Sethu Vijayakumar//publications//
Professor of Robotics & Microsoft Research-RAEng Chair

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U. Edinburgh



In reverse chronological order ...
  • 2017
  • Leopoldo Armesto,  Joao Moura, Valdimir Ivan, Antonio Sala and Sethu Vijayakumar,
    Learning of Constrained Generalizable Policies by Demonstration,
    Proc. Robotics: Science and Systems (R:SS 2017), Cambridge, Mass., USA (2017).[pdf]
  • Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher Mower, Maurice Fallon and Sethu Vijayakumar, Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring,
    Proc. 13th IEEE Conference on Automation Science and Engineering, Xian, China (2017).[pdf]
  • Jun Nakanishi, Andreea Radulescu, David Braun and Sethu Vijayakumar,
    Spatio-temporal Stiffness Optimization with Switching Dynamics,
    Autonomous Robots, vol. 41(2), pp. 273-291 (2017). [pdf][DOI]
  • Leopoldo Armesto, Jorren Bosga, Valdimir Ivan and Sethu Vijayakumar,
    Efficient Learning of Constraints and Generic Null Space Policies,
    Proc. IEEE International Conference on Robotics and Automation (ICRA 2017), Singapore (2017).[pdf]
  • Agamemnon Krasoulis, Kianoush Nazarpour and Sethu Vijayakumar,
    Use of Regularized Discriminant Analysis Improves Myoelectric Hand Movement Classification,
    Proc. 8th Intl. Conf. IEEE EMBC Neural Engineering Conference (NER'17) (2017).[pdf]
  • Andreea Radulescu, Jun Nakanishi, David Braun and Sethu Vijayakumar,
    Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch,
    J.-P. Laumond et al. (eds.), Geometric and Numerical Foundations of Movements, Springer Tracts in Advanced Robotics 117, pp. 393-419 (2017).[DOI][pdf]
  • Luigi Acerbi, Sethu Vijayakumar and Daniel Wolpert,
    Target Uncertainty Mediates Sensorimotor Error Correction,
    PLoS ONE 12(1): e0170466 (2017). [pdf][DOI]
  • David Braun, Andrius Sutas and Sethu Vijayakumar,
    Self-tuning Bistable Parametric Feedback Oscillator: Near-optimal Amplitude Maximization without Model Information, Physics Review E, (95)1, 12201 (2017). [pdf][DOI]
  • 2016
  • Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice Fallon and Sethu Vijayakumar,
    iDRM: Humanoid Motion Planning with Realtime End–Pose Selection in Complex Environments,
    Proc. 16th IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico (2016) [pdf][video]
  • Jo-Anne Ting, Franziska Meier, Sethu Vijayakumar and Stefan Schaal,
    Locally Weighted Regression for Control,
    C. Sammut, G.I. Webb (eds.), Encyclopedia of Machine Learning and Data Mining (2016). [pdf][DOI]
  • Yiming Yang, Vladimir Ivan, Wolfgang Merkt and Sethu Vijayakumar,
    Scaling Sampling–based Motion Planning to Humanoid Robots,
    Proc. IEEE International Conf. on Robotics and Biomimetics (ROBIO 2016), Qingdao, China (2016). [pdf][video]
  • Iris Kyranou, Agamemnon Krasoulis, Mustafa Suphi Erden, and Sethu Vijayakumar,
    Real-time Classification of Multi-modal Sensory Data for Prosthetic Hand Control,
    Proc. 6th IEEE/RAS/EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob '16), Singapore (2016). [pdf]
  • Andreea Radulescu, Jun Nakanishi and Sethu Vijayakumar,
    Optimal Control of Multiphase Movements with Learned Dynamics,
    A. Gruca et al. (eds.), Man–Machine Interactions 4, Advances in Intelligent Systems and Computing 391, pp. 61-76 (2016).[DOI][pdf]
  • Jose Cano Reyes, Alejandro Bordallo, Vijay Nagarajan, Subramanian Ramamoorthy and Sethu Vijayakumar,
    Automatic Configuration of ROS Applications for Near-Optimal Performance,
    Proc. IEEE International Conf. on Intelligent Robotics (IROS 2016), Daejong, Korea (2016). [pdf]
  • Alexander Enoch and Sethu Vijayakumar,
    Rapid Manufacture of Novel Variable Impedance Robots,
    ASME Journal of Mechanisms and Robotics, (8)1, pp. 1-11, (2016). [pdf][DOI]
  • 2015
  • Konrad Rawlik, Dmitry Zarubin, Marc Toussaint and Sethu Vijayakumar,
    An Approximate Inference Approach to Temporal Optimization for Robotics,
    Proc. 17th International Symposium on Robotics Research (ISRR 2015), Sestri Levante, Italy (2015). [pdf]
  • Vladimir Ivan and Sethu Vijayakumar,
    Space-time Area Coverage Control for Robot Motion Synthesis,
    Proc. 17th IEEE International Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey (2015). [pdf] [video]
  • Yiming Yang, Vladimir Ivan and Sethu Vijayakumar,
    Real-Time Motion Adaptation using Relative Distance Space Representation,
    Proc. 17th IEEE International Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey (2015). [pdf] [video]
  • Agamemnon Krasoulis, Kianoush Nazarpour, and Sethu Vijayakumar,
    Towards Low-Dimensionsal Proportional Myoelectric Control,
