/Katharina Muelling

Katharina Muelling

Portrait of Katharina Muelling
Systems Scientist
Office: 4527 Newell-Simon Hall
Phone: (412) 692-1097
Personal Homepage
Administrative Assistant: Christine Downey

Mailing Address

My work is driven by the passion of getting robots out of research laboratories into the real world. To this end, I seek to understand how complex motor behavior can be modeled and learned, how motor skills can be generalized, how humans and robots can work together to achieve complex tasks, and how we can use these technologies to improve the quality of life for people with disabilities.

Robotic systems that are able to perform various tasks in human-inhabited and unstructured environments require robust movement generation and manipulation skills that compensate for uncertainties and disturbances in the environment. Such systems need to autonomously adapt to a highly dynamic environment while simultaneously accomplishing the task at hand. Hand-crafted solutions based on analytical engineering often fail to produce this form of adaptive behavior and are limited to the specific scenarios considered by the designer. Here, machine learning is a promising tool to create robotic systems that are able to adapt to a dynamic, unstructured environment. Most generic machine learning approaches how- ever, fail to learn on real robot platforms due to specific constraints and restrictions such as the real-time requirements and hardware exhaustion.

My work focuses on finding the limits of analytical engineering solutions and the development of robot learning algorithms that circumvent these limits. A fundamental problem for the development of robot learning methods is the necessity to achieve complex behaviors with a feasible amount of training data. Human demonstrations can be used to initialize robot learning approaches and reduce the learning time significantly. Furthermore, it provides a natural way for humans to teach robots and allows robots to acquire human-like behavior which is beneficial for human-robot interaction. Therefore, learning from and with humans is a central part of my work.

In the following, I will provide an overview of my research to date, together with research directions which I intend to pursue as a system faculty member at Carnegie Mellon University. The presented work is centered around (i) my doctoral studies, which focused on the development of a table tennis framework for an anthropomorphic robot arm and (ii) my current research that assists a tetraplegic person in teleoperating a robot arm to successfully perform everyday manipulation tasks such as opening a door.

Displaying 32 Publications
Learning Neural Parsers with Deterministic Differentiable Imitation Learning
Tanmay Shankar, Nicholas Rhinehart, Katharina Muelling and Kris M. Kitani

Conference Paper, submitted 20 June, 2018; originally announced June 2018; arXiv:1806.07822, June, 2018
Learning Neural Parsers with Deterministic Differentiable Imitation Learning
Tanmay Shankar, Nicholas Rhinehart, Katharina Muelling and Kris M. Kitani

Conference Paper, Robotics: Science and Systems, Workshop on Perspectives in Robot Learning: Causality and Imitation, June, 2018
Social Attention: Modeling Attention in Human Crowds
Anirudh Vemula, Katharina Muelling and Jean Oh

Conference Paper, Proceedings of the International Conference on Robotics and Automation (ICRA) 2018, May, 2018
Autonomy Infused Teleoperation with Application to BCI Manipulation
Muelling, K., Venkatraman, A., Valois, JS, Downey, J., Weiss, J., Javdani, S., Hebert, M., Schwartz, A., Collinger, J. and Bagnell, J.

Journal Article, Autonomous Robots (AURO), Vol. 41, No. 6, pp. 1401–1422, August, 2017
Anticipatory Action Selection for Human-Robot Table Tennis
Wang, Z., Boularias, A., Muelling, K., Schoelkopf, B. and Peters, J.

Journal Article, Artificial Intelligence, Vol. 247, pp. 399 - 414, June, 2017
Modeling Cooperative Navigation in Dense Human Crowds
Anirudh Vemula, Katharina Muelling and Jean Hyaejin Oh

Conference Paper, Proceedings of the International Conference on Robotics and Automation (ICRA) 2017, February, 2017
Path Planning in Dynamic Environments with Adaptive Dimensionality
Anirudh Vemula, Katharina Muelling and Jean Hyaejin Oh

Conference Paper, Proceedings of the Ninth International Symposium on Combinatorial Search (SoCS-2016), July, 2016
Blending of brain-machine interface and vision-guided autonomous robotics improves neuroprosthetic arm performance during grasping
John E. Downey, Jeffrey M. Weiss, Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, Martial Hebert, J. Andrew (Drew) Bagnell, Andrew B. Schwartz and Jennifer L. Collinger

Journal Article, Journal of Neuro Engineering and Rehabilitation, Vol. 13, No. 1, March, 2016
Brain-Machine Interface Control of a Robotic Arm for Object Grasping is Improved With Computer-Vision Based Shared Control
Tyler-Kabara, E., Downey, J., Weiss, J., Muelling, K., Venkataraman, A., Valois, J-S., Javdani, S., Hebert, M., Bagnell, J., Schwartz, A. and Collinger, J.

