Reconstruction of Surfaces behind Occlusions in Range Images. - Freek Stulp; Fabio Dell'Acqua; Robert B. Fisher (3DIM, 2001)

Machine control using radial basis value functions and inverse state projection. - Sebastian Buck 001; Freek Stulp; Michael Beetz; Thorsten Schmitt (ICARCV, 2002)

Autonomous Robot Controllers Capable of Acquiring Repertoires of Complex Skills. - Michael Beetz; Freek Stulp; Alexandra Kirsch; Armin Müller; Sebastian Buck 001 (RoboCup, 2003)

Sharing Belief in Teams of Heterogeneous Robots. - Hans Utz; Freek Stulp; Arndt Mühlenfeld (RoboCup, 2004)

The AGILO Robot Soccer Team-Experience-Based Learning and Probabilistic Reasoning in Autonomous Robot Control. - Michael Beetz; Thorsten Schmitt; Robert Hanek; Sebastian Buck 001; Freek Stulp; Derik Schröter; Bernd Radig (Auton. Robots, 2004)

Optimized Execution of Action Chains Using Learned Performance Models of Abstract Actions. - Freek Stulp; Michael Beetz (IJCAI, 2005)

Action awareness: enabling agents to optimize, transform, and coordinate plans. - Freek Stulp; Michael Beetz (AAMAS, 2006)

Learning Robust Objective Functions for Model Fitting in Image Understanding Applications. - Matthias Wimmer; Freek Stulp; Stephan Tschechne; Bernd Radig (BMVC, 2006)

Implicit Coordination in Robotic Teams using Learned Prediction Models. - Freek Stulp; Michael Isik; Michael Beetz (ICRA, 2006)

Coordination Without Negotiation in Teams of Heterogeneous Robots. - Michael Isik; Freek Stulp; Gerd Mayer; Hans Utz (RoboCup, 2006)

Learning Robust Objective Functions with Application to Face Model Fitting. - Matthias Wimmer; Sylvia Pietzsch; Freek Stulp; Bernd Radig (DAGM-Symposium, 2007)

Enabling Users to Guide the Design of Robust Model Fitting Algorithms. - Matthias Wimmer; Freek Stulp; Bernd Radig (ICCV, 2007)

Seamless Execution of Action Sequences. - Freek Stulp; Wolfram Koska; Alexis Maldonado; Michael Beetz (ICRA, 2007)

Estimating Natural Activity by Fitting 3D Models via Learned Objective Functions. - Matthias Wimmer; Christoph Mayer 001; Freek Stulp; Bernd Radig (VMV, 2007)

Face model fitting based on machine learning from multi-band images of facial components. - Matthias Wimmer; Christoph Mayer 001; Freek Stulp; Bernd Radig (CVPR Workshops, 2008)

A real time system for model-based interpretation of the dynamics of facial expressions. - Christoph Mayer 001; Matthias Wimmer; Freek Stulp; Zahid Riaz; Anton Roth; Martin Eggers; Bernd Radig (FG, 2008)

An ASM fitting method based on machine learning that provides a robust parameter initialization for AAM fitting. - Matthias Wimmer; Shinya Fujie; Freek Stulp; Tetsunori Kobayashi; Bernd Radig (FG, 2008)

The Assistive Kitchen - A demonstration scenario for cognitive technical systems. - Michael Beetz; Freek Stulp; Bernd Radig; Jan Bandouch; Nico Blodow; Mihai Emanuel Dolha; Andreas Fedrizzi; Dominik Jain; Ulrich Klank; Ingo Kresse; Alexis Maldonado; Zoltan-Csaba Marton; et al. (RO-MAN, 2008)

Face Model Fitting with Generic, Group-Specific, and Person-Specific Objective Functions. - Sylvia Pietzsch; Matthias Wimmer; Freek Stulp; Bernd Radig (VISAPP (2), 2008)

Refining the Execution of Abstract Actions with Learned Action Models. - Freek Stulp; Michael Beetz (J. Artif. Intell. Res., 2008)

Learning Local Objective Functions for Robust Face Model Fitting. - Matthias Wimmer; Freek Stulp; Sylvia Pietzsch; Bernd Radig (IEEE Trans. Pattern Anal. Mach. Intell., 2008)