    Proc. Intl. Conf. IEEE Engineering in Medicine and Biology Society (EMBC'15), Milan, Italy (2015). [pdf]
  • Jose Cano Reyes, Eduardo Molinos, Vijay Nagarajan and Sethu Vijayakumar,
    Applying the AnyScale vision to heterogeneous ROS-based environments,
    Proc. 17th IEEE International Conf. on Advanced Robotics (ICAR 2015), Istanbul, Turkey (2015). [pdf]
  • Hsiu-Chin Lin, Matthew Howard and Sethu Vijayakumar,
    Learning Null Space Projections,
    Proc. IEEE International Conference on Robotics and Automation (ICRA 2015), Seattle,WA, USA (2015). [pdf]
  • Agamemnon Krasoulis, Sethu Vijayakumar and Kianoush Nazarpour,
    Evaluation of Regression Methods for the Continuous Decoding of Finger Movement from Surface EMG and Accelerometry,
    Proc. 7th Intl. Conf. IEEE EMBC Neural Engineering Conference (NER'15) pp. 631-634, (2015).[pdf]
  • 2014
  • Luigi Acerbi, Wei-Ji Ma and Sethu Vijayakumar,
    A Framework for Testing Identifiability of Bayesian Models of Perception,
    Proc. Advances in Neural Information Processing Systems (NIPS '14), Montreal, Canada (20014).[pdf][poster]
  • Luigi Acerbi, Sethu Vijayakumar and Daniel Wolpert,
    On the Origins of Suboptimality in Human Probabilistic Inference,
    PLoS Computational Biology, 10(6): e1003661. doi:10.1371/journal.pcbi.1003661 (2014). [pdf][DOI]
  • Agamemnon Krasoulis, Thomas Hall, Sethu Vijayakumar, Andrew Jackson and Kianoush Nazarpour,
    Generalizability of EMG decoding using Local Field Potentials,
    Proc. Intl. Conf. IEEE Engineering in Medicine and Biology Society (EMBC'14), Chicago (2014). [pdf][DOI]
  • Karl Pauwels, Leonardo Rubin, Vladimir Ivan, Sethu Vijayakumar and Eduardo Ros,
    Real-time RGB-D-based Object and Manipulator Pose Estimation,
    In: Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Robotics: Science and Systems (R:SS 2014), Berkeley, CA (2014). [pdf]
  • Hsiu-Chin Lin, Matthew Howard and Sethu Vijayakumar,
    A Novel Approach for Representing and Generalising Periodic Gaits,
    Robotica, 32:08, pp. 1225-1244 (2014). [pdf] [DOI]
  • Luigi Acerbi, Sethu Vijayakumar and Daniel Wolpert,
    A matter of uncertainty: Optimality and sub-optimality in sensorimotor learning,
    Proc. Decision Making Bristol 2014, Bristol (2014). [abstract]
  • Karl Pauwels, Vladimir Ivan, Eduardo Ros and Sethu Vijayakumar,
    Real-time object pose recognition and tracking with an imprecisely calibrated moving RGB-D camera,
    Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago (2014). [pdf][digest][video]
  • Hsiu-Chin Lin, Matthew Howard and Sethu Vijayakumar,
    A Novel Approach for Generalising Walking Gaits across Embodiments and Behaviours,
    Proc. IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), Brazil (2014) [pdf]
  • Luigi Acerbi, Sethu Vijayakumar and Daniel Wolpert,
    Probing the sources of suboptimality in human Bayesian inference,
    Proc. Computational and Systems Neuroscience (Cosyne 2014), Salt Lake City (2014). [pdf abstract][poster]
  • 2013
  • Jun Nakanishi, Andreea Radulescu and Sethu Vijayakumar,
    Spatiotemporal Optimisation of Multi-phase Movements: Dealing with Contacts and Switching Dynamics,
    Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo (2013). [pdf][video]
  • Peter Sandilands, Vladimir Ivan, Taku Komura and Sethu Vijayakumar,
    Dexterous Reaching, Grasp Transfer and Planning Using Electrostatic Representations,
    Proc. 2013 IEEE-RAS International Conference on Humanoid Robots, Atlanta, USA (2013). [pdf]
  • David Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer and Sethu Vijayakumar, Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints,
    IEEE Transactions on Robotics (IEEE T-RO), 29(5), pp. 1085-1101 (2013). [pdf][link to IROS video]
    [2013 IEEE Transactions on Robotics Best Paper award]
  • Konrad Rawlik, Marc Toussaint and Sethu Vijayakumar,
    Path Integral Control by Reproducing Kernel Hilbert Space Embedding,
    Proc. International Joint Conference on Artificial Intelligence (IJCAI 2013), Beijing, China (2013). [pdf]
  • Konrad Rawlik, Marc Toussaint and Sethu Vijayakumar,
    On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference [Award Track],
    Proc. International Joint Conference on Artificial Intelligence (IJCAI 2013), Beijing, China (2013). [pdf]
  • Hugh Gill, Sethu Vijayakumar and Ian Saunders,
    Improvements in or relating to prosthetics and orthotics,
    Patent Number: WO 2013024306 (2013). [link]
  • Vladimir Ivan, Dmitry Zarubin, Marc Toussaint and Sethu Vijayakumar,
    Topology-based Representations for Motion Planning and Generalisation in Dynamic Environments with Interactions, International Journal of Robotics Research (IJRR), vol. 32, pp. 1151-1163 (2013). [pdf][DOI]
