Publications Freek Stulp


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Journal
Freek Stulp and Olivier Sigaud. Many regression algorithms, one unified model - A review. Neural Networks, 2015.
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Olivier Sigaud and Freek Stulp. Adaptation de la matrice de covariance pour l'apprentissage par renforcement direct. Revue d'Intelligence Artificielle (RIA), special issue on "Apprentissage par renforcement pour la conduite de systèmes", 27(2):243–263, 2013.
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Freek Stulp and Olivier Sigaud. Robot Skill Learning: From Reinforcement Learning to Evolution Strategies. Paladyn. Journal of Behavioral Robotics, 4(1):49–61, September 2013.
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Stulp, F., Buchli, B., Ellmer, A., Mistry, M., Theodorou, E., and Schaal, S.. Model-free Reinforcement Learning of Impedance Control in Stochastic Environments. IEEE Transactions on Autonomous Mental Development, 4(4):330–341, 2012.
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Peter Pastor, Mrinal Kalakrishnan, Franziska Meier, Freek Stulp, Jonas Buchli, Evangelos Theodorou, and Stefan Schaal. From Dynamic Movement Primitives to Associative Skill Memories. Robotics and Autonomous Systems, 61(4):351–361, 2012.
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Freek Stulp, Andreas Fedrizzi, Lorenz Mösenlechner, and Michael Beetz. Learning and Reasoning with Action-Related Places for Robust Mobile Manipulation. Journal of Artificial Intelligence Research (JAIR), 43:1–42, 2012.
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Freek Stulp and Pierre-Yves Oudeyer. Adaptive Exploration through Covariance Matrix Adaptation Enables Developmental Motor Learning. Paladyn. Journal of Behavioral Robotics, 3(3):128–135, September 2012.
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Freek Stulp, Evangelos Theodorou, and Stefan Schaal. Reinforcement Learning with Sequences of Motion Primitives for Robust Manipulation. IEEE Transactions on Robotics, 28(6):1360–1370, 2012. King-Sun Fu Best Paper Award of the IEEE Transactions on Robotics for the year 2012
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Jonas Buchli, Freek Stulp, Evangelos Theodorou, and Stefan Schaal. Learning Variable Impedance Control. International Journal of Robotics Research, 30(7):820–833, 2011.
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Michael Beetz, Freek Stulp, Piotr Esden-Tempski, Andreas Fedrizzi, Ulrich Klank, Ingo Kresse, Alexis Maldonado, and Federico Ruiz. Generality and Legibility in Mobile Manipulation - Learning Skills for Routine Tasks. Autonomous Robots: Special Issue on Autonomous Mobile Manipulation, 28(1):21–44, January 2010.
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Freek Stulp, Hans Utz, Michael Isik, and Gerd Mayer. Implicit Coordination with Shared Belief: A Heterogeneous Robot Soccer Team Case Study. Advanced Robotics, the International Journal of the Robotics Society of Japan, 24(7):1017–1036, May 2010.
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Sandra H. Budde, Freek Stulp, and Dario L. Sancho-Pradel. Using Persona Descriptions as a Communication Tool in Interdisciplinary System Design. Gerontechnology, 7(2), 2008.
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Freek Stulp and Michael Beetz. Combining Declarative, Procedural and Predictive Knowledge to Generate and Execute Robot Plans Efficiently and Robustly. Robotics and Autonomous Systems (Special Issue on Semantic Knowledge in Robotics), 56(11):967–979, 2008.
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Freek Stulp and Michael Beetz. Refining the execution of abstract actions with learned action models. Journal of Artificial Intelligence Research (JAIR), 32:487–523, June 2008.
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Matthias Wimmer, Freek Stulp, Sylvia Pietzsch, and Bernd Radig. Learning Local Objective Functions for Robust Face Model Fitting. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 30(8), 2008.
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Michael Beetz, Thorsten Schmitt, Robert Hanek, Sebastian Buck, Freek Stulp, Derik Schröter, and Bernd Radig. The AGILO 2001 Robot Soccer Team: Experience-based Learning and Probabilistic Reasoning in Autonomous Robot control. Autonomous Robots, special issue on Analysis and Experiments in Distributed Multi-Robot Systems, 17(1):55–77, July 2004.
