Publications

Theses

  • Rolf, M., "Goal Babbling for an Efficient Bootstrapping of Inverse Models in High Dimensions", Faculty of Technology: Bielefeld University, 12/2012 (WLUG Dissertation Prize 2013). (Ph.D. thesis, pdf)
  • Rolf, M., "Audiovisual attention via Synchrony", Faculty of Technology: Bielefeld University, 06/2008. (Master thesis, pdf)

Journals

  • Rolf, M., M. Asada, "Where do goals come from? A Generic Approach to Autonomous Goal-System Development", IEEE Transactions on Autonomous Mental Development. (submitted, arxiv.org)
  • Rolf, M., K. Neumann, J.F. Queißer, F.R. Reinhart, and J.J. Steil " A Multi-Level Control Architecture for the Bionic Handling Assistant ", Advanced Robotics. (pdf)
  • Miyazaki, M., H. Takahashi, M. Rolf, H. Okada, and T. Omori, "The image-scratch paradigm: a new paradigm for evaluating infants' motivated gaze control", Scientific reports 4(5498), 06/2014. (online, pdf)
  • Rolf, M., and J.J. Steil, "Efficient exploratory learning of inverse kinematics on a bionic elephant trunk", IEEE Trans. Neural Networks and Learning Systems 25(6), pp. 1147-1160, 2013. (pdf)
  • Rolf, M., and J.J. Steil, "Explorative Learning of Inverse Models: a Theoretical Perspective", Neurocomputing, 131(5), pp. 2-14, 05/2014. (pdf)
  • Neumann, K., M. Rolf, and J.J. Steil, "Reliable Integration of Continuous Constraints into Extreme Learning Machines", Journal of Uncertainty, Fuzziness and Knowledge-Based Systems 21(supp02), 12/2013. (pdf)
  • Rolf, M., J.J. Steil, and M. Gienger, "Goal babbling permits direct learning of inverse Kinematics", IEEE Trans. Autonomous Mental Development 2(3), pp. 216 - 229, 09/2010. (pdf)
  • Rolf, M., M. Hanheide, and K.J. Rohlfing, "Attention via Synchrony: Making Use of multimodal Cues in Social Learning", IEEE Transactions on Autonomous Mental Development 1(1), pp. 55-67, 05/2009. (pdf)

Patents

  • Rolf, M., J.J. Steil, and M. Gienger, "Robot Control with Bootstrapping Inverse Kinematics", European patent EP2359989 B1, granted 07/2013.

International Conferences (peer reviewed)

  • Rolf, M., and M. Asada, "What are goals? And if so, how many?", IEEE Int. Conf. Development and Learning and on Epigenetic Robotics, Providence, USA, 08/2015. (pdf)
  • Rolf, M., and M. Asada, "Autonomous Development of Goals: From Generic Rewards to Goal and Self Detection", IEEE Int. Conf. Development and Learning and on Epigenetic Robotics, Genoa, 10/2014. (pdf)
  • Queißer, J. F., K. Neumann, M. Rolf, F. R. Reinhart, and J. J. Steil, "Active Compliant Control for a Pneumatic Soft Robot", IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, 09/2014. (pdf)
  • Rolf, M., "Goal Babbling with Unknown Ranges: A Direction-Sampling Approach", IEEE Int. Conf. Development and Learning and on Epigenetic Robotics, Osaka, 09/2013. (pdf)
  • Reinhart, R.F., and M. Rolf, "Learning Versatile Sensorimotor Coordination with Goal Babbling and Neural Associative Dynamics", IEEE Int. Conf. Development and Learning and on Epigenetic Robotics, Osaka, 09/2013. (pdf)
  • Nordmann, A., M. Rolf, and S. Wrede, "Software Abstractions for Simulation and Control of a Continuum Robot", Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), vol. 7628, Tsukuba, Japan, Springer, pp. 113-124, 11/2012. (pdf)
  • Rolf, M., and J.J. Steil, "Constant curvature continuum kinematics as fast approximate model for the Bionic Handling Assistant", IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), Vilamoura, Portugal, IEEE, pp. 3440-3446, 10/2012. (pdf)
  • Rolf, M., J.J. Steil, and M. Gienger, "Online Goal Babbling for rapid bootstrapping of inverse models in high dimensions", IEEE Int. Conf. Development and Learning and on Epigenetic Robotics (Best Student Paper Award), Frankfurt, IEEE, 08/2011. (pdf)
  • Rolf, M., J.J. Steil, and M. Gienger, "Mastering Growth while Bootstrapping Sensorimotor Coordination", Int. Conf. on Epigenetic Robotics, Örenäs Slott, Sweden, 11/2010. (pdf)
  • Rolf, M., J.J. Steil, and M. Gienger, "Learning Flexible Full Body Kinematics for Humanoid Tool Use", Int. Symp. Learning and Adaptive Behavior in Robotic Systems (Best Paper Award), Canterbury, UK, pp. 171 - 176 , 09/2010. (pdf)
  • Rolf, M., J.J. Steil, and M. Gienger, "Bootstrapping inverse Kinematics with Goal Babbling", IEEE Int. Conf. on Development and Learning, Ann Arbor, MI, USA, pp. 147 - 154, 08/2010. (pdf)
  • Neumann, K., M. Rolf, J.J. Steil, and M. Gienger, "Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements", Simulation of Adaptive Behavior (SAB), Paris, pp. 478-488, 08/2010. (pdf)
  • Rolf, M., J.J. Steil, and M. Gienger, "Efficient exploration and learning of whole body kinematics", IEEE 8th International Conference on Development and Learning (ICDL 2009), Shanghai, pp. 1-7, 06/2009. (pdf)
  • Rolf, M., M. Hanheide, and K.J. Rohlfing, "The Use of Synchrony in Parent-Child Interaction Can Be Measured on a Signal-Level", SRCD 2009 Biennial Meeting, Denver, Colorado, USA, 04/2009. (poster pdf