  • Matthew Howard, David J. Braun, Sethu Vijayakumar,
    Transferring Human Impedance Behaviour to Heterogeneous Variable Impedance Actuators,
    IEEE Transactions on Robotics, 29(4), pp. 847-862 (2013). [pdf][DOI]
  • Angel Llamazares *, Vladimir Ivan *, Eduardo Molinos, Manuel Ocaña and Sethu Vijayakumar,
    Dynamic Obstacle Avoidance using Bayesian Occupancy Filter and Approximate Inference,
    Sensors 13 (3), pp. 2929-2944 (2013). [pdf][DOI
  • 2012
  • Alexander Enoch, Andrius Sutas, Shinichiro Nakaoka and Sethu Vijayakumar,
    BLUE: A Bipedal Robot with Variable Stiffness and Damping,
    Proc. 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan (
    2012).[pdf][video][digest]
  • Luigi Acerbi, Daniel Wolpert and Sethu Vijayakumar,
    Internal Representations of Temporal Statistics and Feedback Calibrate Motor-Sensory Interval Timing,
    PLoS Computational Biology, 8(11): e1002771, doi:10.1371/journal.pcbi.1002771 (2012). [pdf][DOI]
  • David Braun, Matthew Howard and Sethu Vijayakumar,
    Optimal Variable Stiffness Control: Formulation and Application to Explosive Movement Tasks,

    Autonomous Robots, vol. 33, pp. 237-253 (2012) [pdf][DOI][video]
  • Ian Saunders and Sethu Vijayakumar,
    Continuous Evolution of Statistical Estimators for Optimal Decision-Making,
    PLoS ONE, vol. 7, No. 6 (2012) [pdf][DOI]
  • David Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schaeffer and Sethu Vijayakumar, Optimal Torque and Stiffness Control in Compliantly Actuated Robots,
    Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2012), Portugal (2012). [pdf] [video][digest]
  • Konrad Rawlik, Marc Toussaint and Sethu Vijayakumar,
    On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference,

    Proc. Robotics: Science and Systems (R:SS 2012), Sydney, Australia (2012). [pdf]
    [R:SS 2012 Best Paper Award Runner-up]
  • Jun Nakanishi and Sethu Vijayakumar,
    Exploiting Passive Dynamics with Variable Stiffness Actuation in Robot Brachiation,
    Proc. Robotics: Science and Systems (R:SS 2012), Sydney, Australia (2012). [pdf][video]
  • Dmitry Zarubin, Vladimir Ivan, Marc Toussaint, Taku Komura and Sethu Vijayakumar,
    Heirachical Motion Planning in Topological Representations,
    Proc. Robotics: Science and Systems (R:SS 2012), Sydney, Australia (2012). [pdf] [video]
  • Andreaa Radulescu, Matthew Howard, David Braun and Sethu Vijayakumar,
    Exploiting Variable Physical Damping in Rapid Movement Tasks,
    Proc. 2012 IEEE ASME International Conference on Advanced Intelligent Mechatronics, Taiwan (2012). [pdf][video] [AIM 2012 Best Student Paper Award Finalist]
  • 2011
  • Sethu Vijayakumar, Timothy Hospedales and Adrian Haith,
    Generative Probabilistic Modeling: Understanding Causal Sensorimotor Integration,
    In Trommershauser, Kording & Landy (Eds), Sensory Cue Integration, pp. 63-81, Oxford University Press (2011) [OUP][preprint]
  • Ian Saunders and Sethu Vijayakumar,
    The Role of Feed-Forward and Feedback Processes for Closed-Loop Prosthesis Control
    Journal of Neuroengineering and Rehabilitation (JNER)
    , 8:60 (2011). [pdf][DOI]
  • Takeshi Mori, Matthew Howard and Sethu Vijayakumar,
    Model Free Apprenticeship Learning for Transfer of Human Impedance Behaviour,
    Proc. 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia (2011). [pdf]
  • Jun Nakanishi, Konrad Rawlik and Sethu Vijayakumar,
    Stiffness and Temporal Optimization in Periodic Movements: An Optimal Control Approach,
    Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2011), San Francisco (2011).
    [pdf][video]
  • Hannes Saal, Nicolas Heess and Sethu Vijayakumar,
    Multimodal Nonlinear Filtering using Gauss-Hermite Quadrature,
    Proc. 21st European Conference on Machine Learning (ECML PKDD 2011), Athen, Greece (2011). [pdf][poster]
  • David Braun, Matthew Howard and Sethu Vijayakumar,
    Exploiting Variable Stiffness in Explosive Movement Tasks,
    Proc. Robotics: Science and Systems (R:SS 2011), Los Angeles, CA, USA (2011). [pdf][video][video-2link]
  • Djordje Mitrovic, Stefan Klanke and Sethu Vijayakumar,
    Learning Impedance Control of Antagonistic Systems based on Stochastic Optimisation Principles, International Journal of Robotic Research (IJRR),  Vol. 30, No. 5, pp. 556-573 (2011). [pdf][DOI]
  • Matthew Howard, David Braun and Sethu Vijayakumar,
    Constraint-based Equilibrium and Stiffness Control of Variable Stiffness Actuators
    ,
    Proc. IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China (2011)
    . [pdf]
  • Luigi Acerbi and Sethu Vijayakumar,
    Bayesian Causal Inference Drives Temporal Sensorimotor Recalibration,
    Proc. Computational and Systems Neuroscience COSYNE '11,  Salt Lake City, Utah (2011).
