Publications

N. Blank , M. Reuss , M. Rühle , Ö. Yağmurlu , F. Wenzel , O. Mees , R. Lioutikov (2024). Scaling Robot Policy Learning via Zero-Shot Labeling with Foundation Models. CoRL.

X. Jia , Q. Wang , A. Donat , B. Xing , G. Li , H. Zhou , O. Celik , D. Blessing , R. Lioutikov , G. Neumann (2024). MaIL: Improving Imitation Learning with Selective State Space Models. CoRL.

M. Reuss , Ö. Yağmurlu , F. Wenzel , R. Lioutikov (2024). Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals. RSS.

DOI

M. Reuss , Ö. Yağmurlu , F. Wenzel , R. Lioutikov (2024). Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals. arXiv.

DOI

H. Zhou , D. Blessing , G. Li , O. Celik , X. Jia , G. Neumann , R. Lioutikov (2024). Variational Distillation of Diffusion Policies into Mixture of Experts. arXiv.

DOI

X. Jia , Q. Wang , A. Donat , B. Xing , G. Li , H. Zhou , O. Celik , D. Blessing , R. Lioutikov , G. Neumann (2024). MaIL: Improving Imitation Learning with Mamba. arXiv.

DOI

P. Scheikl , N. Schreiber , C. Haas , N. Freymuth , G. Neumann , R. Lioutikov , F. Mathis-Ullrich (2024). Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects. RA-L.

DOI

P. Scheikl , N. Schreiber , C. Haas , N. Freymuth , G. Neumann , R. Lioutikov , F. Mathis-Ullrich (2024). Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects. arXiv.

DOI

M. Reuss , Ö. Yağmurlu , F. Wenzel , R. Lioutikov (2024). Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals. ICRA.

G. Li , H. Zhou , D. Roth , S. Thilges , F. Otto , R. Lioutikov , G. Neumann (2024). Latent Space Exploration and Trajectory Space Update in Temporally-Correlated Episodic Reinforcement Learning. ICRA.

X. Jiang , P. Mattes , X. Jia , N. Schreiber , G. Neumann , R. Lioutikov (2024). A Comprehensive User Study on Augmented Reality-Based Data Collection Interfaces for Robot Learning. HRI.

DOI

X. Jia , D. Blessing , X. Jiang , M. Reuss , A. Donat , R. Lioutikov , G. Neumann (2024). Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations. arXiv.

DOI

G. Li , H. Zhou , D. Roth , S. Thilges , F. Otto , R. Lioutikov , G. Neumann (2024). Open the Black Box: Step-based Policy Updates for Temporally-Correlated Episodic Reinforcement Learning. arXiv.

DOI

D. Blessing , O. Celik , X. Jia , M. Reuss , M. Li , R. Lioutikov , G. Neumann (2023). Information Maximizing Curriculum: A Curriculum-Based Approach for Learning Versatile Skills. NeurIPS.

D. Blessing , O. Celik , X. Jia , M. Reuss , M. Li , R. Lioutikov , G. Neumann (2023). Information Maximizing Curriculum: A Curriculum-Based Approach for Imitating Diverse Skills. arXiv.

DOI

M. Reuss , R. Lioutikov (2023). Multimodal Diffusion Transformer for Learning from Play. CoRL.

X. Jiang , P. Mattes , X. Jia , G. Neumann , R. Lioutikov (2023). A User Study on Augmented Reality-Based Robot Learning Data Collection Interfaces. CoRL.

X. Jia , D. Blessing , X. Jiang , M. Reuss , A. Donat , R. Lioutikov , G. Neumann (2023). Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations. ICLR.

G. Li , H. Zhou , D. Roth , S. Thilges , F. Otto , R. Lioutikov , G. Neumann (2023). Open the Black Box: Step-based Policy Updates for Temporally-Correlated Episodic Reinforcement Learning. ICLR.

M. Reuss , M. Li , X. Jia , R. Lioutikov (2023). Goal-Conditioned Imitation Learning Using Score-based Diffusion Policies. RSS.

DOI

F. Otto , H. Zhou , O. Celik , G. Li , R. Lioutikov , G. Neumann (2023). MP3: Movement Primitive-Based (Re-)Planning Policy. arXiv.

DOI

M. Reuss , M. Li , X. Jia , R. Lioutikov (2023). Goal-Conditioned Imitation Learning Using Score-based Diffusion Policies. arXiv.

DOI

M. Li , O. Celik , P. Becker , D. Blessing , R. Lioutikov , G. Neumann (2023). Curriculum-Based Imitation of Versatile Skills. arXiv.

DOI

A. Saran , K. Desai , M. Chang , R. Lioutikov , A. Thomaz , S. Niekum (2022). Understanding Acoustic Patterns of Human Teachers Demonstrating Manipulation Tasks to Robots. arXiv.

