This list contains only publications involving current members of the Machine Learning Lab. For a comprehensive list of all publications involving former chair Prof. Dr. Martin Riedmiller, please see his list of publications.

Publications

2016

SS Kumar, J Wülfing, S Okujeni, J Boedecker, M Riedmiller, U Egert (2016) Autonomous Optimization of Targeted Stimulation of Neuronal Networks. PLoS Comput Biol 12 (8) pp. e1005054. web Bibtex

@article{kumar2016plos,
  title={Autonomous Optimization of Targeted Stimulation of Neuronal Networks},
  author={Kumar, SS and Wülfing, J and Okujeni, S and Boedecker, J and Riedmiller, M and Egert, U},
  journal={PLoS Comput Biol},
  keywords = {EXC1086; BoedeckerSelect},
  volume={12},
  number={8},
  pages={e1005054},
  url={http://dx.doi.org/10.1371/journal.pcbi.1005054},
  year={2016}
}

Jost Tobias Springenberg (2016) Unsupervised and Semi-supervised Learning with Categorical Generative Adversarial Networks. In International Conference on Learning Representations (ICLR). web Bibtex

@incollection{springenberg2016iclr,
  title = {Unsupervised and Semi-supervised Learning with Categorical Generative Adversarial Networks},
  author = {Springenberg, Jost Tobias},
  booktitle = {International Conference on Learning Representations (ICLR)},
  keywords = {SPP},
  year = {2016},
  url = {https://arxiv.org/abs/1511.06390}
}

J. T. Springenberg, A. Klein, S. Falkner, F. Hutter (2016) Bayesian Optimization with Robust Bayesian Neural Networks. In Advances in Neural Information Processing Systems 29. Bibtex

@incollection{springenberg2016nips,
  title = {Bayesian Optimization with Robust Bayesian Neural Networks},
  author = {J. T. Springenberg and A. Klein and S. Falkner and F. Hutter},
  booktitle = {Advances in Neural Information Processing Systems 29},
  note={accepted},
  keywords = {SPP},
  year = {2016}
}

2015

M. Feurer, T. Springenberg, F. Hutter (2015) Initializing Bayesian Hyperparameter Optimization via Meta-Learning. In Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence. web Bibtex

@INPROCEEDINGS{Feurer2015,
  lAUTHOR =       {Matthias Feurer and Tobias Springenberg and Frank Hutter},
  AUTHOR =       {M. Feurer and T. Springenberg and F. Hutter},
  TITLE =        {Initializing Bayesian Hyperparameter Optimization via Meta-Learning},
  BOOKTITLE =    {Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence},
  CONFERENCE = {AAAI Conference},
  YEAR =         {2015},
  url={http://aad.informatik.uni-freiburg.de/papers/15-AAAI-MI-SMBO.pdf}
}

T. Domhan, J. T. Springenberg, F. Hutter (2015) Speeding up Automatic Hyperparameter Optimization of Deep Neural Networks by Extrapolation of Learning Curves. In Proceedings of the 24th International Joint Conference on Artificial Intelligence (IJCAI). web Bibtex

@InProceedings{DomSprHut15,
  lauthor = "Tobias Domhan and Jost Tobias Springenberg and Frank Hutter",
  author = "T. Domhan and J. T. Springenberg and F. Hutter",
  title = "Speeding up Automatic Hyperparameter Optimization of Deep Neural Networks by Extrapolation of Learning Curves",
  booktitle = "Proceedings of the 24th International Joint Conference on Artificial Intelligence (IJCAI)",
  url={http://aad.informatik.uni-freiburg.de/papers/15-IJCAI-Extrapolation_of_Learning_Curves.pdf},
  year = "2015",
  keywords = {EXC1086;BLBT;Deep Learning;Hyperparameter Optimization}
}

Wendelin Böhmer, Jost Tobias Springenberg, Joschka Boedecker, Martin Riedmiller, Klaus Obermayer (2015) Autonomous Learning of State Representations for Control: An Emerging Field Aims to Autonomously Learn State Representations for Reinforcement Learning Agents from Their Real-World Sensor Observations. KI - Künstliche Intelligenz pp. 1-10. Springer Berlin Heidelberg. doi web Bibtex

