Marc Toussaint

ORCID

Publication Activity (10 Years)

Years Active: 2001-2024
Publications (10 Years): 181

Top Venues

CoRR

ICRA

IROS

IEEE Robotics Autom. Lett.

Publications

Andreas Orthey, Sohaib Akbar, Marc Toussaint
Multilevel motion planning: A fiber bundle formulation. Int. J. Robotics Res. 43 (1) (2024)
Khaled Wahba, Joaquim Ortiz de Haro, Marc Toussaint, Wolfgang Hönig
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments. CoRR (2023)
Welf Rehberg, Joaquim Ortiz de Haro, Marc Toussaint, Wolfgang Hönig
Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning. CoRR (2023)
Joaquim Ortiz de Haro, Wolfgang Hönig, Valentin N. Hartmann, Marc Toussaint
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning. CoRR (2023)
Hongyou Zhou, Ingmar Fabian Schubert, Marc Toussaint, Ozgur S. Oguz
Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation. CoRR (2023)
Janis Eric Freund, Camille Phiquepal, Andreas Orthey, Marc Toussaint
Asymptotically Optimal Belief Space Planning in Discrete Partially-Observable Domains. CoRR (2023)
Phillip Grote, Joaquim Ortiz de Haro, Marc Toussaint, Ozgur S. Oguz
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning. CoRR (2023)
Valentin N. Hartmann, Joaquim Ortiz de Haro, Marc Toussaint
Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort. CoRR (2023)
Sabrina Hoppe, Markus Giftthaler, Robert Krug, Marc Toussaint
Stabilizing deep Q-learning with Q-graph-based bounds. Int. J. Robotics Res. 42 (9) (2023)
Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence
PaLM-E: An Embodied Multimodal Language Model. ICML (2023)
Valentin N. Hartmann, Joaquim Ortiz de Haro, Marc Toussaint
Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort. IROS (2023)
Valentin N. Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly. IEEE Trans. Robotics 39 (1) (2023)
Camille Phiquepal, Marc Toussaint
Control-Tree Optimization: an approach to MPC under discrete Partial Observability. CoRR (2023)
Hongyou Zhou, Ingmar Schubert, Marc Toussaint, Ozgur S. Oguz
Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation. IROS (2023)
Joaquim Ortiz de Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning. ICRA (2023)
Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence
PaLM-E: An Embodied Multimodal Language Model. CoRR (2023)
Servet B. Bayraktar, Andreas Orthey, Zachary K. Kingston, Marc Toussaint, Lydia E. Kavraki
Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces. IEEE Robotics Autom. Lett. 8 (8) (2023)
Akmaral Moldagalieva, Joaquim Ortiz de Haro, Marc Toussaint, Wolfgang Hönig
db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning. CoRR (2023)
Joaquim Ortiz de Haro, Erez Karpas, Marc Toussaint, Michael Katz
Conflict-Directed Diverse Planning for Logic-Geometric Programming. ICAPS (2022)
Danny Driess, Ingmar Schubert, Peter R. Florence, Yunzhu Li, Marc Toussaint
Reinforcement Learning with Neural Radiance Fields. CoRR (2022)
Marc Toussaint, Jason Harris, Jung-Su Ha, Danny Driess, Wolfgang Hönig
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation. CoRR (2022)
Cornelius V. Braun, Joaquim Ortiz de Haro, Marc Toussaint, Ozgur S. Oguz
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning. IROS (2022)
Joaquim Ortiz de Haro, Erez Karpas, Michael Katz, Marc Toussaint
A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving. CoRR (2022)
Wolfgang Hönig, Joaquim Ortiz de Haro, Marc Toussaint
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning. IROS (2022)
Valentin N. Hartmann, Marlin P. Strub, Marc Toussaint, Jonathan D. Gammell
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort. CoRR (2022)
Jay Kamat, Joaquim Ortiz de Haro, Marc Toussaint, Florian T. Pokorny, Andreas Orthey
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. IROS (2022)
Constantinos Chamzas, Carlos Quintero-Peña, Zachary K. Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E. Kavraki
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets. IEEE Robotics Autom. Lett. 7 (2) (2022)
Francesco Grothe, Valentin N. Hartmann, Andreas Orthey, Marc Toussaint
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time. CoRR (2022)
Philipp Kratzer, Marc Toussaint, Jim Mainprice
Planning Coordinated Human-Robot Motions with Neural Network Full-Body Prediction Models. CoRR (2022)
Joaquim Ortiz de Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning. CoRR (2022)
Jason Harris, Danny Driess, Marc Toussaint
: Feasibility-Based Control Chain Coordination. CoRR (2022)
Valentin N. Hartmann, Marlin P. Strub, Marc Toussaint, Jonathan D. Gammell
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort. ISRR (2022)
Francesco Grothe, Valentin N. Hartmann, Andreas Orthey, Marc Toussaint
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time. ICRA (2022)
Jason Harris, Danny Driess, Marc Toussaint
