Autonomous Systems Labs: Machine Learning for Intelligent Systems and Robotics

Upcoming Talks

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23.02.201713:00-13:30S202 E302
Robert Pinsler, M.Sc. Intermediate Presentation: Data-Efficient Learning of Robotic Grasps from Human Preferences
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23.02.201713:30-14:00S202 E302
Kaushik Gondaliya, M.Sc. Intermediate Presentation: Learning to Categorize Issues in Distributed Bug Tracker Systems
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23.02.201714:00-14:30S202 E302
Julian Gao, M.Sc. Thesis Progress Report: Stochastic Optimal Control of Humanoid Robots in multi-contact environments
Welcome to the Computational Learning for Autonomous Systems Group and the Intelligent Autonomous Systems Group of the Computer Science Department of the Technische Universitaet Darmstadt.

Our research centers around the goal of bringing advanced motor skills to robotics using techniques from machine learning and control. Please check out our research or contact any of our lab members. As we originated out of the RObot Learning Lab (RoLL) in the Department for Empirical Inference and Machine Learning at the Max-Planck Institute of Intelligent Systems, we also have a few members in Tuebingen. We also collaborate with some of the excellent other autonomous systems groups at TU Darmstadt such as the Simulation, Systems Optimization and Robotics Group and the Locomotion Laboratory.

Creating autonomous robots that can learn to assist humans in situations of daily life is a fascinating challenge for machine learning. While this aim has been a long-standing vision of artificial intelligence and the cognitive sciences, we have yet to achieve the first step of creating robots that can learn to accomplish many different tasks triggered by environmental context or higher-level instruction. The goal of our robot learning laboratory is the realization of a general approach to motor skill learning, to get closer towards human-like performance in robotics. We focus on the solution of fundamental problems in robotics while developing machine-learning methods.

Computational Learning for Autonomous Systems (CLAS)

The new group on Computational Learning for Autonomous Systems Group is headed by Gerhard Neumann, who is Assistant Professor at the TU-Darmstadt since September 2014. The main focus of the CLAS group is to investigate computational learning algorithms that allow artificial agents to autonomously learn new skills from interaction with the environment, humans or other agents. We believe that such autonomously learning agents will have a great impact in many areas of everyday life, for example, autonomous robots for helping in the household, care of the elderly or the disposal of dangerous goods.

An autonomously learning agent has to acquire a rich set of different behaviours to achieve a variety of goals. The agent has to learn autonomously how to explore its environment and determine which are the important features that need to be considered for making a decision. It has to identify relevant behaviours and needs to determine when to learn new behaviours. Furthermore, it needs to learn what are relevant goals and how to re-use behaviours in order to achieve new goals. In order to achieve these objectives, our research concentrates on hierarchical learning and structured learning of robot control policies, information-theoretic methods for policy search, imitation learning and autonomous exploration, learning forward models for long-term predictions, autonomous cooperative systems and multi-agent systems and the biological aspects of autonomous learning systems.

Intelligent Autonomous Systems (IAS)

In the Intelligent Autonomous Systems Group headed by Jan Peters since July 2011 at TU Darmstadt and since May 2007 at the Max Planck Institute, we develop methods for learning models and control policy in real time, see e.g., learning models for control and learning operational space control. We are particularly interested in reinforcement learning where we try push the state-of-the-art further on and received a tremendous support by the RL community. Much of our research relies upon learning motor primitives that can be used to learn both elementary tasks as well as complex applications such as grasping or sports.

Some more information on us fore the general public can be found in a long article in the Max Planck Research magazine, small stubs in New Scientist, WIRED and the Spiegel, as well as on the IEEE Blog on Robotics and Engadget.

Directions and Open Positions

In case that you are searching for our address or for directions on how to get to our lab, look at our contact information. We always have thesis opportunities for enthusiastic and driven Masters/Bachelors students (please contact Jan Peters or Gerhard Neumann). Check out the currently offered theses (Abschlussarbeiten) or suggest one yourself, drop us a line by email or simply drop by! We also occasionally have open Ph.D. or Post-Doc positions, see OpenPositions.

News

  1. Abdulsamad, H.; Arenz, O.; Peters, J.; Neumann, G. (2017). State-Regularized Policy Search for Linearized Dynamical Systems, Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS).   See Details [Details]   BibTeX Reference [BibTex]
  1. Farraj, F. B.; Osa, T.; Pedemonte, N.; Peters, J.; Neumann, G.; Giordano, P.R.; (2017). A Learning-based Shared Control Architecture for Interactive Task Execution, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  2. Wilbers, D.; Lioutikov, R.; Peters, J. (2017). Context-Driven Movement Primitive Adaptation, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  3. End, F.; Akrour, R.; Peters, J.; Neumann, G. (2017). Layered Direct Policy Search for Learning Hierarchical Skills, Proceedings of the International Conference on Robotics and Automation (ICRA).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  4. Gabriel, A.; Akrour, R.; Peters, J.; Neumann, G. (2017). Empowered Skills, Proceedings of the International Conference on Robotics and Automation (ICRA).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]

Gebhardt, G. H. W.; Kupcsik, A.; Neumann, G. (2017). The Kernel Kalman Rule - Efficient Nonparametric Inference with Recursive Least Squares, Proceedings of the Thirty-First AAAI Conference on Artificial Intelligence.   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]

