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Picture for Stefan Schaal

Stefan Schaal

AMD, MPI for Intelligent Systems, Tübingen, Germany, CLMC Lab, University of Southern California, Los Angeles, USA

Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation


Dec 02, 2021
Todor Davchev, Oleg Sushkov, Jean-Baptiste Regli, Stefan Schaal, Yusuf Aytar, Markus Wulfmeier, Jon Scholz


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From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence


Oct 28, 2021
Nicholas Roy, Ingmar Posner, Tim Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Dan Koditschek, Tomas Lozano-Perez, Vikash Mansinghka, Christopher Pal, Blake Richards, Dorsa Sadigh, Stefan Schaal, Gaurav Sukhatme, Denis Therien, Marc Toussaint, Michiel Van de Panne


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Offline Meta-Reinforcement Learning for Industrial Insertion


Oct 12, 2021
Tony Z. Zhao, Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Nicolas Heess, Jon Scholz, Stefan Schaal, Sergey Levine


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CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation


Sep 19, 2021
Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal


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Multi-Task Learning with Sequence-Conditioned Transporter Networks


Sep 15, 2021
Michael H. Lim, Andy Zeng, Brian Ichter, Maryam Bandari, Erwin Coumans, Claire Tomlin, Stefan Schaal, Aleksandra Faust


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A Robustness Analysis of Inverse Optimal Control of Bipedal Walking


Apr 25, 2021
John R. Rebula, Stefan Schaal, James Finley, Ludovic Righetti

* 9 pages, 5 figures 

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Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study


Mar 23, 2021
Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerik, Ning Ye, Stefan Schaal, Jon Scholz


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Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks


Mar 08, 2021
Wenzhao Lian, Tim Kelch, Dirk Holz, Adam Norton, Stefan Schaal

* 7 pages, 6 figures 

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Learning Dense Rewards for Contact-Rich Manipulation Tasks


Nov 17, 2020
Zheng Wu, Wenzhao Lian, Vaibhav Unhelkar, Masayoshi Tomizuka, Stefan Schaal

* 8 pages, 5 figures 

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Residual Learning from Demonstration


Aug 18, 2020
Todor Davchev, Kevin Sebastian Luck, Michael Burke, Franziska Meier, Stefan Schaal, Subramanian Ramamoorthy


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An Interior Point Method Solving Motion Planning Problems with Narrow Passages


Jul 09, 2020
Jim Mainprice, Nathan Ratliff, Marc Toussaint, Stefan Schaal

* IEEE RO-MAN 2020, 6 pages 

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Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed


Jun 29, 2020
Giovanni Sutanto, Katharina Rombach, Yevgen Chebotar, Zhe Su, Stefan Schaal, Gaurav S. Sukhatme, Franziska Meier

* Submitted to the International Journal of Robotics Research. Paper length is 21 pages (including references) with 12 figures. A video overview of the reinforcement learning experiment on the real robot can be seen at https://www.youtube.com/watch?v=WDq1rcupVM0. arXiv admin note: text overlap with arXiv:1710.08555 

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A New Age of Computing and the Brain


Apr 27, 2020
Polina Golland, Jack Gallant, Greg Hager, Hanspeter Pfister, Christos Papadimitriou, Stefan Schaal, Joshua T. Vogelstein

* A Computing Community Consortium (CCC) workshop report, 24 pages 

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Scaling simulation-to-real transfer by learning composable robot skills


Nov 13, 2018
Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Presented at ISER 2018. See https://www.youtube.com/watch?v=Syr2RQTHqTs for supplemental video 

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Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations


Nov 13, 2018
Zhanpeng He, Ryan Julian, Eric Heiden, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Submitted to ICRA 2019. See https://youtu.be/te4JWe7LPKw for supplemental video 

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Combining learned and analytical models for predicting action effects


Oct 19, 2018
Alina Kloss, Stefan Schaal, Jeannette Bohg

* Submitted to IJRR, now includes experiments on learning error models on top of the analytical model and on using non-trivial camera viewpoints 

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Path Integral Guided Policy Search


Oct 11, 2018
Yevgen Chebotar, Mrinal Kalakrishnan, Ali Yahya, Adrian Li, Stefan Schaal, Sergey Levine

* Published at the International Conference on Robotics and Automation (ICRA), 2017 

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Online Learning of a Memory for Learning Rates


Mar 23, 2018
Franziska Meier, Daniel Kappler, Stefan Schaal

* accepted to ICRA 2018, code available: https://github.com/fmeier/online-meta-learning ; video pitch available: https://youtu.be/9PzQ25FPPOM 

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Time-Contrastive Networks: Self-Supervised Learning from Video


Mar 20, 2018
Pierre Sermanet, Corey Lynch, Yevgen Chebotar, Jasmine Hsu, Eric Jang, Stefan Schaal, Sergey Levine


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Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks


Mar 15, 2018
Giovanni Sutanto, Zhe Su, Stefan Schaal, Franziska Meier

* 8 pages, accepted to be published at the International Conference on Robotics and Automation (ICRA) 2018 

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Learning Task-Specific Dynamics to Improve Whole-Body Control


Mar 08, 2018
Andrej Gams, Sean A. Mason, Aleš Ude, Stefan Schaal, Ludovic Righetti


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An MPC Walking Framework With External Contact Forces


Feb 27, 2018
Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti


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On Time Optimization of Centroidal Momentum Dynamics


Feb 26, 2018
Brahayam Ponton, Alexander Herzog, Andrea Del Prete, Stefan Schaal, Ludovic Righetti

* 7 pages, 4 figures, ICRA 2018 

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Probabilistic Recurrent State-Space Models


Feb 10, 2018
Andreas Doerr, Christian Daniel, Martin Schiegg, Duy Nguyen-Tuong, Stefan Schaal, Marc Toussaint, Sebastian Trimpe


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The Role of Measurement Uncertainty in Optimal Control for Contact Interactions


Jan 16, 2018
Brahayam Ponton, Stefan Schaal, Ludovic Righetti

* 22 pages, 5 figures 

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Interactive Perception: Leveraging Action in Perception and Perception in Action


Dec 06, 2017
Jeannette Bohg, Karol Hausman, Bharath Sankaran, Oliver Brock, Danica Kragic, Stefan Schaal, Gaurav Sukhatme

* IEEE Transactions on Robotics 33 (2017) 1273-1291 
* Equal contribution by first three authors 

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Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets


Nov 23, 2017
Karol Hausman, Yevgen Chebotar, Stefan Schaal, Gaurav Sukhatme, Joseph Lim

* Paper accepted to NIPS 2017 

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A New Data Source for Inverse Dynamics Learning


Oct 06, 2017
Daniel Kappler, Franziska Meier, Nathan Ratliff, Stefan Schaal

* IROS 2017 

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Real-time Perception meets Reactive Motion Generation


Oct 06, 2017
Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan Ratliff, Jeannette Bohg


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