@article{BoeSprBoeRieObeKI2015,
  year={2015},
  issn={0933-1875},
  journal={KI - Künstliche Intelligenz},
  doi={10.1007/s13218-015-0356-1},
  title={Autonomous Learning of State Representations for Control: An Emerging Field Aims to Autonomously Learn State Representations for Reinforcement Learning Agents from Their Real-World Sensor Observations},
  url={http://dx.doi.org/10.1007/s13218-015-0356-1},
  publisher={Springer Berlin Heidelberg},
  keywords={End-to-end reinforcement learning; Representation learning; Deep auto-encoder networks; Slow feature analysis; Autonomous robotics; BoedeckerSelect},
  author={Böhmer, Wendelin and Springenberg, Jost Tobias and Boedecker, Joschka and Riedmiller, Martin and Obermayer, Klaus},
  pages={1-10}
}

A.Dosovitskiy, J.T.Springenberg, T.Brox (2015) Learning to Generate Chairs with Convolutional Neural Networks. In IEEE International Conference on Computer Vision and Pattern Recognition (CVPR). web Bibtex

@InProceedings{DosSprChair15,
  author       = "A.Dosovitskiy and J.T.Springenberg and T.Brox",
  title        = "Learning to Generate Chairs with Convolutional Neural Networks",
  booktitle    = "IEEE International Conference on Computer Vision and Pattern Recognition (CVPR)",
  year         = "2015",
  url          = {http://lmb.informatik.uni-freiburg.de//Publications/2015/DB15},
  keywords = {EXC1086;BLBT;Deep Learning}
}

J. T. Springenberg, A. Dosovitskiy, T. Brox, M. Riedmiller (2015) Striving for Simplicity: The All Convolutional Net. In arXiv:1412.6806, also appeared at ICLR 2015 Workshop Track. web Bibtex

@INPROCEEDINGS{SprDosBroRied15,
  AUTHOR =       {J. T. Springenberg and A. Dosovitskiy and T. Brox and M. Riedmiller},
  TITLE =        {Striving for Simplicity: The All Convolutional Net},
  BOOKTITLE =    {arXiv:1412.6806, also appeared at ICLR 2015 Workshop Track},
  CONFERENCE = {ICLR 2015 Workshop Track},
  YEAR =         {2015},
  url = {http://arxiv.org/abs/1412.6806},
  keywords = {EXC1086;BLBT;Deep Learning}
}

Matthias Feurer, Aaron Klein, Katharina Eggensperger, Jost Tobias Springenberg, Manuel Blum, Frank Hutter (2015) Efficient and Robust Automated Machine Learning. In Advances in Neural Information Processing Systems. PDF Bibtex

@article{feurerefficient,
  title={Efficient and Robust Automated Machine Learning},
  author={Feurer, Matthias and Klein, Aaron and Eggensperger, Katharina and Springenberg, Jost Tobias and Blum, Manuel and Hutter, Frank},
  booktitle={Advances in Neural Information Processing Systems},
  year={2015},
  file={http://aad.informatik.uni-freiburg.de/papers/15-NIPS-auto-sklearn-preprint.pdf}
}

A. Eitel, J. T. Springenberg, L. Spinello, M. Riedmiller, W. Burgard (2015) Multimodal Deep Learning for Robust RGB-D Object Recognition. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). web Bibtex

@INPROCEEDINGS{EitSprSpiRieBur15,
   author = {Eitel, A. and Springenberg, J. T. and Spinello, L. and Riedmiller, M. and Burgard, W.},
   title = {Multimodal Deep Learning for Robust RGB-D Object Recognition},
   booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   keywords = {EXC1086;BLBT;Deep Learning;RGB-D;Robotics},
   url = {http://arxiv.org/abs/1507.06821},
   year = 2015
}

Manuel Watter, Jost Springenberg, Joschka Boedecker, Martin Riedmiller (2015) Embed to Control: A Locally Linear Latent Dynamics Model for Control from Raw Images. In Advances in Neural Information Processing Systems 28. pp. 2728–2736. PDF Bibtex