DOI

G. Li , Z. Jin , M. Volpp , F. Otto , R. Lioutikov , G. Neumann (2022). ProDMPs: A Unified Perspective on Dynamic and Probabilistic Movement Primitives. arXiv.

DOI

A. Jain , S. Giguere , R. Lioutikov , S. Niekum (2022). Distributional Depth-Based Estimation of Object Articulation Models. CoRL.

A. Jain , S. Giguere , R. Lioutikov , S. Niekum (2021). Distributional Depth-Based Estimation of Object Articulation Models. arXiv.

DOI

C. Turan , D. Koert , K. Neergaard , R. Lioutikov (2021). Empowering Interactive Robots by Learning Through Multimodal Feedback Channel. ICMI.

DOI

F. Memarian , W. Goo , R. Lioutikov , S. Niekum , U. Topcu (2021). Self-Supervised Online Reward Shaping in Sparse-Reward Environments. arXiv.

DOI

A. Jain , R. Lioutikov , C. Chuck , S. Niekum (2021). ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theory. arXiv.

DOI

F. Memarian , W. Goo , R. Lioutikov , S. Niekum , U. Topcu (2021). Self-Supervised Online Reward Shaping in Sparse-Reward Environments. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

PDF

A. Jain , R. Lioutikov , C. Chuck , S. Niekum (2021). ScrewNet: Category-Independent Articulation Model Estimation from Depth Images Using Screw Theory. Proceedings of the International Conference on Robotics and Automation (ICRA).

PDF

A. Jain , S. Giguere , R. Lioutikov , S. Niekum (2021). Distributional Depth-Based Estimation of Object Articulation Models. The Conference on Robot Learning (CoRL).

PDF

M. Sieb , M. Schultheis , S. Szelag , R. Lioutikov , J. Peters (2020). Probabilistic Trajectory Segmentation by Means of Hierarchical Dirichlet Process Switching Linear Dynamical Systems. arXiv.

DOI

R. Lioutikov , G. Maeda , F.F. Veiga , K. Kersting , J. Peters (2019). Learning Attribute Grammars for Movement Primitive Sequencing. International Journal of Robotics Research (IJRR).

PDF

R. Lioutikov (2018). Parsing Motion and Composing Behavior for Semi-Autonomous Manipulation. PhD Thesis.

PDF

R.. Lioutikov , J Peters (2018). Movement Primitive Sequencing via Attribute Grammars. ICRA 2018, Third Machine Learning in Planning and Control of Robot Motion Workshop.

PDF

R.. Lioutikov , G. Maeda , F.F. Veiga , K. Kersting , J Peters (2018). Learning Intuitive Grammars for Movement Primitive Sequences. ICRA 2018, Abstract-Only Session.

PDF

R. Lioutikov , G. Maeda , F.F. Veiga , K. Kersting , J. Peters (2018). Inducing Probabilistic Context-Free Grammars for the Sequencing of Robot Movement Primitives. Proceedings of the International Conference on Robotics and Automation (ICRA).

PDF

R.. Lioutikov , F. Faller , M. Sigg , J. Peters , G Maeda (2018). A Graph-Search Based Approach for Movement Primitive Sequencing. ICRA 2018, Abstract-Only Session.

PDF

A. Paraschos , R. Lioutikov , J. Peters , G. Neumann (2017). Probabilistic Prioritization of Movement Primitives. Proceedings of the International Conference on Intelligent Robot Systems, and IEEE Robotics and Automation Letters (RA-L).

PDF

G. Maeda , G. Neumann , M. Ewerton , R. Lioutikov , O. Kroemer , J. Peters (2017). Probabilistic Movement Primitives for Coordination of Multiple Human-Robot Collaborative Tasks. Autonomous Robots (AURO).

PDF

G. Maeda , M. Ewerton , G. Neumann , R. Lioutikov , J. Peters (2017). Phase Estimation for Fast Action Recognition and Trajectory Generation in Human-Robot Collaboration. International Journal of Robotics Research (IJRR).

PDF

R. Lioutikov , G. Neumann , G. Maeda , J. Peters (2017). Learning Movement Primitive Libraries through Probabilistic Segmentation. International Journal of Robotics Research (IJRR).

PDF

T. Osa , E. A. M. Ghalamzan , R. Stolkin , R. Lioutikov , J. Peters , G. Neumann (2017). Guiding Trajectory Optimization by Demonstrated Distributions. IEEE Robotics and Automation Letters (RA-L).

PDF

D. Wilbers , R. Lioutikov , J. Peters (2017). Context-Driven Movement Primitive Adaptation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).

PDF

G. Maeda , A. Maloo , M. Ewerton , R. Lioutikov , J Peters (2016). Proactive Human-Robot Collaboration with Interaction Primitives. International Workshop on Human-Friendly Robotics (HFR).