    [abstract] [poster]
  • 2010
  • Konrad Rawlik, Marc Toussaint and Sethu Vijayakumar,
    An Approximate Inference Approach to Temporal Optimization in Optimal Control,
    Proc. Advances in Neural Information Processing Systems (NIPS '10), Vancouver, Canada (2010).[pdf][poster]
  • Djordje Mitrovic, Stefan Klanke, Rieko Osu, Mitsuo Kawato and Sethu Vijayakumar,
    A Computational Model of Limb Impedance Control based on Principles of Internal Model Uncertainty, PLoS ONE, Vol. 5, No. 10 (2010). [pdf][DOI]
  • Jo-Anne Ting, Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal,
    Efficient Learning and Feature Selection in High Dimensional Regression,
    Neural Computation, vol. 22, no. 4, pp. 831-886 (2010). [pdf]
  • Matthew Howard, Djordje Mitrovic and Sethu Vijayakumar,
    Transferring Impedance Control Strategies Between Heterogeneous Systems via Apprenticeship Learning
    ,
    Proc. 2010 IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA (2010). [pdf] [poster]
  • Djordje Mitrovic, Stefan Klanke, Matthew Howard and Sethu Vijayakumar,
    Exploiting Sensorimotor Stochasticity for Learning Control of Variable Impedance Actuators,
    Proc. 2010 IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA (2010). [pdf] [poster]
  • Jo-Anne-Ting, Sethu Vijayakumar and Stefan Schaal,
    Locally Weighted Regression for Control
    ,
    In: Sammut, C. and Webb, G. I. (Eds.) Encyclopedia of Machine Learning
    , pp. 613-624, Springer (2010). [pdf]
  • Hannes Saal, Jo-Anne-Ting and Sethu Vijayakumar,
    Active Estimation of Object Dynamics Parameters with Tactile Sensors,
    Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). [pdf][video]
  • Edmond Ho, Taku Komura, Subramanian Ramamoorthy and Sethu Vijayakumar,
    Controlling Humanoid Robots in Topology Coordinates,
    Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). [pdf]
  • Chris Towell, Matthew Howard and Sethu Vijayakumar,
    Learning Nullspace Policies,
    Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). [pdf][video]
  • Sebastian Bitzer, Matthew Howard and Sethu Vijayakumar,
    Using Dimensionality Reduction to Exploit Constraints in Reinforcement Learning,
    Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). [pdf][video]
  • Hannes Saal, Jo-Anne-Ting and Sethu Vijayakumar,
    Active sequential learning with tactile feedback,
    In: Teh YW and Titterington M (Eds.), Proc. 13th Int. Conf. on Artificial Intelligence and Statistics (AISTATS 2010), JMLR: W&CP 9:677-684, Chia Laguna, Sardinia, Italy (2010). [pdf]
  • Djordje Mitrovic, Sho Nagashima, Stefan Klanke, Takamitsu Matsubara and Sethu Vijayakumar,
    Optimal Feedback Control for Anthropomorphic Manipulators,
    Proc. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, USA (2010). [pdf][video]
  • Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar,
    Methods for Learning Control Policies from Variable Constraint Demonstrations,
    In: O. Sigaud and J. Peters (eds.): From Motor Learning to Interaction Learning in Robots, SCI 264, pp. 253-291, Springer-Verlag (2010). [pdf]
  • Djordje Mitrovic, Stefan Klanke and Sethu Vijayakumar,
    Adaptive Optimal Feedback Control with Learned Internal Dynamics Models,
    In: O. Sigaud and J. Peters (eds.): From Motor Learning to Interaction Learning in Robots, SCI 264, pp. 65-84, Springer-Verlag (2010). [pdf]
  • 2009
  • Hannes Saal, Jo-Anne-Ting and Sethu Vijayakumar,
    Active Filtering for Robot Tactile Learning,
    In: Workshop on Adaptive Sensing, Active Learning, and Experimental Design, Neural Information Processing Systems (NIPS 2009), Whistler, Canada (2009). [pdf]
  • Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar,
    A Novel Method for Learning Policies from Variable Constraint Data,
    Autonomous Robots, vol. 27, pp. 105-121 (2009). [pdf][ASIMO car wash video]
  • Sebastian Bitzer and Sethu Vijayakumar,
    Latent Spaces for Dynamic Movement Primitives,
    Proc. 9th IEEE RAS International Conference on humanoid Robots (Humanoids ’09), Paris, France (2009). [pdf]
  • Hannes Saal, Sethu Vijayakumar and Roland Johansson,
    Information about Complex Fingertip Parameters in Individual Human Tactile Afferent neurons,
    The Journal of Neuroscience, 29(25):8022-8031, (2009). [pdf]
  • Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar,
    Robust Constraint-consistent Learning,
    Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), St. Louis, MO, USA (2009). [pdf]
  • Djordje Mitrovic, Stefan Klanke, Adrian Haith and Sethu Vijayakumar,
    A Theory of Impedance Control based on Internal Model Uncertainty,
    Proc. ESF Intl. Workshop on Computational Principles of Sensorimotor Learning, Irsee, Germany (2009).[pdf]
  • Ian Saunders and Sethu Vijayakumar,
    A Closed Loop Prosthetic Hand as a Model Sensorimotor Circuit,
    Proc. ESF Intl. Workshop on Computational Principles of Sensorimotor Learning, Irsee, Germany (2009). [pdf]
  • Jan Steffen, Stefan Klanke, Sethu Vijayakumar and Helge Ritter,
    Towards Semi-supervised Manifold Learning: UKR with Structural Hints,
    Proc. 7th International Workshop on Self Organizing Maps (WSOM’09), Florida, USA (2009). [pdf]
  • Sethu Vijayakumar, Marc Toussaint, Georgios Petkos and Matthew Howard.
