publications
-
- 2012
- Konrad Rawlik, Marc Toussaint, Sethu Vijayakumar: On stochastic optimal control and reinforcement
learning by approximate inference.
Int. Conf. on Robotics Science and
Systems (RSS 2012).
-
- Dmitry Zarubin, Vladimir Ivan, Marc Toussaint, Sethu Vijayakumar: Hierarchical motion planning
in topological representations.
Int. Conf. on Robotics Science and Systems (RSS 2012).
-
- Akshat Kumar, Shlomo Zilberstein, Marc Toussaint (2012): Message Passing Algorithms for MAP Estimation Using DC Programming.
International Conference on Artificial Intelligence and Statistics (AISTATS), pages 656-664.
-
- Marc Toussaint: The Bayesian Search Game.
Book chapter in Theory and Principled Methods for Designing Metaheuristics, Yossi Borenstein, Alberto Moraglio (Eds.), Springer (in press).
- 2011
- Akshat Kumar, Shlomo Zilberstein, Marc Toussaint (2011): Scalable Multiagent Planning Using Probabilistic Inference.
International Joint Conference on Artificial Intelligence (IJCAI 2011).
-
- Nikolay Jetchev, Marc Toussaint (2011): Task Space Retrieval Using Inverse Feedback Control.
International Conference on Machine Learning (ICML 2011).
-
- Pascal Poupart, Tobias Lang, Marc Toussaint (2011):
Analyzing and Escaping Local Optima in Planning as Inference for
Partially Observable Domains.
European Conference on Machine
Learning (ECML 2011).
-
- Stanimir Dragiev, Marc Toussaint, Michael Gienger (2011):
Gaussian Process Implicit Surfaces for Shape Estimation and
Grasping.
IEEE International
Conference on Robotics and Automation (ICRA 2011) .
-
- Marc Toussaint, Amos Storkey, Stefan Harmeling (2010):
Expectation-Maximization methods for solving (PO)MDPs and
optimal control problems.
In David
Barber, A Taylan Cemgil, Silvia Chiappa (Eds.): Bayesian Time
Series Models, Cambridge University Press, p. 388-413,
2011.
- 2010
- Konrad Rawlik, Marc Toussaint, Sethu Vijayakumar (2010):
An Approximate Inference Approach to Temporal Optimization in
Optimal Control.
Proc. Advances in Neural Information Processing Systems (NIPS
2010).
-
- Konrad Rawlik, Marc Toussaint, Sethu Vijayakumar (2010): Approximate Inference and Stochastic Optimal Control e-Print arXiv:1009.3958.
-
- Tobias Lang, Marc Toussaint (2010): Planning with Noisy Probabilistic Relational Rules. Journal of Artificial
Intelligence Research, 39, 1-49.
-
- Tobias Lang, Marc Toussaint, Kristian Kersting (2010): Exploration
in Relational Worlds.
European
Conference on Machine Learning (ECML 2010).
-
- Tobias Lang, Marc Toussaint (2010): Probabilistic backward and
forward reasoning in stochastic relational
worlds.
26th International Conference on
Machine Learning (ICML 2010).
-
- Jun Morimoto, Chad Jenkins, Marc Toussaint (Eds.): Special Issue on
Robot Learning in Practice, IEEE Robotics and Automation
Magazine 2010.
-
- Marc Toussaint, Nils Plath, Tobias Lang, Nikolay Jetchev (2010):
Integrated motor control, planning, grasping and high-level
reasoning in a blocks world using probabilistic
inference.
IEEE International
Conference on Robotics and Automation (ICRA 2010), pp. 399-405.
-
- Nikolay Jetchev, Marc Toussaint (2010): Trajectory
Prediction in Cluttered Voxel
Environments.
IEEE International
Conference on Robotics and Automation (ICRA 2010),pp. 2523-2528.
-
- Marc Toussaint, Christian Goerick (2010): A Bayesian
view on motor control and planning.
In
Olivier Sigaud, Jan Peters (Eds.): From motor to interaction
learning in robots. Studies in Computational Intelligence,
Vol. 264, 227-252, Springer. ISBN: 978-3-642-05180-7.
-
- Michael Gienger, Marc Toussaint, Christian Goerick (2010): Whole-body Motion Planning -- Building Blocks for Intelligent Systems.
. In
Motion Planning for Humanoid Robots, 67-98, Springer.
- 2009
- Nikos Vlassis, Marc Toussaint, Georgios Kontes, Savas
Piperidis (2009): Learning Model-free Robot Control by a Monte
Carlo EM Algorithm.
Autonomous Robots 27,
123-130.
-
- Tobias Lang, Marc Toussaint (2009): Relevance Grounding
for Planning in Relational Domains .
European Conference on Machine Learning (ECML 2009).