PDF

D. Koert , G. Maeda , R. Lioutikov , G. Neumann , J. Peters (2016). Demonstration Based Trajectory Optimization for Generalizable Robot Motions. Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).

PDF

G. Maeda , A. Maloo , M. Ewerton , R. Lioutikov , J. Peters (2016). Anticipative Interaction Primitives for Human-Robot Collaboration. AAAI Fall Symposium Series. Shared Autonomy in Research and Practice, Arlington, VA, USA.

PDF

E. Rueckert , R. Lioutikov , R. Calandra , M. Schmidt , P. Beckerle , J. Peters (2015). Low-Cost Sensor Glove with Force Feedback for Learning from Demonstrations Using Probabilistic Trajectory Representations. arXiv.

DOI

M. Lopes , J. Peters , J. Piater , M. Toussaint , A. Baisero , B. Busch , O. Erkent , O. Kroemer , R. Lioutikov , G. Maeda , Y. Mollard , T. Munzer , D. Shukla (2015). Semi-Autonomous 3rd-Hand Robot. Workshop on Cognitive Robotics in Future Manufacturing Scenarios, European Robotics Forum, Vienna, Austria.

PDF

R. Lioutikov , G. Neumann , G. Maeda , J. Peters (2015). Probabilistic Segmentation Applied to an Assembly Task. Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).

PDF

A. Abdolmaleki , R. Lioutikov , J Peters , N. Lau , L. Reis , G. Neumann (2015). Model-Based Relative Entropy Stochastic Search. Advances in Neural Information Processing Systems (NIPS).

PDF

E. Rueckert , R. Lioutikov , R. Calandra , M. Schmidt , P. Beckerle , J. Peters (2015). Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations. ICRA 2015 Workshop on Tactile and force sensing for autonomous compliant intelligent robots.

PDF

M. Ewerton , G. Neumann , R. Lioutikov , H. Ben Amor , J. Peters , G. Maeda (2015). Learning Multiple Collaborative Tasks with a Mixture of Interaction Primitives. Proceedings of the International Conference on Robotics and Automation (ICRA).

PDF

G. Maeda , G. Neumann , M. Ewerton , R. Lioutikov , J. Peters (2015). A Probabilistic Framework for Semi-Autonomous Robots Based on Interaction Primitives with Phase Estimation. Proceedings of the International Symposium of Robotics Research (ISRR).

PDF

R. Lioutikov , O. Kroemer , J. Peters , G Maeda (2014). Towards a Third Hand. IAS 13, 1st International Workshop on Intelligent Robot Assistants.

PDF

R. Lioutikov , A. Paraschos , J. Peters , G. Neumann (2014). Sample-Based Information-Theoretic Stochastic Optimal Control. Proceedings of the International Conference on Robotics and Automation (ICRA).

PDF

M. Ewerton , G. Neumann , R. Lioutikov , H. Ben Amor , J. Peters , G Maeda (2014). Modeling Spatio-Temporal Variability in Human-Robot Interaction with Probabilistic Movement Primitives. ICRA 2014, Workshop on Machine Learning for Social Robotics.

PDF

R. Lioutikov , O. Kroemer , G. Maeda , J Peters (2014). Learning Manipulation by Sequencing Motor Primitives with a Two-Armed Robot. Intelligent Autonomous Systems 13 - Proceedings of the 13th International Conference IAS-13, Padova, Italy, July 15-18, 2014.

PDF

G. Maeda , M. Ewerton , R. Lioutikov , H. Ben Amor , J. Peters , G. Neumann (2014). Learning Interaction for Collaborative Tasks with Probabilistic Movement Primitives. Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).

PDF

R. Lioutikov , A. Paraschos , J. Peters , G. Neumann (2014). Generalizing Movements with Information Theoretic Stochastic Optimal Control. Journal of Aerospace Information Systems.

PDF

R. Lioutikov (2013). Learning time-dependent Feedback Policies with Model-Based Policy Search. Msc Thesis.

PDF

A. Saran , K. Desai , M. Chang , R. Lioutikov , A. Thomaz , S. Niekum (0001). Understanding Acoustic Patterns of Human Teachers Demonstrating Manipulation Tasks to Robots. IROS.

DOI

F. Memarian , W. Goo , R. Lioutikov , S. Niekum , U. Topcu (0001). Self-Supervised Online Reward Shaping in Sparse-Reward Environments. IROS.

DOI

A. Jain , R. Lioutikov , C. Chuck , S. Niekum (0001). ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theory. ICRA.

DOI

G. Li , Z. Jin , M. Volpp , F. Otto , R. Lioutikov , G. Neumann (0001). ProDMP: A Unified Perspective on Dynamic and Probabilistic Movement Primitives. RA-L.

DOI

M. Li , O. Celik , P. Becker , D. Blessing , R. Lioutikov , G. Neumann (0001). Curriculum-Based Imitation of Versatile Skills. ICRA.

DOI