International Workshops (peer reviewed)

  • Rolf, M., and M. Asada, "Latent Goal Analysis for Dimension Reduction in Reinforcement Learning", 4th Workshop on Machine Learning for Interactive Systems @ ICML, Lille, 07/2015. (in press)
  • Rolf, M., and M. Asada, "Visual Attention by Audiovisual Signal-Level Synchrony", Workshop "Attention Models in Robotics: Visual Systems for Better HRI" @ HRI, Bielefeld, 03/2014. (pdf)
  • Rolf, M., and M. Asada, "Learning Inverse Models in High Dimensions with Goal Babbling and Reward-Weighted Averaging", Workshop "Advances in Machine Learning for Sensorimotor Control" @ NIPS, Lake Tahoe, 12/2013. (pdf)
  • Rolf, M., and J.J. Steil, "Goal Babbling: a New Concept for Early Sensorimotor Exploration", Proceedings of Humanoids 2012 Workshop on Developmental Robotics: Can developmental robotics yield human-like cognitive abilities?, Osaka, IEEE, pp. 40-43, 11/2012. (pdf)
  • Rolf, M., and J.J. Steil, "Explorative learning of right inverse functions: theoretical implications of redundancy", Workshop "New Challenges in Neural Computation" @ DAGM, Graz, 08/2012. (pdf)
  • Rolf, M., and J.J. Steil, "Online learning in the loop: fast explorative learning of inverse models in high dimensions", Workshop "New Challenges in Neural Computation" @ DAGM (Best Presentation Award), Frankfurt, 08/2011.

Others (not peer reviewed)

  • Rolf, M., and M. Asada "Latent Goal Analysis: Learning goals and body schema from generic rewards", ICDL 2014 Workshop: Development of body representations in humans and robots, Genoa, 10/2014. (pdf)
  • Rolf, M., and M. Asada "Motor synergies are naturally observed during goal babbling", IROS 2013 Workshop: Cognitive Neuroscience Robotics, Tokyo, 11/2013. (pdf)
  • Schillingmann, L., M. Rolf, S. Kumagaya, S. Ayaya, and Y. Nagai, "Assistance for Autistic People by Segmenting and Highlighting Cross-Modal Perceptual Information", Annual Conference of the Robotics Society of Japan (RSJ), Tokyo, 09/2013. (pdf)
  • Rolf, M., and M. Asada "Goal babbling as model for infants' early motor learning", Annual Meeting of the Japanese Society of Baby Science (JSBS), Fukuoka, 2013. (pdf)
  • Rolf, M., M. Hanheide, and K.J. Rohlfing, "Attention Manipulation with Multimodal Synchrony", IEEE-RAS Int. Conf. on Humanoid Robots, Workshop on "Social Learning in Interactive Scenarios", Paris, 12/2009. 
  • Rolf, M., J.J. Steil, and M. Gienger, "Efficient Exploration and Learning of whole Body Kinematics", International Workshop on Robotics for Young Researchers, Boston, MA, USA, 03/2009.

Blogs

  • Rolf, M., "Developmental Robotics", a-labs.aldebaran.com, 08/2014. (link)
  • Rolf, M., A. Nordmann, "Ein Roboter-Rüssel lernt wie ein Baby", botzeit.de, 05/2013. (link)
  • Rolf, M., A. Nordmann, "How infants tell us how to control the Bionic Handling Assistant", planet-robotics.net, 02/2013. (link)
  • Rolf, M., A. Nordmann, "Simulation des Bionischen Handling-Assistenten", botzeit.de, 04/2012. (link)
  • Rolf, M., A. Nordmann, "Simulation of the Bionic Handling Assistant", planet-robotics.net, 04/2012. (link)