Combining declarative, procedural, and predictive knowledge to generate, execute, and optimize robot plans. - Freek Stulp; Michael Beetz (Robotics Auton. Syst., 2008)

Combining analysis, imitation, and experience-based learning to acquire a concept of reachability in robot mobile manipulation. - Freek Stulp; Andreas Fedrizzi; Franziska Zacharias; Moritz Tenorth; Jan Bandouch; Michael Beetz (Humanoids, 2009)

Compact models of motor primitive variations for predictable reaching and obstacle avoidance. - Freek Stulp; Erhan Öztop; Peter Pastor; Michael Beetz; Stefan Schaal (Humanoids, 2009)

Transformational planning for mobile manipulation based on action-related places. - Andreas Fedrizzi; Lorenz Mösenlechner; Freek Stulp; Michael Beetz (ICAR, 2009)

Action-related place-based mobile manipulation. - Freek Stulp; Andreas Fedrizzi; Michael Beetz (IROS, 2009)

Tailoring Robot Actions to Task Contexts using Action Models (Zuschneiden von Roboteraktionen auf Aufgabenkontexte mittels Aktionsmodellen) - Freek Stulp (2009)

Reinforcement learning of full-body humanoid motor skills. - Freek Stulp; Jonas Buchli; Evangelos A. Theodorou; Stefan Schaal (Humanoids, 2010)

Variable Impedance Control - A Reinforcement Learning Approach. - Jonas Buchli; Evangelos A. Theodorou; Freek Stulp; Stefan Schaal (Robotics: Science and Systems, 2010)

Implicit Coordination with Shared Belief: A Heterogeneous Robot Soccer Team Case Study. - Freek Stulp; Hans Utz; Michael Isik; Gerd Mayer (Adv. Robotics, 2010)

Generality and legibility in mobile manipulation. - Michael Beetz; Freek Stulp; Piotr Esden-Tempski; Andreas Fedrizzi; Ulrich Klank; Ingo Kresse; Alexis Maldonado; Federico Ruiz-Ugalde (Auton. Robots, 2010)

Hierarchical reinforcement learning with movement primitives. - Freek Stulp; Stefan Schaal (Humanoids, 2011)

Reinforcement learning of impedance control in stochastic force fields. - Freek Stulp; Jonas Buchli; Alice Ellmer; Michael N. Mistry; Evangelos A. Theodorou; Stefan Schaal (ICDL-EPIROB, 2011)

Learning to grasp under uncertainty. - Freek Stulp; Evangelos A. Theodorou; Jonas Buchli; Stefan Schaal (ICRA, 2011)

Movement segmentation using a primitive library. - Franziska Meier; Evangelos A. Theodorou; Freek Stulp; Stefan Schaal (IROS, 2011)

Learning motion primitive goals for robust manipulation. - Freek Stulp; Evangelos A. Theodorou; Mrinal Kalakrishnan; Peter Pastor; Ludovic Righetti; Stefan Schaal (IROS, 2011)

Learning variable impedance control. - Jonas Buchli; Freek Stulp; Evangelos A. Theodorou; Stefan Schaal (Int. J. Robotics Res., 2011)

Comparing motion generation and motion recall for everyday robotic tasks. - Carmen Lopera; Hilario Tome; Freek Stulp (Humanoids, 2012)

Emergent proximo-distal maturation through adaptive exploration. - Freek Stulp; Pierre-Yves Oudeyer (ICDL-EPIROB, 2012)

Path Integral Policy Improvement with Covariance Matrix Adaptation. - Freek Stulp; Olivier Sigaud (ICML, 2012)

Comparing motion generation and motion recall for everyday mobile manipulation tasks. - Carmen Lopera; Hilario Tome; Adolfo Rodríguez Tsouroukdissian; Freek Stulp (IROS, 2012)

Adaptive exploration for continual reinforcement learning. - Freek Stulp (IROS, 2012)

Learning and Reasoning with Action-Related Places for Robust Mobile Manipulation. - Freek Stulp; Andreas Fedrizzi; Lorenz Mösenlechner; Michael Beetz (J. Artif. Intell. Res., 2012)