    Planning and Moving in Dynamic Environments: A statistical machine learning approach,
    in (eds.) Sendhoff, Koerner, Sporns, Ritter, Doya, Creating Brain Like Intelligence: From Principles to Complex Intelligent Systems, LNAI-Vol. 5436, Springer-Verlag ISBN: 978-3-642-00615-9 (2009). [pdf]
  • Sebastian Bitzer, Stefan Klanke and Sethu Vijayakumar,
    Does Dimensionality Reduction improve the Quality of Motion Interpolation?,
    Proc. 17th European Symposium on Artificial Neural Networks (ESANN ’09), Bruges, Belgium (2009). [pdf]
  • Narayanan Edakunni and Sethu Vijayakumar,
    Efficient Online classification using an Ensemble of Bayesian Linear Logistic Regressors,
    Proc. 8th International Workshop on Multiple Classifier Systems (MCS ’09), Reykjavik, Iceland (2009). [pdf]
  • Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar,
    A Novel Method for Learning Policies from Constrained Motion,
    Proc. IEEE International Conference on Robotics and Automation (ICRA '09), Kobe, Japan (2009). [pdf]
  • Jan Steffen, Stefan Klanke, Sethu Vijayakumar and Helge Ritter,
    Realizing Dexterous Manipulation with Structured Manifolds using UKR with Structural Hints,
    In Workshop: Approaches to Sensorimotor Learning on Humanoid Robots, IEEE International Conference on Robotics and Automation (ICRA '09), Kobe, Japan (2009). [pdf]
  • Heiko Hoffmann, Stefan Schaal and Sethu Vijayakumar,
    Local Dimensionality Reduction for Nonparametric Regression,
    Neural Processing Letters, 29: 109-131, (2009). [pdf]
  • Timothy Hospedales and Sethu Vijayakumar,
    Multisensory Oddity Detection as Bayesian Inference,
    PLoS ONE, Vol. 4, No. 1 (2009). [pdf][DOI]
  • Adrian Haith and Sethu Vijayakumar,
    Implications of different classes of sensorimotor disturbance for cerebellar-based motor learning models,
    Biological Cybernetics, Vol. 100, No. 1, pp. 81-95, Springer-Verlag (2009).[pdf][DOI]
  • 2008
  • Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar,
    Behaviour Generation in Humanoids by Learning Potential-based Policies from Constrained Motion,
    Applied Bionics and Biomechanics, Vol. 5, No. 4, pp.195-211, Taylor and Francis (2008). [pdf][ballgrasp video]
  • Adrian Haith, Carl Jackson, Chris Miall and Sethu Vijayakumar,
    Unifying the Sensory and Motor Components of Sensorimotor Adaptation,
    Proc. Advances in Neural Information Processing Systems (NIPS '08), Vancouver, Canada (2008).[pdf] [spotlight, poster, audio]
  • Kian Ming Chai, Stefan Klanke, Chris Williams and Sethu Vijayakumar,
    Multi-task Gaussian Process Learning of Robot Inverse Dynamics,

    Proc. Advances in Neural Information Processing Systems (NIPS '08), Vancouver, Canada (2008).[pdf] [spotlight]
  • Jo-Anne Ting, Mrinal Kalakrishnan, Sethu Vijayakumar and Stefan Schaal,
    Bayesian Kernel Shaping for Learning Control,
    Proc. Advances in Neural Information Processing Systems (NIPS '08), Vancouver, Canada (2008).[pdf] [spotlight, audio]
  • Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar,
    Learning Potential-based Policies from Constrained Motion,
    Proc. 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Dejong, Korea (2008) [pdf]
  • Adrian Haith, Carl Jackson, Chris Miall and Sethu Vijayakumar,
    Interactions between sensory and motor components of adaptation predicted by a Bayesian model,
    In: Workshop on Advances in Computational Motor Control (ACMC 2008), Society for Neuroscience Meeting, Washington DC (2008).[pdf]
  • Hannes Saal, Roland Johansson and Sethu Vijayakumar,
    Spatiotemporal distribution of tactile information across the human fingertip,
    Proc. Sixth Forum of European Neuroscience (FENS 2008), Geneva, Switzerland (2008). [poster]
  • Masashi Sugiyama, Hirotaka Hachiya, Christopher Towell and Sethu Vijayakumar,
    Geodesic Gaussian kernels for value function approximation,
    Autonomous Robots, Vol. 25, pp. 287-304 (2008). [pdf][DOI]
  • Timothy Hospedales and Sethu Vijayakumar,
    Bayesian Structure Inference for Multisensory Scene Understanding,
    IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 30, no. 12, pp. 2140-2157 (2008). [pdf][DOI]
  • Stefan Klanke, Sethu Vijayakumar and Stefan Schaal,
    A Library for Locally Weighted Projection Regression,
    Journal of Machine Learning Research (JMLR), vol. 9, pp. 623--626 (2008). [pdf][DOI]
  • Djordje Mitrovic, Stefan Klanke, Sethu Vijayakumar,
    Adaptive Optimal Control for Redundantly Actuated Arms,
    Asada et. al (eds.) Proc. Tenth International Conference on the Simulation of Adaptive Behavior (SAB '08), Springer-Verlag LNAI 5040, pp. 93-102, Osaka, Japan (2008). [pdf]
  • Sebastian Bitzer, Ioannis Havoutis and Sethu Vijayakumar,
    Synthesising Novel Movements through Latent Space Modulation of Scalable Control Policies,
    Asada et. al (eds.) Proc. Tenth International Conference on the Simulation of Adaptive Behavior (SAB '08), Springer-Verlag LNAI 5040, pp. 199-209, Osaka, Japan (2008). [pdf]
  • Adrian Haith and Sethu Vijayakumar,
    A Bayesian Model of Multimodal Visuo-motor Adaptation,
    Proc. 18th Meeting of the Society for Neural Control of Movement (NCM 2008), Florida, USA (2008). [poster]
  • Jo-Anne Ting, Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal,
    A Bayesian Approach to Empirical Local Linearization For Robotics,
    Proc. IEEE International Conference on Robotics and Automation (ICRA '08), Pasadena, CA (2008).[pdf][DOI]
  • Djordje Mitrovic, Stefan Klanke, Sethu Vijayakumar,
    Optimal control with adaptive internal dynamics models,
    Proc. Fifth International Conference on Informatics in Control, Automation and Robotics (ICINCO '08),  Madeira, Portugal (2008). [
    pdf]
  • Hannes Saal, Sethu Vijayakumar and Roland Johansson,
    Information about present and past stimulus features in human tactile afferents,
    Proc. Computational and Systems Neuroscience COSYNE '08,  Salt Lake City, Utah (2008).[poster]
  • 2007
  • Phillip Robbel, Marc Toussaint and Sethu Vijayakumar,
    Active Learning in Motor Control,
    In: Robotics Challenges for Machine Learning, Neural Information Processing Systems (NIPS 2007), Whistler, Canada (2007).