@incollection{watter2015e2c,
  title = {Embed to Control: A Locally Linear Latent Dynamics Model for Control from Raw Images},
  author = {Watter, Manuel and Springenberg, Jost and Boedecker, Joschka and Riedmiller, Martin},
  booktitle = {Advances in Neural Information Processing Systems 28},
  editor = {C. Cortes and N.D. Lawrence and D.D. Lee and M. Sugiyama and R. Garnett and R. Garnett},
  pages = {2728--2736},
  keywords = {EXC1086; SPP; BoedeckerSelect},
  year = {2015},
  file = {http://papers.nips.cc/paper/5964-embed-to-control-a-locally-linear-latent-dynamics-model-for-control-from-raw-images.pdf}
}

2014

Thomas Lampe, Martin Riedmiller (2014) Approximate Model-Assisted Neural Fitted Q-Iteration. In IEEE International Joint Conference on Neural Networks (IJCNN 2014). Beijing, China. PDF Bibtex

@inproceedings{LampeRiedmillerIJCNN2014,
  author = {Thomas Lampe and Martin Riedmiller},
  title = {Approximate Model-Assisted Neural Fitted Q-Iteration},
  booktitle = {IEEE International Joint Conference on Neural Networks (IJCNN 2014)},
  address = {Beijing, China},
  year = {2014},
  keywords = {NFQ;Model-based Learning;EXC1086;BLBT;Neurobots;PR2},
  file = {lampe_riedmiller_ijcnn14.pdf}
}

Oliver Obst, Joschka Boedecker (2014) Guided Self-Organization of Input-Driven Recurrent Neural Networks. In Guided Self-Organization: Inception. pp. 319-340. Springer Berlin Heidelberg. doi web Bibtex

@incollection{ObstBoedeckerGSObook2014,
  author={Oliver Obst and Joschka Boedecker},
  title={Guided Self-Organization of Input-Driven Recurrent Neural Networks},
  booktitle={Guided Self-Organization: Inception}, 
  volume={9},
  series={Emergence, Complexity and Computation},
  editor={Prokopenko, Mikhail},
  pages={319-340},
  isbn={978-3-642-53733-2},   
  publisher={Springer Berlin Heidelberg},
  year={2014},
  doi={10.1007/978-3-642-53734-9_11},
  url={http://arxiv.org/abs/1309.1524},
  keywords={BoedeckerSelect}
}

Thomas Lampe, Lukas D. J. Fiederer, Martin Voelker, Alexander Knorr, Martin Riedmiller, Tonio Ball (2014) A Brain-Computer Interface for High-Level Remote Control of an Autonomous, Reinforcement-Learning-Based Robotic System for Reaching and Grasping. In International Conference on Intelligent User Interfaces (IUI 2014). Haifa, Israel. web Bibtex

@inproceedings{LampeFiedererIUI2014,
  author = {Thomas Lampe and Lukas D. J. Fiederer and Martin Voelker and Alexander Knorr and Martin Riedmiller and Tonio Ball},
  title = {A Brain-Computer Interface for High-Level Remote Control of an Autonomous, Reinforcement-Learning-Based Robotic System for Reaching and Grasping},
  booktitle = {International Conference on Intelligent User Interfaces (IUI 2014)},
  address = {Haifa, Israel},
  year = {2014},
  url = {http://dl.acm.org/citation.cfm?id=2557500.2557533&coll=DL&dl=ACM&CFID=298536792&CFTOKEN=73699462},
  keywords = {EXC1086;BLBT;Neurobots;BCI;Grasping}
}

Tobias Domhan, Jost Tobias Springenberg, Frank Hutter (2014) Extrapolating Learning Curves of Deep Neural Networks. In ICML 2014 AutoML Workshop. web Bibtex

@INPROCEEDINGS{DomSprHut2014,
  author = "Tobias Domhan and Jost Tobias Springenberg and Frank Hutter",
  title = "Extrapolating Learning Curves of Deep Neural Networks",
  booktitle = "ICML 2014 AutoML Workshop",
  year = "2014",
  url = {http://aad.informatik.uni-freiburg.de/media/_publications/14-AUTOML-ExtrapolatingLearningCurves4.pdf}
}

Matthias Feurer, Jost Tobias Springenberg, Frank Hutter (2014) Using Meta-Learning to Initialize Bayesian Optimization of Hyperparameters. In ECAI workshop on Metalearning and Algorithm Selection (MetaSel). web Bibtex