-
- Marc Toussaint (2009): Pros and Cons of truncated
Gaussian EP in the context of Approximate Inference
Control.
NIPS-Workshop on Probabilistic
Approaches for Robotics and Control.
-
- Marc Toussaint (2009): Probabilistic inference as a
model of planned behavior.
Künstliche
Intelligenz (German Artificial Intelligence Journal) volume
3/09, 23-29.
-
- Marc Toussaint (2009): Robot Trajectory Optimization
using Approximate Inference.
25th
International Conference on Machine Learning (ICML 2009).
-
- Nikos Vlassis, Marc Toussaint (2009): Model-Free
Reinforcement Learning as Mixture
Learning.
. 25th International
Conference on Machine Learning (ICML 2009).
-
- Tobias Lang, Marc Toussaint (2009): Approximate
Inference for Planning in Stochastic Relational
Worlds.
25th International Conference on
Machine Learning (ICML 2009).
-
- Nils Plath, Marc Toussaint, Shinichi Nakajima (2009): Multi-class image
segmentation using Conditional Random Fields and Global
Classification.
25th International
Conference on Machine Learning (ICML 2009).
-
- Nikolay Jetchev, Marc Toussaint (2009): Trajectory
Prediction: Learning to Map Situations to Robot
Trajectories.
25th International
Conference on Machine Learning (ICML 2009).
-
- Sethu Vijayakumar, Marc Toussaint, Giorgios Petkos,
Matthew Howard (2009): Planning and Moving in Dynamic
Environments - A Statistical Machine Learning
Approach.
In Creating Brain-Like
Intelligence -- From Basic Principles to Complex Intelligent
Systems, Lecture Notes in Computer Science vol 5436/2009,
Springer, 151-191.
- 2008
- Volker Willert, Julian Eggert, Marc Toussaint, Edgar
Körner: Probabilistic Exploitation of the Lucas and Kanade
Smoothness Constraint.
The seventh Int Conf
on Machine Learning and Applications (ICMLA 2008).
-
- Michael Gienger, Marc Toussaint, Nikolay Jetchev, Achim
Bendig, Christian Goerick: Optimization of fluent approach and
grasp motions.
8th IEEE-RAS
International Conference on Humanoid Robots (Humanoids
2008).
-
- Michael Gienger, Marc Toussaint, Christian
Goerick: Task Maps in Humanoid Robot
Manipulation.
In International
Conference on Intelligent RObots and Systems (IROS 2008).
-
- Marc Toussaint, Laurent Charlin, Pascal Poupart:
Hierarchical POMDP Controller Optimization by Likelihood
Maximization.
In Uncertainty in
Artificial Intelligence (UAI 2008). (best paper runner up award) (See also the
video
lecture and the AAAI 2008 workshop
version.
)
-
- Ben Williams, Marc Toussaint, Amos Storkey:
Modelling motion primitives and their timing in biologically executed
movements.
In Advances in Neural
Information Processing Systems 20 (NIPS 2007).
- 2007
- Marc Toussaint, Michael Gienger, Christian Goerick (2007):
Optimization of sequential attractor-based movement for compact
behaviour generation.
7th
IEEE-RAS International Conference on Humanoid Robots
(Humanoids 2007) .
-
- Volker Willert, Marc Toussaint, Julian Eggert, Edgar
Körner: Uncertainty Optimization for Robust Dynamic Optical
Flow Estimation.
The sixth Int
Conf on Machine Learning and Applications (ICMLA 2007), pages
450-457. (best paper award)
-
- Marc Toussaint (2007): Bayesian
inference for motion control and planning.
Technical Report 2007-22, Technical University Berlin, ISSN
1436-9915.
-
- Marc Toussaint, Volker Willert, Julian Eggert, Edgar Körner
(2007): Motion Segmentation Using Inference in Dynamic Bayesian
Networks.
British Machine Vision
Conference (BMVC 2007).
-
- Stefan Harmeling, Marc Toussaint (2007):
Bayesian Estimators for Robins-Ritov's
Problem.
University of Edinburgh, School
of Informatics Research Report EDI-INF-RR-1189.
-
- Christopher R. Stephens, Marc Toussaint, Darrel Whitley, Peter F. Stadler
(Eds.): Foundations
of Genetic Algorithms (FOGA 2007) Lecture Notes in Computer
Science, Vol. 4436, Springer, ISBN: 978-3-540-73479-6
-
- Marc Toussaint, Christian Goerick (2007): Probabilistic
inference for structured planning in
robotics.
Int Conf on Intelligent Robots
and Systems (IROS 2007).
-
- Marc Toussaint, Werner von Seelen (2007): Complex
adaptation and system structure.
BioSystems,
90 (3), p.769-782, Nov 2007.