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Freek Stulp and Rineke Verbrugge. A Knowledge-based Algorithm for the Internet Transmission Control Protocol (TCP) (journal version). Bulletin of Economic Research, 54(1):69–94, January 2002. Blackwell Publishers Ltd, Oxford, UK and Boston, USA
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Awards
Freek Stulp and Pierre-Yves Oudeyer. Emergent Proximo-Distal Maturation through Adaptive Exploration. In International Conference on Development and Learning (ICDL), 2012. Paper of Excellence Award
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Freek Stulp, Evangelos Theodorou, and Stefan Schaal. Reinforcement Learning with Sequences of Motion Primitives for Robust Manipulation. IEEE Transactions on Robotics, 28(6):1360–1370, 2012. King-Sun Fu Best Paper Award of the IEEE Transactions on Robotics for the year 2012
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Freek Stulp, Jonas Buchli, Evangelos Theodorou, and Stefan Schaal. Reinforcement Learning of Full-body Humanoid Motor Skills. In 10th IEEE-RAS International Conference on Humanoid Robots, pp. 405–410, 2010. Best paper finalist
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Freek Stulp. Completion of Occluded Surfaces. Master's Thesis, University of Groningen, Groningen, The Netherlands,2001. Awarded the Best Master's Thesis Prize, academic year 2000/2001 by Artificial Intelligence Education in the Netherlands.
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Refereed Conference Paper
Gennaro Raiola, Xavier Lamy, and Freek Stulp. Co-manipulation with Multiple Probabilistic Virtual Guides. In International Conference on Intelligent Robots and Systems (IROS), 2015.
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Gennaro Raiola, Pedro Rodriguez-Ayerbe, Xavier Lamy, Sami Tliba, and Freek Stulp. Parallel Guiding Virtual Fixtures: Control and Stability. In IEEE Multi-Conference on Systems and Contro (MSC), 2015.
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Freek Stulp, Jonathan Grizou, Baptiste Busch, and Manuel Lopes. Facilitating Intention Prediction for Humans by Optimizing Robot Motions. In International Conference on Intelligent Robots and Systems (IROS), 2015.
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Nicolas Torres Alberto, Michael Mistry, and Freek Stulp. Computed Torque Control with Variable Gains through Gaussian Process Regression. In IEEE-RAS International Conference on Humanoid Robots, 2014.
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Freek Stulp, Laura Herlant, Antoine Hoarau, and Gennaro Raiola. Simultaneous On-line Discovery and Improvement of Robotic Skill Options. In International Conference on Intelligent Robots and Systems (IROS), 2014.
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Munzer, T., Stulp, F., and Sigaud, O.. Non-linear regression algorithms for motor skill acquisition: a comparison. In Proceedings JFPDA, pp. 1–16, 2014.
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Freek Stulp, Gennaro Raiola, Antoine Hoarau, Serena Ivaldi, and Olivier Sigaud. Learning Compact Parameterized Skills with a Single Regression. In IEEE-RAS International Conference on Humanoid Robots, 2013.
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Freek Stulp and Olivier Sigaud. Policy Improvement: Between Black-Box Optimization and Episodic Reinforcement Learning. In Journées Francophones Planification, Décision, et Apprentissage pour la conduite de systèmes, 2013.
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Carmen Lopera, Hilario Tomé, Adolfo Rodr\'iguez Tsouroukdissian, and Freek Stulp. Comparing Motion Generation and Motion Recall for Everyday Robotic Tasks. In 12th IEEE-RAS International Conference on Humanoid Robots, 2012.
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Freek Stulp. Adaptive Exploration for Continual Reinforcement Learning. In International Conference on Intelligent Robots and Systems (IROS), pp. 1631–1636, 2012.
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Freek Stulp and Pierre-Yves Oudeyer. Emergent Proximo-Distal Maturation through Adaptive Exploration. In International Conference on Development and Learning (ICDL), 2012. Paper of Excellence Award
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Freek Stulp and Olivier Sigaud. Adaptation de la matrice de covariance pour l'apprentissage par renforcement direct. In 7èmes Journées Francophones Planification, Décision, et Apprentissage pour la conduite de systèmes, 2012.
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Freek Stulp and Olivier Sigaud. Path Integral Policy Improvement with Covariance Matrix Adaptation. In Proceedings of the 29th International Conference on Machine Learning (ICML), 2012.