@INPROCEEDINGS{FeuSprHut2014,
  AUTHOR =       {Matthias Feurer and Jost Tobias Springenberg and Frank Hutter},
  TITLE =        {Using Meta-Learning to Initialize Bayesian Optimization of Hyperparameters},
  BOOKTITLE =    {ECAI workshop on Metalearning and Algorithm Selection (MetaSel)},
  CONFERENCE = {European Conference on Artificial Intelligence},
  YEAR =         {2014},
  url = {http://aad.informatik.uni-freiburg.de/media/_publications/14-METASEL-MI-SMBO.pdf}
}

Alexey Dosovitskiy, Jost Tobias Springenberg, Martin Riedmiller, Thomas Brox (2014) Discriminative Unsupervised Feature Learning with Convolutional Neural Networks. In 28th Annual Conference on Neural Information Processing Systems (NIPS). Bibtex

@INPROCEEDINGS{DosSpr2014,
  author = {Alexey Dosovitskiy and Jost Tobias Springenberg and Martin Riedmiller and Thomas Brox},
  title = {Discriminative Unsupervised Feature Learning with Convolutional Neural Networks},
  booktitle = {28th Annual Conference on Neural Information Processing Systems (NIPS)},
  year = {2014}
}

Joschka Boedecker, Jost Tobias Springenberg, Jan Wülfing, Martin Riedmiller (2014) Approximate Real-Time Optimal Control Based on Sparse Gaussian Process Models. In Adaptive Dynamic Programming and Reinforcement Learning (ADPRL). PDF Bibtex

@INPROCEEDINGS{BoeSprWuel2014,
  author = {Joschka Boedecker and Jost Tobias Springenberg and Jan Wülfing and Martin Riedmiller},
  title = {Approximate Real-Time Optimal Control Based on Sparse Gaussian Process Models},
  booktitle = {Adaptive Dynamic Programming and Reinforcement Learning (ADPRL)},
  year = {2014},
  file = {adprl-2014.pdf},
  keywords= {EXC1086;BLBT;Neurobots;PR2;BoedeckerSelect}
}

M Duempelmann, S Ewing, M Blum, R Rostek, P Woias, M Riedmiller, A Schulze-Bonhage (2014) Investigation of low complexity seizure detection algorithm for closed loop devices in epilepsy treatment. Clinical Neurophysiology pp. S80. Bibtex

@article{duempelmann2014p121,
  title={Investigation of low complexity seizure detection algorithm for closed loop devices in epilepsy treatment},
  author={Duempelmann, M and Ewing, S and Blum, M and Rostek, R and Woias, P and Riedmiller, M and Schulze-Bonhage, A},
  journal={Clinical Neurophysiology},
  number={125},
  pages={S80},
  year={2014}
}

2013

Manuel Blum, Martin Riedmiller (2013) Optimization of Gaussian Process Hyperparameters using Rprop. In European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning. PDF Bibtex

@inproceedings{blumesann2013,
  author = {Manuel Blum and Martin Riedmiller},
  booktitle = {European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning},
  title = {{Optimization of Gaussian Process Hyperparameters using Rprop}},
  year = {2013},
  file = {http://ml.informatik.uni-freiburg.de/_media/publications/blumesann2013.pdf}
}

Manuel Blum, Martin Riedmiller (2013) Electricity Demand Forecasting using Gaussian Processes. In The AAAI-13 Workshop on Trading Agent Design and Analysis (TADA-13). PDF Bibtex

@inproceedings{blum2013a,
  author = {Manuel Blum and Martin Riedmiller},
  booktitle = {The AAAI-13 Workshop on Trading Agent Design and Analysis (TADA-13)},
  title = {Electricity Demand Forecasting using Gaussian Processes},
  year = {2013},
  file = {http://ml.informatik.uni-freiburg.de/_media/publications/blum2013a.pdf}
}

Thomas Lampe, Martin Riedmiller (2013) Acquiring Visual Servoing Reaching and Grasping Skills using Neural Reinforcement Learning. In IEEE International Joint Conference on Neural Networks (IJCNN 2013). Dallas, TX. PDF Bibtex