-
- Ben Williams, Marc Toussaint, Amos Storkey (2007):
A primitive based generative model to infer timing information in
unpartitioned handwriting data.
Int Joint Conf on Artificial Intelligence (IJCAI
2007).
-
- Phillip Robbel, Sethu Vijayakumar, Marc Toussaint (2007): Active Learning in Motor Control.
In: Robotics Challenges for Machine Learning, Neural Information Processing Systems (NIPS 2007 workshop).
- 2006
- Marc Toussaint, Stefan Harmeling, Amos Storkey
(2006): Probabilistic inference for solving
(PO)MDPs.
Research Report
EDI-INF-RR-0934, University of Edinburgh, School of Informatics.
-
- Felix V. Agakov, Edwin V. Bonilla, John Cavazos,
Björn Franke, Grigori Fursin, Michael F. P. O'Boyle, John Thomson,
Marc Toussaint, Christopher K. I. Williams (2006): Using Machine
Learning to Focus Iterative Optimization.
Int
Symposium on Code Generation and Optimization (CGO 2006),
295-305.
-
- Ben Williams, Marc Toussaint, Amos Storkey (2006):
Extracting Motion Primitives from Natural Handwriting
Data.
Int Conf on Artificial
Neural Networks (ICANN 2006).
-
- Georgios Petkos, Marc Toussaint, Sethu Vijayakumar
(2006): Learning Multiple Models of Non-Linear Dynamics for
Control under Varying Contexts.
Int Conf on
Artificial Neural Networks (ICANN 2006).
-
- Marc Toussaint (2006): Compact
representations as a search strategy: Compression
EDAs [ps.gz].
Theoretical Computer Science 361, 57-71.
-
- Marc Toussaint and Amos Storkey (2006):
Probabilistic inference for solving discrete and
continuous state Markov Decision Processes [ps.gz].
23nd International Conference on Machine Learning (ICML
2006). For a more detailed and revised exposition please also see
this Technical
Report. See also the comment by Hoffman et
al. (an errata of their AISTATS
09 paper) concerning the Unscented Transform.
-
- Marc Toussaint (2006): A sensorimotor map:
Modulating lateral interactions for anticipation and
planning [ps.gz].
Neural Computation 18, 1132-1155.
- 2005
- Marc Toussaint and Amos Storkey (2005):
Probabilistic inference for computing optimal policies in
MDPs [ps.gz].
NIPS 2005 Workshop - Game Theory, Machine
Learning and Reasoning under Uncertainty.
-
- Marc Toussaint and Sethu Vijayakumar (2005):
Learning discontinuities with Product-of-Sigmoids for
switching between local models [ps.gz].
22nd
International Conference on Machine Learning (ICML
2005).
-
- Marc Toussaint (2005): Factorial representations
to generate arbitrary search distributions [ps.gz].
Genetic and Evolutionary Computation Conference (GECCO 2005),
Theory of Representations workshop, 339-345, ACM Press.
-
- Marc Toussaint and S. Vijayakumar (2005):
Learning discontinuities for switching between local
models [ps.gz].
19th International Joint Conference on
Artificial Intelligence (IJCAI 2005), 1744-1745.
-
- Andrey V. Bogdanov, Marc Toussaint, Stein Sandven
(2005): Recurrent modular network architecture for sea ice
classification in the Marginal Ice Zone using ERS SAR
images.
In Image and Signal Processing for Remote
Sensing XI, Proceedings of SPIE vol 5982, SPIE, Bellingham, WA.
-
- Marc Toussaint (2005): Compact genetic codes as
a search strategy of evolutionary processes [ps.gz].
In
Foundations of Genetic Algorithms 8 (FOGA 2005), Lecture
Notes in Computer Science (LNCS 3469), 75-94, Springer, Berlin. [ISBN:
3-540-27237-2]
-
- Christian Igel, Marc Toussaint, W. Weishui (2005):
Rprop using the natural gradient compared to
Levenberg-Marquardt optimization [ps.gz].
In
Trends and Applications in Constructive
Approximation. International Series of Numerical Mathematics,
volume 151, 259-272, Birkhäuser Verlag.
- 2004
- Christian Igel, Marc Toussaint (2004): A
No-Free-Lunch theorem for non-uniform distributions of target
functions [ps.gz].
Journal of Mathematical Modelling
and Algorithms 3, 313-322. For a draft see Recent Results on
No-Free-Lunch Theorems for Optimization (2003), Los Alamos
pre-print cs.NE/0303032.
-
- Marc Toussaint (2004):
Learning a world model and planning with a self-organizing
dynamic neural system [ps.gz].
In Advances in Neural
Information Processing Systems 16 (NIPS 2003), 929-936, MIT
Press, Cambridge. For a draft see nlin.AO/0306015.
