@inproceedings{scannelldiscrete,title={Discrete Codebook World Models for Continuous Control},author={Scannell, Aidan and Nakhaeinezhadfard, Mohammadreza and Kujanp{\"a}{\"a}, Kalle and Zhao, Yi and Luck, Kevin Sebastian and Solin, Arno and Pajarinen, Joni},booktitle={The Thirteenth International Conference on Learning Representations},year={2025},}
2024
Accelerating Laboratory Automation Through Robot Skill Learning For Sample Scraping
Gabriella Pizzuto , Hetong Wang , Hatem Fakhruldeen , Bei Peng , Kevin Sebastian Luck , and Andrew I Cooper
@article{pizzuto2024accelerating,title={Accelerating Laboratory Automation Through Robot Skill Learning For Sample Scraping},author={Pizzuto, Gabriella and Wang, Hetong and Fakhruldeen, Hatem and Peng, Bei and Luck, Kevin Sebastian and Cooper, Andrew I},journal={IEEE CASE 2024},year={2024},}
@inproceedings{10.1007/978-3-031-53969-5_24,author={Sliacka, Maria and Mistry, Michael and Calandra, Roberto and Kyrki, Ville and Luck, Kevin Sebastian},editor={Nicosia, Giuseppe and Ojha, Varun and La Malfa, Emanuele and La Malfa, Gabriele and Pardalos, Panos M. and Umeton, Renato},title={Co-imagination of Behaviour and Morphology of Agents},booktitle={Machine Learning, Optimization, and Data Science},year={2024},publisher={Springer Nature Switzerland},address={Cham},pages={318--332},isbn={978-3-031-53969-5},}
Investigation into Bio-inspired Snake Robot Designs with Co-Adaptation of Morphology and Behaviour
Riccardo Pretto , Sylvia Cressmann , Shivam Chaubey , Michael Andrew Jansen , Ville Kyrki , and Kevin Sebastian Luck
In 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40) , 2024
@inproceedings{pretto_snake,author={Pretto, Riccardo and Cressmann, Sylvia and Chaubey, Shivam and Jansen, Michael Andrew and Kyrki, Ville and Luck, Kevin Sebastian},title={Investigation into Bio-inspired Snake Robot Designs with
Co-Adaptation of Morphology and Behaviour},booktitle={40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40)},year={2024},publisher={Abstract},}
Following Ancestral Footsteps: Co-Designing Morphology and Behaviour with Self-Imitation Learning
Sergio Hernandez-Gutierrez , Ville Kyrki , and Kevin Sebastian Luck
In Seventeenth European Workshop on Reinforcement Learning , 2024
@inproceedings{hernandezfollowing,title={Following Ancestral Footsteps: Co-Designing Morphology and Behaviour with Self-Imitation Learning},author={Hernandez-Gutierrez, Sergio and Kyrki, Ville and Luck, Kevin Sebastian},booktitle={Seventeenth European Workshop on Reinforcement Learning},year={2024},}
@inproceedings{baimukashevlearning,title={Learning Transparent Reward Models via Unsupervised Feature Selection},author={Baimukashev, Daulet and Alcan, Gokhan and Luck, Kevin Sebastian and Kyrki, Ville},booktitle={8th Annual Conference on Robot Learning},year={2024}}
@inproceedings{dunion2023conditional,title={Conditional Mutual Information for Disentangled Representations in Reinforcement Learning},author={Dunion, Mhairi and McInroe, Trevor and Luck, Kevin Sebastian and Hanna, Josiah P. and Albrecht, Stefano V},booktitle={Thirty-seventh Conference on Neural Information Processing Systems},year={2023},url={https://openreview.net/forum?id=EmYWJsyad4},}
@inproceedings{huang2023practical,title={Practical Equivariances via Relational Conditional Neural Processes},author={Huang, Daolang and Haussmann, Manuel and Remes, Ulpu and John, S. T. and Clart{\'e}, Gr{\'e}goire and Luck, Kevin Sebastian and Kaski, Samuel and Acerbi, Luigi},booktitle={Thirty-seventh Conference on Neural Information Processing Systems},year={2023},url={https://openreview.net/forum?id=xax5eWeObb},}
@inproceedings{rajani2023co,title={Co-imitation: learning design and behaviour by imitation},author={Rajani, Chang and Arndt, Karol and Blanco-Mulero, David and Luck, Kevin Sebastian and Kyrki, Ville},booktitle={Proceedings of the AAAI Conference on Artificial Intelligence},volume={37},number={5},pages={6200--6208},year={2023},}
2022
Which language evolves between heterogeneous agents?-communicating movement instructions with widely different time scopes
Marie Ossenkopf , Kevin Sebastian Luck , and Kory Wallace Mathewson
In Emergent Communication Workshop at ICLR 2022 , 2022
@inproceedings{ossenkopf2022language,title={Which language evolves between heterogeneous agents?-communicating movement instructions with widely different time scopes},author={Ossenkopf, Marie and Luck, Kevin Sebastian and Mathewson, Kory Wallace},booktitle={Emergent Communication Workshop at ICLR 2022},year={2022},}
@article{davchev2022residual,title={Residual learning from demonstration: Adapting dmps for contact-rich manipulation},author={Davchev, Todor and Luck, Kevin Sebastian and Burke, Michael and Meier, Franziska and Schaal, Stefan and Ramamoorthy, Subramanian},journal={IEEE Robotics and Automation Letters},volume={7},number={2},pages={4488--4495},year={2022},publisher={IEEE},}