  • Djordje Mitrovic, Stefan Klanke and Sethu Vijayakumar,
    Optimal control with adaptive internal dynamics models,
    In: Robotics Challenges for Machine Learning, Neural Information Processing Systems (NIPS 2007), Whistler, Canada (2007). [poster]
  • Matthew Howard and Sethu Vijayakumar,
    Reconstructing Null-space Policies Subject to Dynamic Task Constraints in Redundant Manipulators,
    Proc. Workshop on Robotics and Mathematics (ROBOMAT '07), Coimbra, Portugal (2007). [pdf]
  • Georgios Petkos and Sethu Vijayakumar,
    Load estimation and control using learned dynamics models,
    Proc. IEEE International Conference on Intelligent Robots and Systems (IROS'07), San Diego, CA (2007). [pdf]
  • Graham McNeill and Sethu Vijayakumar,
    Linear and Nonlinear Generative Probabilistic Class Models for Shape Contours,
    Proc. International Conference on Machine Learning (ICML '07), Oregon, USA (2007). [pdf]
  • Adrian Haith and Sethu Vijayakumar,
    Robustness of VOR and OKR adaptation under kinematics and dynamics transformations,
    Proc. Sixth IEEE international Conference on Development and Learning (ICDL '07), London, UK (2007). [pdf]
  • Heiko Hoffmann, Georgios Petkos, Sebastian Bitzer and Sethu Vijayakumar,
    Sensor Assisted Adaptive Motor Control under continuously varying Context,
    Proc. Fourth International Conference on Informatics in Control, Automation and Robotics (ICINCO '07), Angers, France (2007). [pdf]
  • Georgios Petkos and Sethu Vijayakumar,
    Context Estimation and Learning Control through Latent Variable Extraction: From discrete to continuous contexts, Proc. IEEE International Conference on Robotics and Automation (ICRA '07), Rome, Italy (2007). [pdf]
  • Masashi Sugiyama, Hirotaka Hachiya, Christopher Towell and Sethu Vijayakumar,
    Value Function Approximation on Non-Linear Manifolds for Robot Motor Control,
    Proc. IEEE International Conference on Robotics and Automation (ICRA '07), Rome, Italy (2007). [pdf]
  • Narayanan Edakunni, Stefan Schaal and Sethu Vijayakumar,
    Kernel Carpentry for Online Regression using Randomly Varying Coefficient Model,
    Proc. International Joint Conference on Artificial Intelligence (IJCAI '07), Hyderabad, India (2007). [pdf]
  • Timothy Hospedales, Joel Cartwright and Sethu Vijayakumar,
    Structure Inference for Bayesian Multisensory Perception and Tracking,
    Proc. International Joint Conference on Artificial Intelligence (IJCAI '07), Hyderabad, India (2007). [pdf]
  • 2006
  • Graham McNeill and Sethu Vijayakumar,
    Part-based Probabilistic Point Matching Using Equivalence Constraints,
    Proc. Advances in Neural Information Processing Systems (NIPS '06), Vancouver, Canada (2006). [pdf]
  • Matthew Howard , Michael Gienger, Christian Goerick and Sethu Vijayakumar,
    Learning Utility Surfaces for Movement Selection,
    Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kunmin, China (2006). [pdf]
  • Masashi Sugiyama, Hirotaka Hachiya, Christopher Towell and Sethu Vijayakumar,
    Geodesic Gaussian kernels for value function approximation,
    Proc. 2006 Workshop on Information-Based Induction Sciences (IBIS), Osaka, Japan (2006).[pdf]
  • Graham McNeill and Sethu Vijayakumar,
    Part-based Probabilistic Point Matching,
    Proc. International Conference on Pattern Recognition (ICPR), Hong Kong (2006). [pdf]
  • Sethu Vijayakumar, Aaron D'Souza and Stefan Schaal,
    Approximate nearest neighbor regression in very high dimensions,
    In (eds.) Shakhranovich, Darrell and Indyk, Nearest Neighbor Methods in Learning and Vision, MIT Press, Cambridge, MA, pp. 103-142 (2006). [pdf]
  • Graham McNeill and Sethu Vijayakumar,
    A Probabilistic Approach To Robust Shape Matching,
    Proc. International Conference on Image Processing (ICIP '06), Atlanta, GA (2006). [pdf]
  • Georgios Petkos, Marc Toussaint and Sethu Vijayakumar,
    Learning Multiple Models of Non-Linear Dynamics for Control under Varying Contexts,
    Proc. International Conference on Artificial Neural Networks (ICANN '06), Athens, Greece (2006). [pdf]
  • Graham McNeill and Sethu Vijayakumar,
    Hierarchical Procrustes Matching for Shape Retrieval,
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR '06), New York, June 17-22 (2006). [pdf]
  • 2005
  • Sethu Vijayakumar, Aaron D'Souza and Stefan Schaal,
    Incremental Online Learning in High Dimensions,

    Neural Computation, vol. 17, no. 12, pp. 2602-2634 (2005). [pdf

    [More detailed version of the paper Tech Report EDI-INF-RR-0284 of UEDIN]
  • Marc Toussaint and Sethu Vijayakumar,
    Learning Discontinuities with Product-of-Sigmoids for Switching between Local Models,
    Proc. 22nd. International Conference on Machine Learning (ICML '05), Bonn, Germany, Aug 7-11 (2005).[pdf]
  • Graham McNeill and Sethu Vijayakumar,
    2D Shape Classification and Retrieval,
    Proc. 19th. International Joint Conference on Artificial Intelligence (IJCAI '05),
    Edinburgh, UK (2005).[pdf]
  • Marc Toussaint and Sethu Vijayakumar,
    Learning Discontinuities for Switching between Local Models,
    Proc. 19th. International Joint Conference on Artificial Intelligence (IJCAI '05), Edinburgh, UK (2005).[pdf]
  • Jan Peters, Sethu Vijayakumar, Stefan Schaal,
    Natural Actor-Critic,
    (in) Gama, J.;Camacho, R., Brazdil, P., Jorge, A.Torgo, L. (eds.) Proc. 16th European Conference on Machine Learning (ECML '05), Porto, Portugal,  3720, pp.280-291, Springer (2005). [pdf]
  • 2004
  • Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal,
    Bayesian Backfitting Relevance Vector Machine,

    Proc. 21st Intl .Conf. on Machine Learning (ICML'04), Article No. 31, Banff, Canada, Jul 4-8 (2004).[pdf]
  • Stefan Schaal, Auke Ijspeert, Aude Billard, Sethu Vijayakumar, John Hallam and Jean-Arcady Meyer (Ed.),
    From Animals to Animats 8, MIT Press (2004).