: Feasibility-Based Control Chain Coordination. IROS (2022)
Wolfgang Hönig, Joaquim Ortiz de Haro, Marc Toussaint
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning. CoRR (2022)
David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, Daniel Weiskopf
Visual analytics for nonlinear programming in robot motion planning. J. Vis. 25 (1) (2022)
Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields. CoRL (2022)
Marc Toussaint, Jason Harris, Jung-Su Ha, Danny Driess, Wolfgang Hönig
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation. IROS (2022)
S. Bora Bayraktar, Andreas Orthey, Zachary K. Kingston, Marc Toussaint, Lydia E. Kavraki
Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces. CoRR (2022)
Joaquim Ortiz de Haro, Erez Karpas, Michael Katz, Marc Toussaint
A Conflict-Driven Interface Between Symbolic Planning and Nonlinear Constraint Solving. IEEE Robotics Autom. Lett. 7 (4) (2022)
Nicolas Kubail Kalousdian, Grzegorz Lochnicki, Valentin N. Hartmann, Samuel Leder, Ozgur S. Oguz, Achim Menges, Marc Toussaint
Learning Robotic Manipulation of Natural Materials With Variable Properties for Construction Tasks. IEEE Robotics Autom. Lett. 7 (2) (2022)
Jay Kamat, Joaquim Ortiz de Haro, Marc Toussaint, Florian T. Pokorny, Andreas Orthey
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. CoRR (2022)
Camille Phiquepal, Andreas Orthey, Nicolas Viennot, Marc Toussaint
Path-Tree Optimization in Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs. CoRR (2022)
Danny Driess, Ingmar Schubert, Pete Florence, Yunzhu Li, Marc Toussaint
Reinforcement Learning with Neural Radiance Fields. NeurIPS (2022)
Jung-Su Ha, Danny Driess, Marc Toussaint
Deep Visual Constraints: Neural Implicit Models for Manipulation Planning From Visual Input. IEEE Robotics Autom. Lett. 7 (4) (2022)
Camille Phiquepal, Andreas Orthey, Nicolas Viennot, Marc Toussaint
Path-Tree Optimization in Discrete Partially Observable Environments Using Rapidly-Exploring Belief-Space Graphs. IEEE Robotics Autom. Lett. 7 (4) (2022)
Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields. CoRR (2022)
Ingmar Schubert, Ozgur S. Oguz, Marc Toussaint
Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks. ICLR (2021)
Ingmar Schubert, Ozgur S. Oguz, Marc Toussaint
Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks. CoRR (2021)
Andreas Orthey, Marc Toussaint
Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning. ICRA (2021)
Janik M. Hager, Ruben Bauer, Marc Toussaint, Jim Mainprice
GraspME - Grasp Manifold Estimator. RO-MAN (2021)
Janik M. Hager, Ruben Bauer, Marc Toussaint, Jim Mainprice
GraspME - Grasp Manifold Estimator. CoRR (2021)
David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, Daniel Weiskopf
Visualization of Nonlinear Programming for Robot Motion Planning. CoRR (2021)
Valentin Noah Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly. CoRR (2021)
Marc Toussaint, Jung-Su Ha, Ozgur S. Oguz
Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning. ICRA (2021)
Nicholas Roy, Ingmar Posner, Tim D. Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Daniel E. Koditschek, Tomás Lozano-Pérez, Vikash Mansinghka, Christopher J. Pal, Blake A. Richards, Dorsa Sadigh, Stefan Schaal, Gaurav S. Sukhatme, Denis Thérien, Marc Toussaint, Michiel van de Panne
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence. CoRR (2021)
Yoojin Oh, Tim Schäfer, Benedikt Rüther, Marc Toussaint, Jim Mainprice
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures. RO-MAN (2021)
Camille Phiquepal, Marc Toussaint
Control-Tree Optimization: an approach to MPC under discrete Partial Observability. ICRA (2021)
Marc Tuscher, Julian Hörz, Danny Driess, Marc Toussaint
Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping. CoRR (2021)
Andreas Orthey, Florian T. Pokorny, Marc Toussaint
Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning. CoRR (2021)
Cornelius V. Braun, Joaquim Ortiz de Haro, Marc Toussaint, Ozgur S. Oguz
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning. CoRR (2021)
Marie-Therese Khoury, Andreas Orthey, Marc Toussaint
Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts. CASE (2021)
Danny Driess, Jung-Su Ha, Russ Tedrake, Marc Toussaint
Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input. ICRA (2021)
Joaquim Ortiz de Haro, Jung-Su Ha, Danny Driess, Marc Toussaint
Structured deep generative models for sampling on constraint manifolds in sequential manipulation. CoRL (2021)
An T. Le, Philipp Kratzer, Simon Hagenmayer, Marc Toussaint, Jim Mainprice
Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks. CoRR (2021)
Yoojin Oh, Marc Toussaint, Jim Mainprice
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures. CoRR (2021)
Danny Driess, Jung-Su Ha, Marc Toussaint
Learning to solve sequential physical reasoning problems from a scene image. Int. J. Robotics Res. 40 (12-14) (2021)