@inproceedings{dunion2022temporal,title={Temporal Disentanglement of Representations for Improved Generalisation in Reinforcement Learning},author={Dunion, Mhairi and McInroe, Trevor and Luck, Kevin Sebastian and Hanna, Josiah P and Albrecht, Stefano V},booktitle={The Eleventh International Conference on Learning Representations},year={2022},}
2021
What robot do i need? Fast co-adaptation of morphology and control using graph neural networks
Kevin Sebastian Luck , Roberto Calandra , and Michael Mistry
@article{luck2021robot,title={What robot do i need? Fast co-adaptation of morphology and control using graph neural networks},author={Luck, Kevin Sebastian and Calandra, Roberto and Mistry, Michael},journal={arXiv preprint arXiv:2111.02371},year={2021},}
Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although compelling, the idea of co-adapting morphology and behaviours in robots is often unfeasible because of the long manufacturing times, and the need to redesign an appropriate controller for each morphology. In this paper, we propose a novel approach to automatically and efficiently co-adapt a robot morphology and its controller. Our approach is based on recent advances in deep reinforcement learning, and specifically the soft actor critic algorithm. Key to our approach is the possibility of leveraging previously tested morphologies and behaviors to estimate the performance of new candidate morphologies. As such, we can make full use of the information available for making more informed decisions, with the ultimate goal of achieving a more data-efficient co-adaptation (i.e., reducing the number of morphologies and behaviors tested). Simulated experiments show that our approach requires drastically less design prototypes to find good morphology-behaviour combinations, making this method particularly suitable for future co-adaptation of robot designs in the real world.
@inproceedings{pmlr-v100-luck20a,title={Data-efficient Co-Adaptation of Morphology and Behaviour with Deep Reinforcement Learning},author={Luck, Kevin Sebastian and Amor, Heni Ben and Calandra, Roberto},booktitle={Proceedings of the Conference on Robot Learning},pages={854--869},year={2020},editor={Kaelbling, Leslie Pack and Kragic, Danica and Sugiura, Komei},volume={100},series={Proceedings of Machine Learning Research},month={30 Oct--01 Nov},publisher={PMLR},url={https://proceedings.mlr.press/v100/luck20a.html},}
@inproceedings{luck2019improved,title={Improved exploration through latent trajectory optimization in deep deterministic policy gradient},author={Luck, Kevin Sebastian and Vecerik, Mel and Stepputtis, Simon and Amor, Heni Ben and Scholz, Jonathan},booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},pages={3704--3711},year={2019},organization={IEEE},}
Bio-inspired robot design considering load-bearing and kinematic ontogeny of chelonioidea sea turtles
Andrew Jansen , Kevin Sebastian Luck , Joseph Campbell , Heni Ben Amor , and Daniel M Aukes
In Biomimetic and Biohybrid Systems: 6th International Conference, Living Machines 2017, Stanford, CA, USA, July 26–28, 2017, Proceedings 6 , 30 oct–01 nov 2017
@inproceedings{jansen2017bio,title={Bio-inspired robot design considering load-bearing and kinematic ontogeny of chelonioidea sea turtles},author={Jansen, Andrew and Luck, Kevin Sebastian and Campbell, Joseph and Amor, Heni Ben and Aukes, Daniel M},booktitle={Biomimetic and Biohybrid Systems: 6th International Conference, Living Machines 2017, Stanford, CA, USA, July 26--28, 2017, Proceedings 6},pages={216--229},year={2017},organization={Springer},}
@inproceedings{Luck-RSS-17,author={Luck, Kevin Sebastian and Campbell, Joseph and Jansen, Michael and Aukes, Daniel and Amor, Heni Ben},title={From the Lab to the Desert: Fast Prototyping and Learning of Robot Locomotion},booktitle={Proceedings of Robotics: Science and Systems},year={2017},address={Cambridge, Massachusetts},month=jul,doi={10.15607/RSS.2017.XIII.075},}
@inproceedings{luck2017extracting,title={Extracting bimanual synergies with reinforcement learning},author={Luck, Kevin Sebastian and Amor, Heni Ben},booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},pages={4805--4812},year={2017},organization={IEEE},}
@inproceedings{luck2016sparse,title={Sparse latent space policy search},author={Luck, Kevin Sebastian and Pajarinen, Joni and Berger, Erik and Kyrki, Ville and Amor, Heni Ben},booktitle={Proceedings of the AAAI Conference on Artificial Intelligence},volume={30},number={1},year={2016},}
@inproceedings{luck2014latent,title={Latent space policy search for robotics},author={Luck, Kevin Sebastian and Neumann, Gerhard and Berger, Erik and Peters, Jan and Amor, Heni Ben},booktitle={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},pages={1434--1440},year={2014},organization={IEEE},}
Discrete Codebook World Models for Continuous ControlIn The Thirteenth International Conference on Learning Representations , 2025