  • Jan Peters, Sethu Vijayakumar, and Stefan Schaal,
    Learning Motor Primitives with Reinforcement Learning,
    In: Laurent Itti (ed.) Proc. 11th Joint Symposium on Neural Computation, San Diego (2004).
  • 2003
  • Jan Peters, Sethu Vijayakumar, and Stefan Schaal,
    Scaling Reinforcement Learning Paradigms for Motor Control,
    Proc. 10th Joint Symposium on Neural Computation, UC Irvine, May 17 (2003).[abstract]
  • Jan Peters, Sethu Vijayakumar, Stefan Schaal,
    Natural Actor-Critic,
    (in) Proc. Advances in Neural Information Processing Systems 16 Workshop ''Planning for the Real World: The promises and challenges of dealing with uncertainty'' (2003).
  • Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal,
    Bayesian Backfitting for High Dimensional Regression,
    Proc. 10th Joint Symposium on Neural Computation, UC Irvine, May 17 (2003).[pdf]
  • Jan Peters, Sethu Vijayakumar, and Stefan Schaal,
    Reinforcement Learning for Humanoid Robots - policy gradients and beyond,
    Proc. Third IEEE International Conference on Humanoid Robotics 2003, Germany. [pdf]
  • 2002
  • Sethu Vijayakumar, Aaron D'Souza, Tomohiro Shibata, Jorg Conradt and Stefan Schaal,
    Statistical Learning for Humanoid Robots,
    Autonomous Robots , Vol. 12, No.1, pp. 55-69 (2002).
  • Sethu Vijayakumar, Aaron D’Souza, Jan Peters, Jorg Conradt, Tomasz Rutkowski, Auke Ijspeert,  Jun Nakanishi, Masato Inoue, Tom Shibata, Arleen Wiryo, Laurent Itti, Shun-ichi Amari and Stefan Schaal,
    Real-Time Statistical Learning for Oculomotor Control and Visuomotor Coordination,
    Proc. Neural Information Processing Systems (NIPS 15) - Demonstration Track (2002).
  • Stefan Schaal, Chris Atkeson and Sethu Vijayakumar,
    Scalable Locally Weighted Statistical Techniques for Real Time Robot Learning,
    Applied Intelligence - Special issue on Scalable Robotic Applications of Neural Networks Vol. 17, No.1, pp. 49-60 (2002).
  • 2001
  • Tomohiro Shibata, Sethu Vijayakumar, Jorg Conradt and Stefan Schaal,
    Biomimetic Oculomotor Control
    Adaptive Behaviour - Special Issue on Biologically Inspired and Biomimetic System, vol. 9, No. 3-4, pp. 189-208 (2001).
  • Sethu Vijayakumar, Jorg Conradt, Tomohiro Shibata and Stefan Schaal,
    Overt Visual Attention for a Humanoid Robot,
    Proc. International Conference on Intelligence in Robotics and Autonomous Systems (IROS '01), Hawaii, pp. 2332-2337(2001). [pdf][gzip-ed ps] 
  • Stefan Schaal, Sethu Vijayakumar, Aaron D'Souza, Auke Ijspeert and Jun Nakanishi,
    Real-time statistical learning for robotics and human augmentation,
    Proc. Tenth International Symposium on Robotics Research (ISRR) , Victoria, Australia, pp. 117-124 (2001). [pdf] .
  • Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal,
    Are Internal Models of the Entire Body Learnable?
    In: Society for Neuroscience Abstracts. Vol. 27, Program No. 406.2, (2001). [abstract ]
  • Tomohiro Shibata, Sethu Vijayakumar, Jorg Conradt and Stefan Schaal,
    Humanoid Oculomotor Control Based on Concepts of Computational Neuroscience,
    Humanoids2001, Second IEEE-RAS Intl. Conf. on Humanoid Robots, Waseda Univ., Japan, pp. 278-285 (2001). [pdf][gzip-ed ps] .
  • Aaron D'Souza, Sethu Vijayakumar and Stefan Schaal,
    Learning Inverse Kinematics,
    Proc. International Conference on Intelligence in Robotics and Autonomous Systems (IROS 2001), Hawaii, pp. 298-303 (2001).[pdf][gzip-ed ps].
  • Stefan Schaal, Sethu Vijayakumar and Aaron D'Souza,
    Online Statistical Robot Learning,
    Journal of the Robotics Society of Japan , Vol. 19, No. 5, pp. 561-568 (2001).
  • 2000
  • Sethu Vijayakumar and Stefan Schaal,
    LWPR : An O(n) Algorithm for Incremental Real Time Learning in High Dimensional Space,
    Proc. of Seventeenth International Conference on Machine Learning (ICML2000) Stanford, California, pp.1079-1086 (2000) [pdf][gzip-ed ps].
  • Sethu Vijayakumar and Stefan Schaal,
    Fast and Efficient Incremental Learning for High-dimensional Movement Systems
    ,
    Proc. International Conference on Robotics and Automation (ICRA2000), San Francisco, California, vol.2, pp.1894-1899 (2000) [pdf][gzip-ed ps].