@inproceedings{LampeRiedmiller2013,
  author = {Thomas Lampe and Martin Riedmiller},
  title = {Acquiring Visual Servoing Reaching and Grasping Skills using Neural Reinforcement Learning},
  booktitle = {IEEE International Joint Conference on Neural Networks (IJCNN 2013)},
  address = {Dallas, TX},
  year = {2013},
  file = {lampe2013.pdf},
  keywords = {NFQ;Grasping;Visual Servoing;EXC1086;BLBT;Neurobots;PR2}
}

Joschka Boedecker, Thomas Lampe, Martin Riedmiller (2013) Modeling effects of intrinsic and extrinsic rewards on the competition between striatal learning systems. Frontiers in Psychology 4 (739) doi web Bibtex

@ARTICLE{BoedeckerLampeRiedmiller2013,
  AUTHOR = {Boedecker, Joschka  and  Lampe, Thomas  and  Riedmiller, Martin},
  TITLE = {Modeling effects of intrinsic and extrinsic rewards on the competition between striatal learning systems},
  JOURNAL = {Frontiers in Psychology},
  VOLUME = {4},
  YEAR = {2013},
  NUMBER = {739},
  URL = {http://www.frontiersin.org/cognitive_science/10.3389/fpsyg.2013.00739/abstract},
  DOI = {10.3389/fpsyg.2013.00739},
  ISSN = {1664-1078},
  keywords = {Cognitive Modeling;Striatum;BoedeckerSelect}
}

Alexey Dosovitskiy, Jost Tobias Springenberg, Thomas Brox (2013) Unsupervised feature learning by augmenting single images . In arXiv:1312.5242, also appeared at ICLR 2014 Workshop Track. web Bibtex

@INPROCEEDINGS{DosSpr2014a,
  AUTHOR =       {Alexey Dosovitskiy and Jost Tobias Springenberg and Thomas Brox},
  TITLE =        {Unsupervised feature learning by augmenting single images },
  BOOKTITLE =    {arXiv:1312.5242, also appeared at ICLR 2014 Workshop Track},
  CONFERENCE = {ICLR 2014 Workshop Track},
  YEAR =         {2013},
  url = {http://arxiv.org/abs/1312.5242}
}

Jost Tobias Springenberg, Martin Riedmiller (2013) Improving Deep Neural Networks with Probabilistic Maxout Units. In arXiv:1312.6116, also appeared at ICLR 2014 Workshop Track. web Bibtex

@INPROCEEDINGS{SprRied2014a,
  AUTHOR =       {Jost Tobias Springenberg and Martin Riedmiller},
  TITLE =        {Improving Deep Neural Networks with Probabilistic Maxout Units},
  BOOKTITLE =    {arXiv:1312.6116, also appeared at ICLR 2014 Workshop Track},
  CONFERENCE = {ICLR 2014 Workshop Track},
  YEAR =         {2013},
  url = {http://arxiv.org/abs/1312.6116}
}

Oliver Obst, Joschka Boedecker, Benedikt Schmidt, Minoru Asada (2013) On active information storage in input-driven systems. arXiv.org. web Bibtex

@misc{Obst2013,
	Author = {Oliver Obst and Joschka Boedecker and Benedikt Schmidt and Minoru Asada},
	Date-Added = {2013-06-28 19:10:44 +0000},
	Date-Modified = {2013-06-30 12:41:13 +0000},
	Howpublished = {arXiv preprint 1303.5526v1},
	Institution = {arXiv.org},
	Note = {Also published as a poster at the 6th Australian Workshop on Computational Neuroscience, 2013},
	Number = {1303.5526v1},
	Title = {On active information storage in input-driven systems},
	Url = {http://arxiv.org/abs/1303.5526},
	Year = {2013},
	Bdsk-Url-1 = {http://arxiv.org/abs/1303.5526}}

2012

Oliver Obst, Joschka Boedecker, Benedikt Schmidt, Minoru Asada (September 2012) Computing local active information storage in input-driven systems. Bibtex

@unpublished{OBS+12,
	Author = {Oliver Obst and Joschka Boedecker and Benedikt Schmidt and Minoru Asada},
	Date-Added = {2013-06-28 20:07:11 +0000},
	Date-Modified = {2013-06-28 20:07:11 +0000},
	Month = {September},
	Note = {Proceedings of Guided Self-Organization (GSO) 2012},
	Title = {Computing local active information storage in input-driven systems},
	Year = {2012}}

