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Freek Stulp

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Welcome! This is my minimal HAL CV/research page. For a complete CV, please see my homepage: [http://](http://perso.ensta-paristech.fr/~stulp/#Bio)[www.freekstulp.net](http://perso.ensta-paristech.fr/~stulp/) [http://](http://perso.ensta-paristech.fr/~stulp/#Bio)[www.freekstulp.net](http://perso.ensta-paristech.fr/~stulp/)[/#Bio](http://perso.ensta-paristech.fr/~stulp/#Bio) [http://](http://perso.ensta-paristech.fr/~stulp/#Bio)[www.freekstulp.net](http://perso.ensta-paristech.fr/~stulp/)[/cv/cv\_freek\_stulp.pdf](http://perso.ensta-paristech.fr/~stulp/cv/cv_freek_stulp.pdf)
Welcome! This is my minimal HAL CV/research page. For a complete CV, please see my homepage: [http://](http://perso.ensta-paristech.fr/~stulp/#Bio)[www.freekstulp.net](http://perso.ensta-paristech.fr/~stulp/) [http://](http://perso.ensta-paristech.fr/~stulp/#Bio)[www.freekstulp.net](http://perso.ensta-paristech.fr/~stulp/)[/#Bio](http://perso.ensta-paristech.fr/~stulp/#Bio) [http://](http://perso.ensta-paristech.fr/~stulp/#Bio)[www.freekstulp.net](http://perso.ensta-paristech.fr/~stulp/)[/cv/cv\_freek\_stulp.pdf](http://perso.ensta-paristech.fr/~stulp/cv/cv_freek_stulp.pdf)

Publications

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A survey on policy search algorithms for learning robot controllers in a handful of trials

Konstantinos Chatzilygeroudis , Vassilis Vassiliades , Freek Stulp , Sylvain Calinon , Jean-Baptiste Mouret
IEEE Transactions on Robotics, 2020, 36 (2), pp.328-347. ⟨10.1109/TRO.2019.2958211⟩
Journal articles hal-02393432v1
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Policy search in continuous action domains: An overview

Olivier Sigaud , Freek Stulp
Neural Networks, 2019, 113, pp.28-40. ⟨10.1016/j.neunet.2019.01.011⟩
Journal articles hal-02182466v1
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Learning Legible Motion from Human–Robot Interactions

Baptiste Busch , Jonathan Grizou , Manuel Lopes , Freek Stulp
International Journal of Social Robotics, 2017, 211 (3-4), pp.517 - 530. ⟨10.1007/s12369-017-0400-4⟩
Journal articles hal-01629451v1
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Proximodistal Exploration in Motor Learning as an Emergent Property of Optimization

Freek Stulp , Pierre-Yves Oudeyer
Developmental Science, 2017, pp.1-17
Journal articles hal-01664171v1
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Co-manipulation with a Library of Virtual Guiding Fixtures

Gennaro Raiola , Susana Sanchez Restrepo , Pauline Chevalier , Pedro Rodriguez-Ayerbe , Xavier Lamy
Autonomous Robots, 2017, pp.1-15. ⟨10.1007/s10514-017-9680-7⟩
Journal articles hal-02158827v3
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Emergent Jaw Predominance in Vocal Development through Stochastic Optimization

Clément Moulin-Frier , Jules Brochard , Freek Stulp , Pierre-Yves Oudeyer
IEEE Transactions on Cognitive and Developmental Systems, 2017, 99, pp.1-12. ⟨10.1109/TCDS.2017.2704912⟩
Journal articles hal-01578075v1
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Many regression algorithms, one unified model — A review

Freek Stulp , Olivier Sigaud
Neural Networks, 2015, 69, pp.60-79. ⟨10.1016/j.neunet.2015.05.005⟩
Journal articles hal-01162281v2

Adaptation de la matrice de covariance pour l'apprentissage par renforcement direct

Olivier Sigaud , Freek Stulp
Revue des Sciences et Technologies de l'Information - Série RIA : Revue d'Intelligence Artificielle, 2013, 27 (2), pp.243-263. ⟨10.3166/ria.27.243-263⟩
Journal articles hal-00922127v1

From Dynamic Movement Primitives to Associative Skill Memories

Pastor Peter , Kalakrishnan Mrinal , Meier Franziska , Freek Stulp , Buchli Jonas
Robotics and Autonomous Systems, 2013, 61 (4), pp.351-361
Journal articles hal-00789397v1

Robot Skill Learning: From Reinforcement Learning to Evolution Strategies

Freek Stulp , Olivier Sigaud
Paladyn: Journal of Behavioral Robotics, 2013, 4 (1), pp.49-61
Journal articles hal-00922132v1

Reinforcement Learning with Sequences of Motion Primitives for Robust Manipulation

Freek Stulp , Evangelos Theodorou , Stefan Schaal
IEEE Transactions on Robotics, 2012, 28 (6), pp.1360-1370
Journal articles hal-00766177v1

Learning and Reasoning with Action-Related Places for Robust Mobile Manipulation

Freek Stulp , Fedrizzi Andreas , Mösenlechner Lorenz , Beetz Michael
Journal of Artificial Intelligence Research, 2012, 43, pp.1--42
Journal articles hal-00768171v1

Model-free Reinforcement Learning of Impedance Control in Stochastic Force Fields

Freek Stulp , Buchli Jonas , Ellmer Alice , Mistry Michael , Theodorou Evangelos
IEEE Transactions on Autonomous Mental Development, 2012, 4, pp.330-341
Journal articles hal-00789395v1

Exploration through Covariance Matrix Adaptation Enables Developmental Motor Learning