Journal Article, Neurosurgery, Vol. 62, pp. 233, August, 2015
Autonomy Infused Teleoperation with Application to BCI Manipulation
Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, John Downey, Jeffrey Weiss, Shervin Javdani, Martial Hebert, Andrew B. Schwartz, Jennifer L. Collinger and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of Robotics: Science and Systems, July, 2015
Movement Primitives via Optimization
Anca Dragan, Katharina Muelling, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2015
Anticipatory Action Selection for Human-Robot Table Tennis
Zhikun Wang, Abdeslam Boularias, Katharina Muelling, Scholkopf Bernhard and Jan Peters

Journal Article, Carnegie Mellon University, Artificial Intelligence, February, 2015
Learning Strategy in Table Tennis using Inverse Reinforcement Learning
Muelling, K., Boularias, A., Mohler, B., Schoelkopf, B. and Peters, J.

Journal Article, Biological Cybernetics, Vol. 108, No. 5, pp. 603 – 619, October, 2014
Learning Motor Skills – From Algorithms to Robot Experiments
Kober, J., Muelling, K., Kroemer, O., Lampert, C.H., Schoelkopf, B. and Peters, J.

Book Section/Chapter, Chapter: Movement Templates for Learning of Hitting and Batting, Springer Tracts in Advanced Robotics, Vol. 97, January, 2014
Inverse Reinforcement Learning for Strategy Extraction
Muelling, K., Boularias, A., Mohler, B., Schoelkopf, B. and Peters, J.

Conference Paper, In Proceedings of ECML'13 Workshop on Machine Learning and Data Mining for Sports Analytics, September, 2013
Towards Robot Skill Learning: From Simple Skills to Table Tennis
Peters, J., Kober, J., Muelling, K., Kroemer, O. and Neumann, G.

Conference Paper, Proceedings of the European Conference on Machine Learning (ECML), Nectar Track, September, 2013
Probabilistic Movement Modeling for Intention Inference in Human-Robot Interaction
Wang, Z., Muelling, K., Deisenroth, M. P., Ben Amor, H., Vogt, D., Schoelkopf, B. and Peters, J.

Journal Article, International Journal of Robotics Research (IJRR), Vol. 32, No. 7, pp. 841 - 858, June, 2013
Learning to Select and Generalize Striking Movements in Robot Table Tennis
Muelling, K., Kober, J., Kroemer, O. and Peters, J.

Journal Article, International Journal of Robotics Research (IJRR), Vol. 32, No. 3, pp. 263 - 279, March, 2013
Learning to Select and Generalize Striking Movements in Robot Table Tennis
Muelling, K., Kober, J., Kroemer, O. and Peters, J.

Conference Paper, Proceedings of the AAAI Fall Symposium on Robots that Learn Interactively from Human Teachers, October, 2012
Learning Throwing and Catching Skills
Kober, J., Muelling, K. and Peters, J.

Conference Paper, Proceedings of the International Conference of Robot Systems (IROS), Video Track, October, 2012
Robot Skill Learning
Peters, J., Kober, J., Muelling, K., Nguyen-Tuong, D. and Kroemer, O.

Conference Paper, Proceedings of the European Conference on Artificial Intelligence (ECAI), August, 2012
A Biomimetic Approach to Robot Table Tennis
Muelling, K., Kober, J. and Peters, J.

Journal Article, Adaptive Behavior Journal, Vol. 19, No. 5, pp. 359 - 376, October, 2011
Learning Anticipation Policies for Robot Table Tennis
Wang, Z., Lampert, C.H., Muelling, K. and Peters, J.

Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), September, 2011
Balancing Safety and Exploitability in Opponent Modeling
Wang, Z., Boularias, A., Muelling, K. and Peters, J.

Conference Paper, Proceedings of the Twenty-Fourth National Conference on Artificial Intelligence (AAAI), pp. 1515 - 1520, July, 2011
Experiments with Motor Primitives to learn Table Tennis
Peters, J., Muelling, K. and Kober, J.

Conference Paper, Proceedings of the 12th International Symposium on Experimental Robotics (ISER 2010), December, 2010
Learning Table Tennis with a Mixture of Motor Primitives
Muelling, K., Kober, J. and Peters, J.

Conference Paper, Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010), November, 2010
A Biomimetic Approach to Robot Table Tennis
Muelling, K., Kober, J. and Peters, J.

Conference Paper, Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pp. 1921 - 1926, October, 2010
Simulating Human Table Tennis with a Biomimetic Robot Setup
Muelling, K., Kober, J. and Peters, J.

Conference Paper, From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010), August, 2010
Relative Entropy Policy Search
Peters, J., Muelling, K. and Altun, Y.

Conference Paper, Proceedings of the Twenty-Fourth National Conference on Artificial Intelligence, pp. 1607 - 1612, July, 2010
Movement Templates for Learning of Hitting and Batting
Kober, J., Muelling, K., Kroemer, O., Lampert, C.H., Schoelkopf, B. and Peters, J.

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), April, 2010
A computational model of human table tennis for robot application
Muelling, K. and Peters, J.

Conference Paper, Proceedings of Autonome Mobile Systeme (AMS 2009), November, 2009
Towards Motor Skill Learning for Robotics
Peters, J., Muelling, K., Kober, J., Nguyen-Tuong, D. and Kroemer, O.

Conference Paper, Proceedings of the International Symposium on Robotics Research (ISRR), Invited Paper., August, 2009

Current RI PhD Students

Current Affiliates

2018-10-03T16:12:25+00:00