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Franziska Meier, Evangelos Theodorou, Freek Stulp, and Stefan Schaal. Movement Segmentation using a Primitive Library. In International Conference on Intelligent Robots and Systems (IROS), 2011.
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Freek Stulp, Jonas Buchli, Alice Ellmer, Michael Mistry, Evangelos Theodorou, and Stefan Schaal. Reinforcement Learning of Impedance Control in Stochastic Force Fields. In International Conference on Development and Learning (ICDL), 2011.
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Freek Stulp and Stefan Schaal. Hierarchical Reinforcement Learning with Motion Primitives. In 11th IEEE-RAS International Conference on Humanoid Robots, 2011.
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Freek Stulp, Evangelos Theodorou, Jonas Buchli, and Stefan Schaal. Learning to Grasp under Uncertainty. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2011.
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Freek Stulp, Evangelos Theodorou, Mrinal Kalakrishnan, Peter Pastor, Ludovic Righetti, and Stefan Schaal. Learning Motion Primitive Goals for Robust Manipulation. In International Conference on Intelligent Robots and Systems (IROS), 2011.
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Evangelos Theodorou, Freek Stulp, Jonas Buchli, and Stefan Schaal. An Iterative Path Integral Stochastic Optimal Control Approach for Learning Robotic Tasks. In 18th World Congress of the International Federation of Automatic Control, 2011.
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Jonas Buchli, Evangelos Theodorou, Freek Stulp, and Stefan Schaal. Variable Impedance Control - A Reinforcement Learning Approach. In Robotics: Science and Systems Conference (RSS), 2010.
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Freek Stulp, Jonas Buchli, Evangelos Theodorou, and Stefan Schaal. Reinforcement Learning of Full-body Humanoid Motor Skills. In 10th IEEE-RAS International Conference on Humanoid Robots, pp. 405–410, 2010. Best paper finalist
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Andreas Fedrizzi, Lorenz Moesenlechner, Freek Stulp, and Michael Beetz. Transformational Planning for Mobile Manipulation based on Action-related Places. In International Conference on Advanced Robotics (ICAR), 2009.
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Freek Stulp, Andreas Fedrizzi, and Michael Beetz. Action-Related Place-Based Mobile Manipulation. In International Conference on Intelligent Robots and Systems (IROS), 2009.
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Freek Stulp, Andreas Fedrizzi, and Michael Beetz. Learning and Performing Place-based Mobile Manipulation. In Proceedings of the 8th International Conference on Development and Learning (ICDL), 2009.
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Freek Stulp, Andreas Fedrizzi, Franziska Zacharias, Moritz Tenorth, Jan Bandouch, and Michael Beetz. Combining Analysis, Imitation, and Experience-based Learning to Acquire a Concept of Reachability. In 9th IEEE-RAS International Conference on Humanoid Robots, pp. 161–167, 2009.
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Freek Stulp, Ingo Kresse, Alexis Maldonado, Federico Ruiz, Andreas Fedrizzi, and Michael Beetz. Compact Models of Human Reaching Motions for Robotic Control in Everyday Manipulation Tasks. In Proceedings of the 8th International Conference on Development and Learning (ICDL), 2009.
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Freek Stulp, Erhan Oztop, Peter Pastor, Michael Beetz, and Stefan Schaal. Compact Models of Motor Primitive Variations for Predictable Reaching and Obstacle Avoidance. In 9th IEEE-RAS International Conference on Humanoid Robots, 2009.
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Michael Beetz, Freek Stulp, Bernd Radig, Jan Bandouch, Nico Blodow, Mihai Dolha, Andreas Fedrizzi, Dominik Jain, Uli Klank, Ingo Kresse, Alexis Maldonado, Zoltan Marton, Lorenz Mösenlechner, Federico Ruiz, Radu Bogdan Rusu, and Moritz Tenorth. The Assistive Kitchen - A Demonstration Scenario for Cognitive Technical Systems. In The 17th International Symposium on Robot and Human Interactive Communication (ROMAN), 2008. Invited paper.
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Christoph Mayer, Matthias Wimmer, Freek Stulp, Zahid Riaz, Anton Roth, Martin Eggers, and Bernd Radig. A Real Time System for Model-based Interpretation of the Dynamics of Facial Expressions. In Proceedings of the International Conference on Automatic Face and Gesture Recognition (FG), 2008.