Christoph Hartmann AND Joschka Boedecker AND Oliver Obst AND Shuhei Ikemoto AND Minoru Asada (July 2012) Real-Time Inverse Dynamics Learning for Musculoskeletal Robots based on Echo State Gaussian Process Regression. In Proceedings of Robotics: Science and Systems. Sydney, Australia. Bibtex

@inproceedings{Hartmann2012,
	Address = {Sydney, Australia},
	Author = {Christoph Hartmann AND Joschka Boedecker AND Oliver Obst AND Shuhei Ikemoto AND Minoru Asada},
	Booktitle = {Proceedings of Robotics: Science and Systems},
	Date-Added = {2013-06-28 19:10:44 +0000},
	Date-Modified = {2013-06-28 19:10:44 +0000},
	Month = {July},
	Title = {Real-Time Inverse Dynamics Learning for Musculoskeletal Robots based on Echo State Gaussian Process Regression},
	Year = {2012},
	keywords = {BoedeckerSelect}
}

Joschka Boedecker, Oliver Obst, Yuki Kashima, Minoru Asada (March 29-30 2012) Intrinsic computational capabilities of reservoir computing networks in different dynamics regimes and their relation to task performance. Lyon, France. Bibtex

@unpublished{Boedecker2012,
	Address = {Lyon, France},
	Author = {Joschka Boedecker and Oliver Obst and Yuki Kashima and Minoru Asada},
	Date-Added = {2013-06-28 19:10:44 +0000},
	Date-Modified = {2013-06-28 19:10:44 +0000},
	Month = {March 29-30},
	Note = {Workshop on Cognitive dynamics in neural systems: mathematical and computational modeling},
	Title = {Intrinsic computational capabilities of reservoir computing networks in different dynamics regimes and their relation to task performance},
	Year = {2012}}

Manuel Blum, Jost Tobias Springenberg, Jan Wülfing, Martin Riedmiller (2012) A Learned Feature Descriptor for Object Recognition in RGB-D Data. In IEEE International Conference on Robotics and Automation (ICRA). St. Paul, Minnesota, USA. PDF Bibtex

@INPROCEEDINGS{blumicra2012,
  AUTHOR = {Manuel Blum and Jost Tobias Springenberg and Jan Wülfing and Martin Riedmiller},
  ADDRESS = {St. Paul, Minnesota, USA},
  BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
  TITLE = {A Learned Feature Descriptor for Object Recognition in RGB-D Data},
  YEAR = {2012},
  FILE = {http://ml.informatik.uni-freiburg.de/_media/publications/blumicra2012.pdf}
}

Jost Tobias Springenberg, Martin Riedmiller (2012) Learning temporal coherent features through life-time sparsity. In International Conference on Neural Information Processing (ICONIP). pp. 347–356. Bibtex

@INPROCEEDINGS{springj2012a,
  title = {Learning temporal coherent features through life-time sparsity},
  author = {Jost Tobias Springenberg and Martin Riedmiller},
  booktitle = {International Conference on Neural Information Processing (ICONIP)},
  pages = {347--356},
  year = {2012},
  organization = {Springer}
}

Joschka Boedecker, Oliver Obst, Joseph T Lizier, N Michael Mayer, Minoru Asada (2012) Information processing in echo state networks at the edge of chaos.. Theory in Biosciences 131 (3) pp. 205–213. Springer Berlin / Heidelberg. doi web Bibtex

@article{Boedecker2011,
	Author = {Boedecker, Joschka and Obst, Oliver and Lizier, Joseph T and Mayer, N Michael and Asada, Minoru},
	Date-Added = {2013-06-28 19:10:44 +0000},
	Date-Modified = {2013-06-28 19:21:11 +0000},
	Doi = {10.1007/s12064-011-0146-8},
	Issn = 16117530,
	Journal = {Theory in Biosciences},
	Keywords = {active information,computing,information transfer,phase transition,recurrent neural networks,reservoir,storage,BoedeckerSelect},
	Number = 3,
	Pages = {205--213},
	Pmid = 22147532,
	Publisher = {Springer Berlin / Heidelberg},
	Title = {{Information processing in echo state networks at the edge of chaos.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/22147532},
	Volume = 131,
	Year = 2012,
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/22147532},
	Bdsk-Url-2 = {http://dx.doi.org/10.1007/s12064-011-0146-8}}