  • Sethu Vijayakumar and Stefan Schaal,
    Real Time Learning in Humanoids: A challenge for scalability of Online Algorithms,
    Proc. First IEEE-RAS Intl. Conf. on Humanoid Robots MIT (Humanoids), Cambridge, MA, USA (2000) [pdf].
  • Chris Atkeson, Josh Hale, Mitsuo Kawato, Shinya Kotosaka, Frank Pollick, Marcia Riley, Stefan Schaal, Tomohiro Shibata, Gaurav Tevatia, Ales Ude and Sethu Vijayakumar,
    Using Humanoid Robots to Study Human Behaviour,
    IEEE Intelligent Systems, Vol.15, No.4, pp.46-56, IEEE Computer Society(2000).
  • Jorg Conradt, Gaurav Tevatia, Sethu Vijayakumar and Stefan Schaal,
    Online Learning for Humanoid Robot Systems,
    Proc. of Seventeenth International Conference on Machine Learning (ICML2000) Stanford, California, pp.191-198 (2000) [pdf][gzip-ed ps].
  • Stefan Schaal, Chris Atkeson and Sethu Vijayakumar,
    Real time robot learning with locally weighted statistical learning,
    Proc. International Conference on Robotics and Automation (ICRA2000), San Francisco, California, vol.1, pp.288-293, (2000). [pdf][gzip-ed ps].

    [ICRA 2000 Best Paper Award Finalist]
  • 1999
  • Sethu Vijayakumar and Hidemitsu Ogawa,
    RKHS based Functional Analysis for Exact Incremental Learning

    Neurocomputing : Special Issue on Theoretical analysis of real valued function classes, Vol.29, No.1-3, pp.85-113, Elsevier Science(1999).
  • Sethu Vijayakumar and Si Wu,
    A gradient based technique for generating sparse representation in function approximation,
    Proc. International Conference on Neural Information processing (ICONIP'99), Perth, Australia, pp.314-319 (1999). [pdf][gzip-ed ps]
  • Sethu Vijayakumar and Si Wu,
    Sequential Support Vector Classifiers and Regression,
    Proc. International Conference on Soft Computing (SOCO'99), Genoa, Italy, pp.610-619 (1999).[pdf][gzip-ed ps]
  • Sethu Vijayakumar and Hidemitsu Ogawa,
    Improving Generalization Ability through Active Learning,
    IEICE Transactions on Information and Systems IEICE-Japan, Vol.E82-D, No.2, pp.480-487(1999).
  • 1998
  • Sethu Vijayakumar, Masashi Sugiyama and Hidemitsu Ogawa,
    Training Data Selection for Optimal Generalization with Noise Variance Reduction in Neural Networks,
    In: Marinaro & Tagliaferri(ed.), Neural Nets WIRN Vietri-98, ,pp.153-166, Springer-Verlag(1998). [pdf][gzip-ed ps]
  • Stefan Schaal, Sethu Vijayakumar and Chris Atkeson,
    Local Dimensionality Reduction,
    In: M.I.Jordan, M.J.Kearns, and S.A.Solla (eds.), Advances in Neural Information Processing Systems 10, pp.633-639, Cambridge, MA: MIT Press(1998).
  • Sethu Vijayakumar and Stefan Schaal,
    Robust local learning in high dimensional spaces,
    Proc. 5th Joint Symposium on Neural Computation, May 16,1998, San Diego, pp.186-193 (1998).
  • Sethu Vijayakumar and Stefan Schaal,
    Local Adaptive Subspace Regression,
    Neural Processing Letters
    , Vol.7, No.3, pp 139-149, Kluwer Academic Press (1998).
  • 1997
  • Sethu Vijayakumar and Stefan Schaal,
    Local Dimensionality Reduction for Locally Weighted Learning
    ,
    Proc. IEEE International Symposium on Computational Intelligence in Robotics and Automation
    [pdf][gzip-ed ps] (CIRA'97), July 10-11,1997,Monterey, California, pp.220-225 (1997).
  • 1996
  • Sethu Vijayakumar and Hidemitsu Ogawa,
    Incremental Learning in Optimally Generalizing Neural Networks
    ,
    IEICE Annual Paper Contest 1996, No.D-27, p.27 (1996).
  • 1995
  • Sethu Vijayakumar and Hidemitsu Ogawa,
    A Functional Analytic Approach to Incremental Learning in Optimally Generalizing NNs,
    Proc. IEEE International Conference on Neural Networks (ICNN '95), Australia, vol. 2, pp.777-782 (1995).[doi]
    [ICNN 1995 Best Student Paper Award]
  • Sethu Vijayakumar and Hidemitsu Ogawa,
    Incremental Learning with Optimal Generalizing Ability in Neural Networks,
    Technical Report of the IEICE,
    NC95-9, pp.65-72 (1995).
  • Miscellaneous
  • Sethu Vijayakumar, Locally Weighted Projection Regression (LWPR): A Users Manual, Documentation for the LWPR software release (2001) ( link to LWPR page)
  • Sethu Vijayakumar, Computational Theory of Incremental and Active Learning for Optimal Generalization, Doctoral Thesis, Tokyo Institute of Technology, 95D38108, (1998).
  • Sethu Vijayakumar, An Incremental Approach to Training Data Selection in Neural Networks.
    Master's Thesis, Tokyo Institute of Technology, 93M17310, (1995).
  • Sethu Vijayakumar, Self Learning Rule-base using Proc. of TECHNOKREC`92, IE All India Paper Contest and Symposium, 21-22 March, Surathkal, India (1992).
  • Sethu Vijayakumar, Hybrid Approaches to Pattern Recognition, Proc. Annual IEEE Student Paper Contest, Region 10 (1991). [IEEE Region10 Best Student Paper Award]