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Sylvia Pietzsch, Matthias Wimmer, Freek Stulp, and Bernd Radig. Face Model Fitting with Generic, Group-specific, and Person-specific Objective Functions. In 3rd International Conference on Computer Vision Theory and Applications (VISAPP), January 2008.
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Freek Stulp, Alexis Maldonado, and Michael Beetz. Learning Predictive Knowledge to Optimize Robot Motor Control. In International Conference on Cognitive Systems (CogSys), 2008.
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Matthias Wimmer, Shinya Fujie, Freek Stulp, Tetsunori Kobayashi, and Bernd Radig. An ASM Fitting Method Based on Machine Learning that Provides a Robust Parameter Initialization for AAM Fitting. In Proceedings of the International Conference on Automatic Face and Gesture Recognition (FG), 2008.
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Freek Stulp, Wolfram Koska, Alexis Maldonado, and Michael Beetz. Seamless Execution of Action Sequences. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007.
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Matthias Wimmer, Sylvia Pietzsch, Freek Stulp, and Bernd Radig. Learning Robust Objective Functions with Application to Face Model Fitting. In Proceedings of the 29th Annual Symposium of the German Association for Pattern Recognition (DAGM), 2007.
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Matthias Wimmer, Freek Stulp, and Bernd Radig. Enabling Users to Guide the Design of Robust Model Fitting Algorithms. In Proceedings of the Eleventh IEEE International Conference on Computer Vision (ICCV), 2007.
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Michael Isik, Freek Stulp, Gerd Mayer, and Hans Utz. Coordination without Negotiation in Teams of Heterogeneous Robots. In Proceedings of RoboCup International Symposium, 2006.
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Freek Stulp and Michael Beetz. Action Awareness - Enabling Agents to Optimize, Transform, and Coordinate Plans. In Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2006.
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Freek Stulp, Michael Isik, and Michael Beetz. Implicit Coordination in Robotic Teams using Learned Prediction Models. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2006.
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Freek Stulp, Mark Pflüger, and Michael Beetz. Feature Space Generation using Equation Discovery. In Proceedings of the 29th German Conference on Artificial Intelligence (KI), 2006.
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Matthias Wimmer, Freek Stulp, Stephan Tschechne, and Bernd Radig. Learning Robust Objective Functions for Model Fitting in Image Understanding Applications. In Proceedings of the British Machine Vision Conference (BMVC 2006), pp. 1159 – 1168, BMVA, September 2006.
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Freek Stulp and Michael Beetz. Optimized Execution of Action Chains Using Learned Performance Models of Abstract Actions. In Proceedings of the 19th International Joint Conference on Artificial Intelligence (IJCAI 2005), 2005.
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Hans Utz, Freek Stulp, and Arndt Mühlenfeld. Sharing Belief in Teams of Heterogeneous Robots. In RoboCup-2004: The Eighth RoboCup Competitions and Conferences, Springer Verlag, 2004.
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Michael Beetz, Freek Stulp, Alexandra Kirsch, Armin Müller, and Sebastian Buck. Autonomous Robot Controllers Capable of Acquiring Repertoires of Complex Skills. In RoboCup-2003: The Seventh RoboCup Competitions and Conferences, Springer Verlag, 2003.
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Sebastian Buck, Freek Stulp, Michael Beetz, and Thorsten Schmitt. Machine Control Using Radial Basis Value Functions and Inverse State Projection. In Proceedings of the IEEE Intl. Conference on Automation, Robotics, Control, and Vision, 2002, Singapore, 2002.
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Freek Stulp, Fabio Dell'Acqua, and Robert Fisher. Reconstruction of surfaces behind occlusions in range images. In Proceedings of the 3rd International Conference on 3D Digital Imaging and Modeling (3DIM01), pp. 232–239, IEEE Computer Society, 2001.
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Freek Stulp and Rineke Verbrugge. A Knowledge-based Algorithm for the Internet Transmission Control Protocol (TCP). In Proceedings 4th Conference on Logic and the Foundations of Game and Descision Theory (LOFT4), 2000.