Adaptive exploration through covariance matrix adaptation enables developmental motor learning. - Freek Stulp; Pierre-Yves Oudeyer (Paladyn J. Behav. Robotics, 2012)

Model-Free Reinforcement Learning of Impedance Control in Stochastic Environments. - Freek Stulp; Jonas Buchli; Alice Ellmer; Michael N. Mistry; Evangelos A. Theodorou; Stefan Schaal (IEEE Trans. Auton. Ment. Dev., 2012)

Reinforcement Learning With Sequences of Motion Primitives for Robust Manipulation. - Freek Stulp; Evangelos A. Theodorou; Stefan Schaal (IEEE Trans. Robotics, 2012)

Robot Skill Learning: From Reinforcement Learning to Evolution Strategies. - Freek Stulp; Olivier Sigaud (Paladyn J. Behav. Robotics, 2013)

From dynamic movement primitives to associative skill memories. - Peter Pastor; Mrinal Kalakrishnan; Franziska Meier; Freek Stulp; Jonas Buchli; Evangelos A. Theodorou; Stefan Schaal (Robotics Auton. Syst., 2013)

Adaptation de la matrice de covariance pour l'apprentissage par renforcement direct. - Olivier Sigaud; Freek Stulp (Rev. d'Intelligence Artif., 2013)

Computed torque control with variable gains through Gaussian process regression. - Nicolas Torres Alberto; Michael N. Mistry; Freek Stulp (Humanoids, 2014)

Simultaneous on-line Discovery and Improvement of Robotic Skill options. - Freek Stulp; Laura Herlant; Antoine Hoarau; Gennaro Raiola (IROS, 2014)

Co-manipulation with multiple probabilistic virtual guides. - Gennaro Raiola; Xavier Lamy; Freek Stulp (IROS, 2015)

Facilitating intention prediction for humans by optimizing robot motions. - Freek Stulp; Jonathan Grizou; Baptiste Busch; Manuel Lopes 001 (IROS, 2015)

Gated networks: an inventory. - Olivier Sigaud; Clément Masson; David Filliat; Freek Stulp (CoRR, 2015)

Many regression algorithms, one unified model: A review. - Freek Stulp; Olivier Sigaud (Neural Networks, 2015)

Tensor Based Knowledge Transfer Across Skill Categories for Robot Control. - Chenyang Zhao 007; Timothy M. Hospedales; Freek Stulp; Olivier Sigaud (IJCAI, 2017)

Proximodistal Exploration in Motor Learning as an Emergent Property of Optimization. - Freek Stulp; Pierre-Yves Oudeyer (CoRR, 2017)

Learning Legible Motion from Human-Robot Interactions. - Baptiste Busch; Jonathan Grizou; Manuel Lopes 001; Freek Stulp (Int. J. Soc. Robotics, 2017)

Optimizing Contextual Ergonomics Models in Human-Robot Interaction. - Antonio Gonzales Marin; Mohammad S. Shourijeh; Pavel E. Galibarov; Michael Damsgaard; Lars Fritzsch; Freek Stulp (IROS, 2018)

Co-manipulation with a library of virtual guiding fixtures. - Gennaro Raiola; Susana Sánchez Restrepo; Pauline Chevalier; Pedro Rodríguez-Ayerbe; Xavier Lamy; Sami Tliba; Freek Stulp (Auton. Robots, 2018)

Design, Execution, and Postmortem Analysis of Prolonged Autonomous Robot Operations. - Sebastian G. Brunner; Peter Lehner; Martin J. Schuster; Sebastian Riedel 002; Rico Belder; Daniel Leidner; Armin Wedler; Michael Beetz; Freek Stulp (IEEE Robotics Autom. Lett., 2018)

Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation. - Martin Pfanne; Maxime Chalon; Freek Stulp; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2018)

Teleoperating Robots from the International Space Station: Microgravity Effects on Performance with Force Feedback. - Bernhard M. Weber; Ribin Balachandran; Cornelia Riecke; Freek Stulp; Martin Stelzer (IROS, 2019)

