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Bio:

Peter Pastor studied Computer Science at the University of Karlsruhe (TH). In 2005-2006 he was a Visiting Researcher at the Robotic Institute at Carnegie Mellon University in Pittsburgh, where he worked on a student research project within the trestle project which was developing the architectural framework necessary to coordinate robots to perform complex assembly tasks. He visited the CLMC Lab in Spring 2007 to work on his diploma thesis "Dynamic Movement Primitives for Imitation Learning of Grasping and Manipulation Tasks". After graduating from the University of Karlsruhe (TH) in 2008 he joined the CLMC Lab as a PhD student.

Research Interests:

Mobile Manipulation, Humanoid Robotics, Machine Learning, Motor Primitives.

Email: cgi-bin/mimetex.cgi -d '\textrm{pastorsa@usc.edu }' >pub/cache/231be5354d8a390e8815abd2a53f12c2.gif

Phone: (213) 740 6717

Movies:





Publications:

(Please refer to my Google Scholar page for a complete list of publications)

Herzog, A.; Pastor, P.; Kalakrishnan, M.; Righetti, L.; Bohg, J.; Asfour, T.; Schaal, S. (2014). Learning of Grasp Selection based on Shape-Templates, Autonomous Robots, 36, 1-2, pp.51-65, Springer US
[Keywords: Model-free Grasping; Grasp Synthesis; Template Learning]
  Details  PDF  BibTeX

Herzog, A.;Righetti, L.;Grimminger, F.;Pastor, P.;Schaal, S. (2014). Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics, Proceedings of the IEEE International Conference on Intelligent Robotics Systems
[Keywords: contact interaction, humanoid robotics, inverse dynamics, torque control, whole body control]
  Details  PDF  BibTeX

Righetti, L.;Kalakrishnan, M.;Pastor, P.;Binney, J.;Kelly, J.;Voorhies, R. C.;Sukhatme, G. S.;Schaal, S. (2014). An autonomous manipulation system based on force control and optimization, Auton. Robots, 36, 1-2, pp.11-30, Springer US
[Keywords: force control, optimal control, redundancy, whole body control]
  Details  PDF  BibTeX

Righetti, L. and Kalakrishnan, M. and Pastor, P. and Binney, J. and Kelly, J. and Voorhies, R. and Sukhatme, G. and Schaal, S. (2013). An autonomous manipulation system based on force control and optimization, in: Springer (eds.), Autonomous Robots
[Keywords: manipulation; grasping; force control; optimization]
  Details  BibTeX

Ijspeert, A.;Nakanishi, J.; Pastor, P; Hoffmann, H.; Schaal, S. (2013). Dynamical Movement Primitives: Learning Attractor Models forMotor Behaviors, Neural Computation, 25, pp.328-373
[Keywords: movement primitives, dynamic systems, rhythmic, discrete, perception-action coupling]
  Details  PDF  BibTeX

Herzog, A; Righetti, L; Grimminger, F; Pastor, P; Schaal, S (2013). Experiments with a hierarchical inverse dynamics controller on a torque-controlled humanoid, Arxiv preprint arXiv:1305.2042
[Keywords: hierarchical control, inverse dynamics, locomotion, balance control, biped, contact interaction]
  Details  PDF  BibTeX

Kalakrishnan, M.; Pastor, P.; Righetti, L.; Schaal, S. (2013). Learning Objective Functions for Manipulation, IEEE International Conference on Robotics and Automation
[Keywords: learning, inverse reinforcement learning, manipulation, grasping, inverse kinematics, motion planning, trajectory optimization]
  Details  PDF  BibTeX

Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G., Schaal, S. (2013). Learning Task Error Models for Manipulation, IEEE International Conference on Robotics and Automation
[Keywords: calibration, Gaussian Processes, model-based control]
  Details  PDF  BibTeX

W├╝thrich, M. , Pastor, P., Kalakrishnan, M., Bohg, J., Schaal, S. (2013). Probabilistic Object Tracking Using a Range Camera, IEEE/RSJ International Conference on Intelligent Robots and Systems
[Keywords: object tracking, 3D perception, pose estimation]
  Details  BibTeX

Herzog, A.;Pastor, P.;Kalakrishnan, M.;Righetti, L.;Asfour, T.;Schaal, S. (2012). Template-based learning of grasp selection, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp.2379-2384
  Details  PDF  BibTeX

Kalakrishnan, M.; Righetti, L.; Pastor, P.; Schaal, S. (2012). Learning Force Control Policies for Compliant Robotic Manipulation, International Conference on Machine Learning (ICML)
[Keywords: movement primitives, reinforcement learning, pi2, skill learning, force control]
  Details  PDF  BibTeX