Ewerton, M.; Maeda, G.J.; Kollegger, G.; Wiemeyer, J.; Peters, J. (2016). Incremental Imitation Learning of Context-Dependent Motor Skills, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]

Gomez-Gonzalez, S.; Neumann, G.; Schoelkopf, B.; Peters, J. (2016). Using Probabilistic Movement Primitives for Striking Movements, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).   See Details [Details]   BibTeX Reference [BibTex]

Huang, Y.; Buechler, D.; Koc, O.; Schoelkopf, B.; Peters, J. (2016). Jointly Learning Trajectory Generation and Hitting Point Prediction in Robot Table Tennis, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).   See Details [Details]   BibTeX Reference [BibTex]

Koert, D.; Maeda, G.J.; Lioutikov, R.; Neumann, G.; Peters, J. (2016). Demonstration Based Trajectory Optimization for Generalizable Robot Motions, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]

Tanneberg, D.; Paraschos, A.; Peters, J.; Rueckert, E. (2016). Deep Spiking Networks for Model-based Planning in Humanoids, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]

  1. Arenz, O.; Abdulsamad, H.; Neumann, G. (2016). Optimal Control and Inverse Optimal Control by Distribution Matching, Proceedings of the International Conference on Intelligent Robots and Systems (IROS).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  2. Koc, O.; Peters, J.; Maeda, G. (2016). A New Trajectory Generation Framework in Robotic Table Tennis, Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS).   See Details [Details]   BibTeX Reference [BibTex]
  3. Manschitz, S.; Gienger, M.; Kober, J.; Peters, J. (2016). Probabilistic Decomposition of Sequential Force Interaction Tasks into Movement Primitives, Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS).   See Details [Details]   BibTeX Reference [BibTex]
  4. van Hoof, H.; Chen, N.; Karl, M.; van der Smagt, P.; Peters, J. (2016). Stable Reinforcement Learning with Autoencoders for Tactile and Visual Data, Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  5. Yi, Z.; Calandra, R.; Veiga, F.; van Hoof, H.; Hermans, T.; Zhang, Y.; Peters, J. (2016). Active Tactile Object Exploration with Gaussian Processes, Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  • New journal papers:
  1. Parisi, S.; Pirotta, M.; Peters, J. (accepted). Manifold-based Multi-objective Policy Search with Sample Reuse, Neurocomputing.   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  2. Rueckert, E.; Camernik, J.; Peters, J.; Babic, J. (2016). Probabilistic Movement Models Show that Postural Control Precedes and Predicts Volitional Motor Control, Nature PG: Scientific Reports, 6, 28455.   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  3. Rueckert, E.; Kappel, D.; Tanneberg, D.; Pecevski, D; Peters, J. (2016). Recurrent Spiking Networks Solve Planning Tasks, Nature PG: Scientific Reports, 6, 21142, Nature Publishing Group.   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  4. Maeda, G.; Neumann, G.; Ewerton, M.; Lioutikov, L.; Kroemer, O.; Peters, J. (accepted). Probabilistic Movement Primitives for Coordination of Multiple Human-Robot Collaborative Tasks, Autonomous Robots (AURO).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  5. Maeda, G.; Ewerton, M.; Koert, D; Peters, J. (2016). Acquiring and Generalizing the Embodiment Mapping from Human Observations to Robot Skills, IEEE Robotics and Automation Letters (RA-L), 1, 2, pp.784--791.   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  6. Daniel, C.; Neumann, G.; Kroemer, O.; Peters, J. (2016). Hierarchical Relative Entropy Policy Search, Journal of Machine Learning Research (JMLR), 17, pp.1-50.   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  1. Vinogradska, J.; Bischoff, B.; Nguyen-Tuong, D.; Romer, A.; Schmidt, H.; Peters, J. (2016). Stability of Controllers for Gaussian Process Forward Models, Proceedings of the International Conference on Machine Learning (ICML).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  2. Akrour, R.; Abdolmaleki, A.; Abdulsamad, H.; Neumann, G. (2016). Model-Free Trajectory Optimization for Reinforcement Learning, Proceedings of the International Conference on Machine Learning (ICML).   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  1. Buechler, D.; Ott, H.; Peters, J. (2016). A Lightweight Robotic Arm with Pneumatic Muscles for Robot Learning, Proceedings of the International Conference on Robotics and Automation (ICRA).   See Details [Details]   BibTeX Reference [BibTex]
  2. Ewerton, M.; Maeda, G.; Neumann, G.; Kisner, V.; Kollegger, G.; Wiemeyer, J.; Peters, J. (2016). Movement Primitives with Multiple Phase Parameters, Proceedings of the International Conference on Robotics and Automation (ICRA), pp.201--206.   See Details [Details]   Download Article [PDF]   BibTeX Reference [BibTex]
  3. Modugno, V.; Neumann, G.; Rueckert, E.; Oriolo, G.; Peters, J.; Ivaldi, S. (2016). Learning soft task priorities for control of redundant robots, Proceedings of the International Conference on Robotics and Automation (ICRA).   See Details [Details]   BibTeX Reference [BibTex]
  • Jan Peters will be Area Chair at the Robotics: Science and Systems (R:SS 2016).

Past News

  

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