Investigating Generalisation in Continuous Deep Reinforcement Learning. - Chenyang Zhao 007; Olivier Sigaud; Freek Stulp; Timothy M. Hospedales (CoRR, 2019)

Comparing Semi-Parametric Model Learning Algorithms for Dynamic Model Estimation in Robotics. - Sebastian Riedel 002; Freek Stulp (CoRR, 2019)

DmpBbo: A versatile Python/C++ library for Function Approximation, Dynamical Movement Primitives, and Black-Box Optimization. - Freek Stulp; Gennaro Raiola (J. Open Source Softw., 2019)

Policy search in continuous action domains: An overview. - Olivier Sigaud; Freek Stulp (Neural Networks, 2019)

Autonomous Parallelization of Resource-Aware Robotic Task Nodes. - Sebastian Georg Brunner; Andreas Dömel; Peter Lehner; Michael Beetz; Freek Stulp (IEEE Robotics Autom. Lett., 2019)

Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning. - Ismael Rodríguez; Korbinian Nottensteiner; Daniel Leidner; Michael Kaßecker; Freek Stulp; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2019)

Intuitive Task-Level Programming by Demonstration Through Semantic Skill Recognition. - Franz Steinmetz; Verena Nitsch; Freek Stulp (IEEE Robotics Autom. Lett., 2019)

A functional data analysis approach for continuous 2-D emotion annotations. - Karan Sharma; Marius Wagner; Claudio Castellini; Egon L. van den Broek; Freek Stulp; Friedhelm Schwenker (Web Intell., 2019)

Closing the Gap: Combining Task Specification and Reinforcement Learning for Compliant Vegetable Cutting. - Abhishek Padalkar; Matthias Nieuwenhuisen; Dirk Schulz 001; Freek Stulp (ICINCO (Selected Papers), 2020)

Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation. - Adrian Simon Bauer; Peter Schmaus; Freek Stulp; Daniel Leidner (ICRA, 2020)

Robust, Locally Guided Peg-in-Hole using Impedance-Controlled Robots. - Korbinian Nottensteiner; Freek Stulp; Alin Albu-Schäffer (ICRA, 2020)

Shared Control Templates for Assistive Robotics. - Gabriel Quere; Annette Hagengruber; Maged Iskandar; Samuel Bustamante; Daniel Leidner; Freek Stulp; Jörn Vogel (ICRA, 2020)

Generalized State-Dependent Exploration for Deep Reinforcement Learning in Robotics. - Antonin Raffin; Freek Stulp (CoRR, 2020)

Object-Level Impedance Control for Dexterous In-Hand Manipulation. - Martin Pfanne; Maxime Chalon; Freek Stulp; Helge J. Ritter; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2020)

Pattern Recognition for Knowledge Transfer in Robotic Assembly Sequence Planning. - Ismael Rodríguez; Korbinian Nottensteiner; Daniel Leidner; Maximilian Durner; Freek Stulp; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2020)

Continuous, Real-Time Emotion Annotation: A Novel Joystick-Based Analysis Framework. - Karan Sharma; Claudio Castellini; Freek Stulp; Egon L. van den Broek (IEEE Trans. Affect. Comput., 2020)

Emergent Jaw Predominance in Vocal Development Through Stochastic Optimization. - Clément Moulin-Frier; Jules Brochard; Freek Stulp; Pierre-Yves Oudeyer (IEEE Trans. Cogn. Dev. Syst., 2020)

A Survey on Policy Search Algorithms for Learning Robot Controllers in a Handful of Trials. - Konstantinos I. Chatzilygeroudis; Vassilis Vassiliades; Freek Stulp; Sylvain Calinon; Jean-Baptiste Mouret (IEEE Trans. Robotics, 2020)

Smooth Exploration for Robotic Reinforcement Learning. - Antonin Raffin; Jens Kober; Freek Stulp (CoRL, 2021)

Friction Estimation for Tendon-Driven Robotic Hands. - Friedrich Lange; Martin Pfanne; Franz Steinmetz; Sebastian Wolf 001; Freek Stulp (ICRA, 2021)