- 2003
- Marc Toussaint (2003): The evolution of genetic
representations and modular adaptation. PhD thesis,
Institut für Neuroinformatik, Ruhr-Universiät Bochum,
Germany. Published with the Logos Verlag Berlin (2004), ISBN
3-8325-0579-2, 173 pages.
-
- Christian Igel, Marc Toussaint (2003):
Neutrality and self-adaptation [ps.gz].
Natural Computation 2, 117-132.
-
- Marc Toussaint (2003):
The structure of evolutionary exploration: On crossover,
buildings blocks, and Estimation-Of-Distribution
Algorithms [ps.gz].
Genetic and Evolutionary
Computation Conference (GECCO 2003), 1444-1456. See also the
earlier version at the Los Alamos e-Print Archive nlin.AO/0212030.
-
- Marc Toussaint (2003): Demonstrating the
Evolution of Complex Genetic Representations: An Evolution of
Artificial Plants [ps.gz].
Genetic and
Evolutionary Computation Conference (GECCO 2003), 86-97.
-
- Christian Igel, Marc Toussaint (2003):
On Classes of Functions for which No Free Lunch Results
Hold. Information Processing Letters 86, 317-321. See also the
earlier version [ps.gz] at the Los Alamos e-Print
Archive cs.NE/0108011.
-
- Marc Toussaint (2003):
On the evolution of phenotypic exploration
distributions [ps.gz].
Foundations of Genetic Algorithms
7 (FOGA 2003), Eds: Ken De Jong et al., Morgan Kaufmann,
169-182. [order the book
ISBN 0-1220-8155-2]
- 2002
- Michael Huesken, Christian Igel, Marc Toussaint (2002):
Task-dependent evolution of modularity in neural
networks [ps.gz].
Connection Science
14, 219-229. See also the earlier version [ps.gz] in 2001
Genetic and Evolutionary Computation Conference (GECCO 2001),
Late-Breaking Papers, 187-193.
-
- Marc Toussaint (2002): A neural model for
multi-expert architectures [ps.gz].
International
Joint Conference on Neural Networks (IJCNN 2002),
2755-2760. [nlin.AO/0202039, citeseer]
-
- Marc Toussaint (2002):
On model selection and the disability of neural networks
to decompose tasks [ps.gz].
International Joint
Conference on Neural Networks (IJCNN 2002), 245-250. [nlin.AO/0202038, citeseer]
-
- Marc Toussaint, Christian Igel (2002):
Neutrality: A Necessity for
Self-Adaptation [ps.gz].
Congress on Evolutionary
Computation (CEC 2002), 1354-1359. [nlin.AO/0204038, citeseer]
- 2001
- Marc Toussaint (2001): Self-adaptive
exploration in evolutionary search [ps.gz].
Internal Report
IRINI 2001-05, Institut für Neuroinformatik, Ruhr-Universiät Bochum,
Germany. [physics/0102009,
citeseer]
- 2000
- Marc Toussaint (2000): A numeric solution
for metric-affine gravity and Einstein's gravitational theory with
Proca matter [ps.gz].
General Relelativity and
Gravitation 32, 1689-1709. [supplementary computer algebra
code,
gr-qc/9910042, citeseer]
-
- Marc Toussaint (2000): A gauge
theoretical view of the charge concept in Einstein
gravity [ps.gz].
General Relelativity and
Gravitation 32, 885-896. [supplementary computer algebra code, gr-qc/9907024, citeseer]
-
- Friedrich W. Hehl, Marc Toussaint (2000):
Schwarze Löcher (Black
Holes) [ps.gz].
MNU (Der mathematische und
naturwissenschaftliche Unterricht) 6, 327-333.
- 1999
- Marc Toussaint (1999): Gauge theory of gravity: Foundations,
the charge concept, and a numeric solution. Diploma thesis,
Institute for Theoretical Physics, University of Cologne, Germany. [abstract and supplements]
-
- Marc Toussaint (1999): Lectures on Reduce
and Maple [ps.gz].
Los Alamos e-Print Archive
cs.SC/0105033. [supplementary
material, cs.SC/0105033, citeseer]
- notes (non-refereed)
-
(See also my lecture notes.)
- 2008
- Marc Toussaint: Probabilistic inference methods in
robotics -- filling the gap between high-level reasoning and low-level
motion control.
Presented at the PASCAL Symposium,
Bled 2008. See the video
lecture.
- 2005
- Marc Toussaint (2005): Exact conditions for
commutativity of projections with crossover.
Technical Note, 2005.
- 2004
- Marc Toussaint (2004): Notes on information
geometry and evolutionary processes. Los Alamos pre-print
nlin.AO/0408040.
- 1999
-
Marc Toussaint (1999):
The local map and the metric as
symmetry breaking properties of spacetime in gauge theories of
gravity. Part of my diploma thesis.
- very old stuff on gravity
-
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