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Refereed Conference Video
Carmen Lopera, Hilario Tomé, Adolfo Rodr\'iguez Tsouroukdissian, and Freek Stulp. Comparing Motion Generation and Motion Recall for Everyday Mobile Manipulation Tasks. In International Conference on Intelligent Robots and Systems (IROS), 2012. http://www.ensta-paristech.fr/ stulp/videos/lopera12comparingvideo.mp4
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Refereed Workshop Paper
Freek Stulp and Olivier Sigaud. Path Integral Policy Improvement w/ Covariance Matrix Adaptation. In The 10th European Workshop on Reinforcement Learning (EWRL), 2012. Non-archival. Accepted for the workshop as a double submission with ICML.
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Evangelos Theodorou, Freek Stulp, Jonas Buchli, and Stefan Schaal. Path integral reinforcement learning. In Proceedings of the 15th Yale Workshop on Adaptive and Learning Systems, 2011.
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Evangelos Theodorou, Jonas Buchli, Freek Stulp, and Stefan Schaal. An Iterative Path Integral Reinforcement Learning Approach. In The Learning Workshop, Snowbird, 2010. Non-archival.
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Bernd Krieg-Brückner, Freek Stulp, Kerstin Schill, and Bernd Gersdorf. Adaptation for Ambient Assisted Living. In Interactive and Adaptive Furniture Workshop, 2008. Non-archival.
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Christoph Mayer, Matthias Wimmer, Freek Stulp, Zahid Riaz, Anton Roth, Martin Eggers, and Bernd Radig. Interpreting the Dynamics of Facial Expressions in Real Time Using Model-based Techniques. In 3rd Workshop on Emotions and Computing, 2008. Non-archival.
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Matthias Wimmer, Christoph Mayer, Freek Stulp, and Bernd Radig. Face Model Fitting based on Machine Learning from Multi-band Images of Facial Components. In Workshop on Non-Rigid Shape Analysis and Deformable Image Alignment (NORDIA), held in conjunction with CVPR, 2008. Non-archival.
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Matthias Wimmer, Christoph Mayer, Freek Stulp, and Bernd Radig. Estimating Natural Activity by Fitting 3D Models via Learned Objective Functions. In Vision, Modeling and Visualization Workshop (VMV), 2007. Non-archival.
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Freek Stulp and Michael Beetz. Optimized Execution of Action Chains through Subgoal Refinement. In Proceedings of the ICAPS Workshop on Plan Execution: A Reality Check, 2005. Non-archival.
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Freek Stulp and Michael Beetz. Tailoring Action Parameterizations to Their Task Contexts. In IJCAI Workshop ``Agents in Real-Time and Dynamic Environments'', 2005. Non-archival.
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Freek Stulp, Suat Gedikli, and Michael Beetz. Evaluating Multi-Agent Robotic Systems Using Ground Truth. In Proceedings of the Workshop on Methods and Technology for Empirical Evaluation of Multi-agent Systems and Multi-robot Teams (MTEE), 2004.
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Proceedings
Freek Stulp, Hans Utz, and Bernhard Nebel, editors. Proceedings of the Workshop on Methods and Technology for Empirical Evaluation of Multi-agent Systems and Multi-robot Teams (MTEE), Springer, 2004. In conjunction with the 27th German Conference on Artificial Intelligence
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Thesis
Freek Stulp. Tailoring Robot Actions to Task Contexts using Action Models. Ph.D. Thesis, Technische Universität München, 2007.
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Freek Stulp. Completion of Occluded Surfaces. Master's Thesis, University of Groningen, Groningen, The Netherlands,2001. Awarded the Best Master's Thesis Prize, academic year 2000/2001 by Artificial Intelligence Education in the Netherlands.
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Team Description Paper
Freek Stulp, Alexandra Kirsch, Suat Gedikli, and Michael Beetz. AGILO RoboCuppers 2004. In RoboCup International Symposium 2004, July 2004.
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Michael Beetz, Suat Gedikli, Robert Hanek, Thorsten Schmitt, and Freek Stulp. AGILO RoboCuppers 2003: Computational Priciples and Research Directions. In RoboCup International Symposium 2003, July 2003.
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HAL
Freek Stulp and Olivier Sigaud. Policy Improvement Methods: Between Black-Box Optimization and Episodic Reinforcement Learning. Unpublished 2012. hal-00738463
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