywords: computer-aided desing, knowledge-based reasoning, sql-databases, artificial intelligence]
[Detail] [BibTeX]

Schaal, S.;Atkeson, C. G.;Botros, S. (1992). What should be learned?, Proceedings of Seventh Yale Workshop on Adaptive and Learning Systems, pp.199-204.
[Keywords: trajectory formation nonlinear nynamics motor skill acquisition]
[Detail] [BibTeX]

1991

Ehrlenspiel, K.;Schaal, S. (1991). Ways to smarter CAD-systems, in: Hubka (eds.), Proceedings of ICED'91Heurista, pp.10-16, Edition.
[Keywords: computer aided design, sql, knowledge-based systems, design-concurrent calculation]
[Detail] [BibTeX]

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