Learning Individual Motor Skills
Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts. IEEE Transactions on Robotics, 40:3341–3355, 2024. .
Generalization of Task Parameterized Dynamical Systems using Gaussian Process Transportation. arXiv:2404.13458 [cs.RO], 2024. .
PUMA: Deep Metric Imitation Learning for Stable Motion Primitives. Advanced Intelligent Systems, 6(11):2400144, 2024. .
Learning from Few Demonstrations with Frame-Weighted Motion Generation. In Experimental Robotics: The 18th International Symposium (ISER 2023) (Marcelo H. Ang Jr, Oussama Khatib, eds.), pp. 339–350, 2024. .
Robotic Fabric Flattening with Wrinkle Direction Detection. In Experimental Robotics: The 18th International Symposium (ISER 2023) (Marcelo H. Ang Jr, Oussama Khatib, eds.), pp. 339–350, 2024. .
Stable Motion Primitives via Imitation and Contrastive Learning. IEEE Transactions on Robotics, 39(5):3909–3928, 2023. .
Learning Task-Parameterized Skills from Few Demonstrations. IEEE Robotics and Automation Letters, 7(2):4063–4070, 2022. The contents of this paper were also selected by ICRA'22 Program Committee for presentation at the Conference. .
Imitation Learning with Inconsistent Demonstrations through Uncertainty-based Data Manipulation. In IEEE International Conference on Robotics and Automation (ICRA), pp. 3655–3661, 2021. .
Policy Search for Motor Primitives in Robotics. Machine Learning, 84(1-2):171–203, 2011. .
Imitation and Reinforcement Learning - Practical Algorithms for Motor Primitive Learning in Robotics. IEEE Robotics & Automation Magazine, 17(2):55–62, 2010. .
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Learning to Generalize Motor Skills
Movement Templates for Learning of Hitting and Batting. In IEEE International Conference on Robotics and Automation (ICRA), pp. 69–82, 2010. .
Reinforcement Learning to Adjust Parametrized Motor Primitives to New Situations. Autonomous Robots, 33(4):361–379, 2012. .
Learning to Select and Generalize Striking Movements in Robot Table Tennis. International Journal of Robotics Research, 32(3):263–279, 2013. .
Learning Throwing and Catching Skills. In IEEE/RSJ International Conference on Robot Systems (IROS), Video Track, pp. 5167–5168, 2012. .
Learning to Sequence Motor Skills
Mixture of Attractors: A Novel Movement Primitive Representation for Learning Motor Skills From Demonstrations. IEEE Robotics and Automation Letters, 3(2):926–933, 2018. .
Learning Movement Primitive Attractor Goals and Sequential Skills from Kinesthetic Demonstrations. Robotics and Autonomous Systems, 74(Part A):97–107, 2015. .
Learning Movement Primitives for Force Interaction Tasks. In IEEE International Conference on Robotics and Automation (ICRA), pp. 3192–3199, 2015. .