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:
Phone: (213) 740 6717
Movies:
Publications:
(Please refer to my Google Scholar page for a complete list of publications)
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]
[Detail][BibTeX][PDF]
Peter Pastor, Mrinal Kalakrishnan, Jonathan Binney, Jonathan Kelly, Ludovic Righetti, Gaurav Sukhatme, Stefan Schaal (2013). Learning Task Error Models for Manipulation, IEEE International Conference on Robotics and Automation.
[Detail][BibTeX][PDF]
Herzog, A.; Pastor, P.; Kalakrishnan, M.; Righetti, L.; Asfour, T.; Schaal, S. (2012). Template-Based Learning of Grasp Selection, IEEE International Conference on Robotics and Automation (ICRA).
[Keywords:grasping, manipulation, grasp selection]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
Peter Pastor, Mrinal Kalakrishnan, Ludovic Righetti, Stefan Schaal (2012). Towards Associative Skill Memories, IEEE-RAS International Conference on Humanoid Robots.
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
Hoffmann, H.;Pastor, P.;Park, D.-H.;Schaal, S. (2009). Biologically-inspired dynamical systems for movement generation: automatic real-time goal adaptation and obstacle avoidance, International Conference on Robotics and Automation (ICRA2009).
[Keywords:movement primitives, dynamic systems, obstacle avoidance, generalization]
[Detail][BibTeX][PDF]
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]
[Detail][BibTeX][PDF]
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..
[Detail][BibTeX][PDF]
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).
[Detail][BibTeX][PDF]
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).
[Detail][BibTeX][PDF]