Pastor, P., Kalakrishnan, M., Righetti, L., Schaal, S. (2012). Towards Associative Skill Memories, IEEE-RAS International Conference on Humanoid Robots
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Pastor, P.;Kalakrishnan, M.;Meier, F.;Stulp, F.;Buchli, J.;Theodorou, E.;Schaal, S. (2012). From Dynamic Movement Primitives to Associative Skill Memories, Robotics and Autonomous Systems
[Keywords: associative memoryreinforcement learningmovement primitives]
  Details  BibTeX

Wuthrich, M.;Pastor, P.;Righetti, L.;Billard, A.;Schaal, S. (2012). Probabilistic depth image registration incorporating nonvisual information, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp.3637-3644
  Details  PDF  BibTeX

Pastor, P.;Kalakrishnan, M.;Chitta, S.;Theodorou, E.;Schaal, S. (2011). Skill learning and task outcome prediction for manipulation, Robotics and Automation (ICRA), 2011 IEEE International Conference on
[Keywords: movement primitives, reinforcement learning, sensory data mining, motor skills]
  Details  PDF  BibTeX

Kalakrishnan, M.;Chitta, S.;Theodorou, E.;Pastor, P.;Schaal, S. (2011). STOMP: Stochastic trajectory optimization for motion planning, Robotics and Automation (ICRA), 2011 IEEE International Conference on
[Keywords: reinforcement learning, optimization, optimal motion planning]
  Details  PDF  BibTeX

Kalakrishnan, M.;Righetti, L.;Pastor, P.;Schaal, S. (2011). Learning force control policies for compliant manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
[Keywords: movement primitives, reinforcement learning, PI2, skill learning, force control]
  Details  PDF  BibTeX

Pastor, P.;Righetti, L.;Kalakrishnan, M.;Schaal, S. (2011). Online movement adaptation based on previous sensor experiences, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
[Keywords: BEST OVERALL PAPER AWARD, movement primitives, force control, associative memeory, perception-action coupling]
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Stulp, F.;Theodorou, E.;Kalakrishnan, M.;Pastor, P.;Righetti, L.;Schaal, S. (2011). Learning motion primitive goals for robust manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
[Keywords: movement primitives, reinforcement learning, PI2, skill learning]
  Details  PDF  BibTeX

Kalakrishnan, M.;Buchli, J.;Pastor, P.;Mistry, M.;Schaal, S. (2010). Fast, robust quadruped locomotion over challenging terrain, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.2665-2670
[Keywords: Best Paper Finalist, force control learning systems legged locomotion optimisation path planning stability criteria body trajectory optimizer challenging terrain control architecture control strategy fast robust quadruped locomotion floating-ba]
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Kalakrishnan, M.;Buchli, J.;Pastor, P.;Mistry, M.;Schaal, S. (2010). Learning, planning, and control for quadruped locomotion over challenging terrain, International Journal of Robotics Research, 30, 2, pp.236-258
[Keywords: Quadruped locomotion, locomotion planning and control, template learning, ZMP optimization, floating base inverse dynamics]
  Details  PDF  BibTeX

Stulp, F.;Oztop, E.;Pastor, P.;Beetz, M.;Schaal, S. (2009). Compact models of motor primitive variations for predictible reaching and obstacle avoidance, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)
[Keywords: motor primitives, obstacle avoidance]
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Pastor, P.;Hoffmann, H.;Asfour, T.;Schaal, S. (2009). Learning and generalization of motor skills by learning from demonstration, International Conference on Robotics and Automation (ICRA2009)
[Keywords: movement primitives, dynamic systems, obstacle avoidance, generalization, affordances]
  Details  PDF  BibTeX

Kalakrishnan, M.;Buchli, J.;Pastor, P.;Schaal, S. (2009). Learning locomotion over rough terrain using terrain templates, Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pp.167-172
[Keywords: legged locomotion path planning LittleDog quadruped robot foot hand-hold selection foothold ranking function human rock-climbing robotic legged locomotion rough terrain terrain templates]
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Buchli, J.;Kalakrishnan, M.;Mistry, M.;Pastor, P.;Schaal, S. (2009). Compliant quadruped locomotion over rough terrain, Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pp.814-820
[Keywords: force control gain control humanoid robots legged locomotion position control predictive control robot dynamics stability active balance control climbing rocks compliant quadruped locomotion floating-base inverse dynamics control littledog]
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Dae-Hyung Park, Heiko Hoffmann, Peter Pastor, and Stefan Schaal (2008). Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields, IEEE International Conference on Humanoid Robots, 2008.
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Heiko Hoffmann, Peter Pastor, and Stefan Schaal (2008). Dynamic movement primitives for movement generation motivated by convergent force fields in frog, Adaptive Motion of Animals and Machines (AMAM)
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Peter Pastor, Heiko Hoffmann, and Stefan Schaal (2008). Movement generation by learning from demonstration and generalization to new targets, Adaptive Motion of Animals and Machines (AMAM)
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Page last modified on December 15, 2013, at 12:48 AM