Ingmar Schubert, Danny Driess, Ozgur S. Oguz, Marc Toussaint
Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics. CoRR (2021)
An T. Le, Philipp Kratzer, Simon Hagenmayer, Marc Toussaint, Jim Mainprice
Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks. RO-MAN (2021)
Ingmar Schubert, Danny Driess, Ozgur S. Oguz, Marc Toussaint
Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics. NeurIPS (2021)
Jung-Su Ha, Danny Driess, Marc Toussaint
Learning Neural Implicit Functions as Object Representations for Robotic Manipulation. CoRR (2021)
Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning. CoRR (2021)
Yoojin Oh, Marc Toussaint, Jim Mainprice
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies. CoRR (2021)
Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning. CoRL (2021)
Hon Sum Alec Yu, Dingling Yao, Christoph Zimmer, Marc Toussaint, Duy Nguyen-Tuong
Active Learning in Gaussian Process State Space Model. CoRR (2021)
Hon Sum Alec Yu, Dingling Yao, Christoph Zimmer, Marc Toussaint, Duy Nguyen-Tuong
Active Learning in Gaussian Process State Space Model. ECML/PKDD (3) (2021)
Andreas Orthey, Marc Toussaint
Visualizing Local Minima in Multi-robot Motion Planning Using Multilevel Morse Theory. WAFR (2021)
Joaquim Ortiz de Haro, Valentin N. Hartmann, Ozgur S. Oguz, Marc Toussaint
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation. ICRA (2021)
Yoojin Oh, Marc Toussaint, Jim Mainprice
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies. IROS (2021)
Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni, Rohit Prakash, Marc Toussaint, Jim Mainprice
MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze. IEEE Robotics Autom. Lett. 6 (1) (2021)
Constantinos Chamzas, Carlos Quintero-Peña, Zachary K. Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E. Kavraki
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets. CoRR (2021)
Marc Tuscher, Julian Hörz, Danny Driess, Marc Toussaint
Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping. ICRA (2021)
Andreas Orthey, Marc Toussaint
Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning. IEEE Trans. Robotics 37 (6) (2021)
Son Nguyen, Ozgur Oguz, Valentin N. Hartmann, Marc Toussaint
Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning. CoRL (2020)
Joaquim Ortiz de Haro, Valentin N. Hartmann, Ozgur S. Oguz, Marc Toussaint
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation. CoRR (2020)
Christian Henkel, Marc Toussaint
Optimized Directed Roadmap Graph for Multi-Agent Path Finding Using Stochastic Gradient Descent. CoRR (2020)
Philipp Kratzer, Marc Toussaint, Jim Mainprice
Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks. ICRA (2020)
Andreas Orthey, Benjamin Frész, Marc Toussaint
Motion Planning Explorer: Visualizing Local Minima Using a Local-Minima Tree. IEEE Robotics Autom. Lett. 5 (2) (2020)
David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, Daniel Weiskopf
Visualization of nonlinear programming for robot motion planning. VINCI (2020)
Andreas Orthey, Sohaib Akbar, Marc Toussaint
Multilevel Motion Planning: A Fiber Bundle Formulation. CoRR (2020)
Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal
An Interior Point Method Solving Motion Planning Problems with Narrow Passages. CoRR (2020)
Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni, Rohit Prakash, Marc Toussaint, Jim Mainprice
MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze. CoRR (2020)
Isabell Wochner, Danny Drieß, Heiko Zimmermann, Daniel F. B. Haeufle, Marc Toussaint, Syn Schmitt
Optimality Principles in Human Point-to-Manifold Reaching Accounting for Muscle Dynamics. Frontiers Comput. Neurosci. 14 (2020)
Marc Toussaint, Jung-Su Ha, Danny Driess
Describing Physics For Physical Reasoning: Force-Based Sequential Manipulation Planning. IEEE Robotics Autom. Lett. 5 (4) (2020)
Marie-Therese Khoury, Andreas Orthey, Marc Toussaint
Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts. CoRR (2020)
Jung-Su Ha, Danny Driess, Marc Toussaint
A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty. ICRA (2020)
Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal
An Interior Point Method Solving Motion Planning Problems with Narrow Passages. RO-MAN (2020)
Philipp Kratzer, Niteesh Balachandra Midlagajni, Marc Toussaint, Jim Mainprice
Anticipating Human Intention for Full-Body Motion Prediction in Object Grasping and Placing Tasks. RO-MAN (2020)
Yoojin Oh, Shao-Wen Wu, Marc Toussaint, Jim Mainprice
Natural Gradient Shared Control. RO-MAN (2020)
Andreas Orthey, Marc Toussaint
Section Patterns: Efficiently Solving Narrow Passage Problems using Multilevel Motion Planning. CoRR (2020)

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Publication Activity (10 Years)

Top Topics

Top Venues

Marc Toussaint