Freek Stulp , Pierre-Yves Oudeyer
Paladyn: Journal of Behavioral Robotics, 2012, 3 (3), pp.128-135. ⟨10.2478/s13230-013-0108-6⟩
Journal articles hal-00922125v1

Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration: The AnDy project

Pauline Maurice , Serena Ivaldi , Lars Fritzsche , Jan Babič , Freek Stulp
SIAS 2018 - 9th International Conference on Safety of Industrial Automated Systems, Oct 2018, Nancy, France
Conference papers hal-02348525v1
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Tensor based knowledge transfer across skill categories for robot control

Chenyang Zhao , Timothy Hospedales , Freek Stulp , Olivier Sigaud
International Joint Conference in Artificial Intelligence (IJCAI), 2017, Melbourne, Australia. pp.1-7, ⟨10.24963/ijcai.2017/484⟩
Conference papers hal-03124263v1
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Anticipatory models of human movements and dynamics: the roadmap of the AnDy project

Serena Ivaldi , Lars Fritzsche , Jan Babič , Freek Stulp , Michael Damsgaard
Digital Human Models (DHM), Jun 2017, Bonn, Germany
Conference papers hal-01539731v1
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Co-manipulation with Multiple Probabilistic Virtual Guides

Gennaro Raiola , Xavier Lamy , Freek Stulp
IROS 2015 - International Conference on Intelligent Robots and Systems , Sep 2015, Hamburg, Germany. pp.7 - 13 ⟨10.1109/IROS.2015.7353107⟩
Conference papers hal-01170974v1
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Parallel Guiding Virtual Fixtures: Control and Stability

Gennaro Raiola , Pedro Rodriguez-Ayerbe , Xavier Lamy , Sami Tliba , Freek Stulp
ISIC 2015 - IEEE International Symposium on Intelligent Control, Sep 2015, Sydney, Australia. pp.53 - 58 ⟨10.1109/ISIC.2015.7307279⟩
Conference papers hal-01250101v1
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Facilitating Intention Prediction for Humans by Optimizing Robot Motions

Freek Stulp , Jonathan Grizou , Baptiste Busch , Manuel Lopes
International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany
Conference papers hal-01170977v1

Computed Torque Control with Variable Gains through Gaussian Process Regression

Nicolas Torres Alberto , Michael Mistry , Freek Stulp
IEEE International Conference on Humanoid Robots, 2014, Madrid, Spain
Conference papers hal-01089099v1
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Non-linear regression algorithms for motor skill acquisition: a comparison

Thibaut Munzer , Freek Stulp , Olivier Sigaud
9èmes Journées Francophones de Planification, Décision et Apprentissage, May 2014, Liège, Belgium
Conference papers hal-01090848v1

Simultaneous On-line Discovery and Improvement of Robotic Skill Options

Freek Stulp , Laura Herlant , Antoine Hoarau , Gennaro Raiola
Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2014, Chicago, United States. ⟨10.1109/IROS.2014.6942741⟩
Conference papers hal-01089097v1

Learning Compact Parameterized Skills with a Single Regression

Freek Stulp , Gennaro Raiola , Antoine Hoarau , Serena Ivaldi , Olivier Sigaud
IEEE-RAS International Conference on Humanoid Robots, 2013, Atlanta, United States
Conference papers hal-00922135v1

Policy Improvement: Between Black-Box Optimization and Episodic Reinforcement Learning

Freek Stulp , Olivier Sigaud
Journées Francophones Planification, Décision, et Apprentissage pour la conduite de systèmes, 2013, Lille, France
Conference papers hal-00922133v1

Emergent Proximo-Distal Maturation through Adaptive Exploration

Freek Stulp , Pierre-Yves Oudeyer
International Conference on Development and Learning (ICDL), 2012, United States. pp.0-0
Conference papers hal-00789393v1

Comparing Motion Generation and Motion Recall for Everyday Robotic Tasks

Carmen Lopera , Hilario Tomé , Adolfo Rodriguez Tsouroukdissian , Freek Stulp
12th IEEE-RAS International Conference on Humanoid Robots, 2012, Japan. pp.0-0
Conference papers hal-00768173v1

Adaptive Exploration for Continual Reinforcement Learning

Freek Stulp
International Conference on Intelligent Robots and Systems (IROS), 2012, Portugal. pp.0-0
Conference papers hal-00789389v1

Path Integral Policy Improvement with Covariance Matrix Adaptation

Freek Stulp , Olivier Sigaud
Proceedings of the 29th International Conference on Machine Learning (ICML), Jun 2012, Edinbourg, United Kingdom. pp.0-0
Conference papers hal-00789391v1
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Adaptation de la matrice de covariance pour l'apprentissage par renforcement direct

Freek Stulp , Olivier Sigaud
Journées Francophones sur la planification, la décision et l'apprentissage pour le contrôle des systèmes - JFPDA 2012, May 2012, Villers-lès-Nancy, France. 12 p
Conference papers hal-00736310v1
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AGILO RoboCuppers 2004

Freek Stulp , Alexandra Kirsch , Suat Gedikli , Michael Beetz
8th RoboCup International Symposium, Jun 2004, Lisbonne, Portugal
Conference papers hal-01306991v1
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Autonomous Robot Controllers Capable of Acquiring Repertoires of Complex Skills

Michael Beetz , Freek Stulp , Alexandra Kirsch , Armin Müller , Sebastian Buck
7th Robot World Cup Soccer and Rescue Competitions and Conferences (RoboCup 2003), Jul 2003, Padoue, Italy. pp.592-599, ⟨10.1007/978-3-540-25940-4_56⟩
Conference papers hal-01306982v1