Learning and Interactive Design of Shared Control Templates. - Gabriel Quere; Samuel Bustamante; Annette Hagengruber; Jörn Vogel; Franz Steinmetz; Freek Stulp (IROS, 2021)

Flexible Robotic Assembly Based on Ontological Representation of Tasks, Skills, and Resources. - Philipp Matthias Schäfer; Franz Steinmetz; Stefan Schneyer; Timo Bachmann; Thomas Eiband; Florian Samuel Lay; Abhishek Padalkar; Christoph Sürig; Freek Stulp; Korbinian Nottensteiner (KR, 2021)

A Digital Twin Approach for Contextual Assistance for Surgeons During Surgical Robotics Training. - Katharina Hagmann; Anja Hellings-Kuß; Julian Klodmann; Rebecca Richter; Freek Stulp; Daniel Leidner (Frontiers Robotics AI, 2021)

Fault-Tolerant Six-DoF Pose Estimation for Tendon-Driven Continuum Mechanisms. - Antonin Raffin; Bastian Deutschmann; Freek Stulp (Frontiers Robotics AI, 2021)

Toward Seamless Transitions Between Shared Control and Supervised Autonomy in Robotic Assistance. - Samuel Bustamante; Gabriel Quere; Katharina Hagmann; Xuwei Wu; Peter Schmaus; Jörn Vogel; Freek Stulp; Daniel Leidner (IEEE Robotics Autom. Lett., 2021)

CATs: Task Planning for Shared Control of Assistive Robots with Variable Autonomy. - Samuel Bustamante; Gabriel Quere; Daniel Leidner; Jörn Vogel; Freek Stulp (ICRA, 2022)

Multi-Phase Multi-Modal Haptic Teleoperation. - Maximilian Mühlbauer; Franz Steinmetz; Freek Stulp; Thomas Hulin; Alin Albu-Schäffer (IROS, 2022)

Unsupervised symbol emergence for supervised autonomy using multi-modal latent Dirichlet allocations. - Florian Samuel Lay; Adrian Simon Bauer; Alin Albu-Schäffer; Freek Stulp; Daniel Leidner (Adv. Robotics, 2022)

Learning to Exploit Elastic Actuators for Quadruped Locomotion. - Antonin Raffin; Daniel Seidel; Jens Kober; Alin Albu-Schäffer; João Silvério; Freek Stulp (CoRR, 2022)

Innovation Paths for Machine Learning in Robotics [Industry Activities]. - Freek Stulp; Michael Spranger; Kim Listmann; Stéphane Doncieux; Moritz Tenorth; George Konidaris 002; Pieter Abbeel (IEEE Robotics Autom. Mag., 2022)

Latent Ergonomics Maps: Real-Time Visualization of Estimated Ergonomics of Human Movements. - Lorenzo Vianello; Waldez Gomes; Freek Stulp; Alexis Aubry; Pauline Maurice; Serena Ivaldi (Sensors, 2022)

Guiding Reinforcement Learning with Shared Control Templates. - Abhishek Padalkar; Gabriel Quere; Franz Steinmetz; Antonin Raffin; Matthias Nieuwenhuisen; João Silvério; Freek Stulp (ICRA, 2023)

ROSMC: A High-Level Mission Operation Framework for Heterogeneous Robotic Teams. - Ryo Sakagami; Sebastian G. Brunner; Andreas Dömel; Armin Wedler; Freek Stulp (ICRA, 2023)

A Simple Open-Loop Baseline for Reinforcement Learning Locomotion Tasks. - Antonin Raffin; Olivier Sigaud; Jens Kober; Alin Albu-Schäffer; João Silvério; Freek Stulp (CoRR, 2023)

Open X-Embodiment: Robotic Learning Datasets and RT-X Models. - Open X.-Embodiment Collaboration; Abhishek Padalkar; Acorn Pooley; Ajinkya Jain; Alex Bewley; Alexander Herzog; Alex Irpan; Alexander Khazatsky; Anant Raj; Anikait Singh; Anthony Brohan; Antonin Raffin; et al. (CoRR, 2023)

Robotic world models - conceptualization, review, and engineering best practices. - Ryo Sakagami; Florian Samuel Lay; Andreas Dömel; Martin J. Schuster; Alin Albu-Schäffer; Freek Stulp (Frontiers Robotics AI, 2023)

Unknown Object Grasping for Assistive Robotics. - Elle Miller; Maximilian Durner; Matthias Humt; Gabriel Quere; Wout Boerdijk; Ashok M. Sundaram; Freek Stulp; Jörn Vogel (ICRA, 2024)

Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. - Abby O'Neill; Abdul Rehman; Abhiram Maddukuri; Abhishek Gupta 004; Abhishek Padalkar; Abraham Lee; Acorn Pooley; Agrim Gupta; Ajay Mandlekar; Ajinkya Jain; Albert Tung; Alex Bewley; et al. (ICRA, 2024)

A probabilistic approach for learning and adapting shared control skills with the human in the loop. - Gabriel Quere; Freek Stulp; David Filliat; João Silvério (ICRA, 2024)

Fitting Parameters of Linear Dynamical Systems to Regularize Forcing Terms in Dynamical Movement Primitives. - Freek Stulp; Adrià Colomé; Carme Torras (ICRA, 2024)

An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks. - Antonin Raffin; Olivier Sigaud; Jens Kober; Alin Albu-Schäffer; João Silvério; Freek Stulp (RLJ, 2024)

AI-enabled Cyber-Physical In-Orbit Factory - AI approaches based on digital twin technology for robotic small satellite production. - Florian Leutert; David Bohlig; Florian Kempf; Klaus Schilling 001; Maximilian Mühlbauer; Bengisu Ayan; Thomas Hulin; Freek Stulp; Alin Albu-Schäffer; Vladimir Kutscher; Christian Plesker; Thomas Dasbach; et al. (CoRR, 2024)

State- and context-dependent robotic manipulation and grasping via uncertainty-aware imitation learning. - Tim R. Winter; Ashok M. Sundaram; Werner Friedl; Máximo A. Roa; Freek Stulp; João Silvério (CoRR, 2024)

A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures. - Maximilian Mühlbauer; Thomas Hulin; Bernhard M. Weber; Sylvain Calinon; Freek Stulp; Alin Albu-Schäffer; João Silvério (IEEE Robotics Autom. Lett., 2024)

Guiding real-world reinforcement learning for in-contact manipulation tasks with Shared Control Templates. - Abhishek Padalkar; Gabriel Quere; Antonin Raffin; João Silvério; Freek Stulp (Auton. Robots, 2024)

A Tree-Based World Model for Reducing System Complexity in Autonomous Mobile Manipulation. - Ryo Sakagami; Andreas Dömel; Peter Lehner; Sebastian Riedel 002; Sebastian G. Brunner; Alin Albu-Schäffer; Freek Stulp (IEEE Robotics Autom. Lett., 2024)

Feasibility Checking and Constraint Refinement for Shared Control in Assistive Robotics. - Samuel Bustamante; Ismael Rodríguez; Gabriel Quere; Peter Lehner; Maged Iskandar; Daniel Leidner; Andreas Dömel; Alin Albu-Schäffer; Jörn Vogel; Freek Stulp (IEEE Robotics Autom. Lett., 2024)

Orchestrating Method Ensembles to Adapt to Resource Requirements and Constraints During Robotic Task Execution. - Florian Samuel Lay; Andreas Dömel; Neal Y. Lii; Freek Stulp (IEEE Robotics Autom. Lett., 2025)

Interactive Incremental Learning of Generalizable Skills With Local Trajectory Modulation. - Markus Knauer; Alin Albu-Schäffer; Freek Stulp; João Silvério (IEEE Robotics Autom. Lett., 2025)

A Unified Framework for Probabilistic Dynamic-, Trajectory- and Vision-based Virtual Fixtures. - Maximilian Mühlbauer; Freek Stulp; Sylvain Calinon; Alin Albu-Schäffer; João Silvério (CoRR, 2025)

Towards Safe and Efficient Learning in the Wild: Guiding RL With Constrained Uncertainty-Aware Movement Primitives. - Abhishek Padalkar; Freek Stulp; Gerhard Neumann; João Silvério (IEEE Robotics Autom. Lett., 2025)