2011

Beata J. Grzyb, Joschka Boedecker, Minoru Asada, Angel P. del Pobil (September 2011) Elevated activation of dopaminergic brain areas facilitates behavioral state transition. In IROS 2011 Workshop on Cognitive Neuroscience Robotics. Bibtex

@unpublished{GBA+11c,
	Author = {Beata J. Grzyb and Joschka Boedecker and Minoru Asada and Angel P. del Pobil},
	Booktitle = {IROS 2011 Workshop on Cognitive Neuroscience Robotics},
	Date-Added = {2013-06-28 20:03:21 +0000},
	Date-Modified = {2013-06-28 20:03:21 +0000},
	Month = {September},
	Note = {IROS 2011 Workshop on Cognitive Neuroscience Robotics},
	Title = {Elevated activation of dopaminergic brain areas facilitates behavioral state transition},
	Year = {2011}}

Joschka Boedecker, Minoru Asada (2011) Towards Self-organized Online Extraction of Invariances Using a Hierarchy of Multiple-timescale Reservoirs. Bibtex

@unpublished{BA11,
	Author = {Joschka Boedecker and Minoru Asada},
	Date-Added = {2013-06-28 19:56:49 +0000},
	Date-Modified = {2013-06-28 19:56:49 +0000},
	Note = {Front. Comput. Neurosci. Conference Abstract: IEEE ICDL-EPIROB 2011},
	Title = {Towards Self-organized Online Extraction of Invariances Using a Hierarchy of Multiple-timescale Reservoirs},
	Year = {2011}}

Manuel Blum, Jost Tobias Springenberg, Jan Wülfing, Martin Riedmiller (2011) On the Applicability of Unsupervised Feature Learning for Object Recognition in RGB-D Data. In NIPS Workshop on Deep Learning and Unsupervised Feature Learning. Granada, Spain. PDF Bibtex

@INPROCEEDINGS{blumnips2011,
  AUTHOR = {Manuel Blum and Jost Tobias Springenberg and Jan Wülfing and Martin Riedmiller},
  ADDRESS = {Granada, Spain},
  BOOKTITLE = {NIPS Workshop on Deep Learning and Unsupervised Feature Learning},
  TITLE = {On the Applicability of Unsupervised Feature Learning for Object Recognition in RGB-D Data},
  YEAR = {2011},
  FILE = {http://ml.informatik.uni-freiburg.de/_media/publications/blumnips2011.pdf}
}

Beata J. Grzyb, Joschka Boedecker, Minoru Asada, Angel P. del Pobil, Linda B. Smith (2011) Between Frustration and Elation: Sense of Control Regulates the Intrinsic Motivation for Motor Learning. Bibtex

@unpublished{GBA+11a,
	Author = {Beata J. Grzyb and Joschka Boedecker and Minoru Asada and Angel P. del Pobil and Linda B. Smith},
	Date-Added = {2013-06-28 20:00:08 +0000},
	Date-Modified = {2013-06-28 20:12:22 +0000},
	Howpublished = {Online},
	Note = {AAAI Workshop on Lifelong learning},
	Title = {Between Frustration and Elation: Sense of Control Regulates the Intrinsic Motivation for Motor Learning},
	Year = {2011}}

Beata J. Grzyb, Joschka Boedecker, Minoru Asada, Angel P. del Pobil, Linda B. Smith (2011) Trying anyways: how ignoring the errors may help in learning new skills. In First Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics. Bibtex

@inproceedings{GBA+11b,
	Author = {Beata J. Grzyb and Joschka Boedecker and Minoru Asada and Angel P. del Pobil and Linda B. Smith},
	Booktitle = {First Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics},
	Date-Added = {2013-06-28 20:01:38 +0000},
	Date-Modified = {2013-06-28 20:01:38 +0000},
	Title = {Trying anyways: how ignoring the errors may help in learning new skills},
	Year = {2011}}

Joschka Boedecker (2011) Echo State Network Reservoir Shaping and Information Dynamics at the Edge of Chaos. Osaka, Japan. Bibtex

@phdthesis{Boedecker:2011uq,
	Address = {Osaka, Japan},
	Author = {Joschka Boedecker},
	Date-Added = {2013-06-28 20:16:10 +0000},
	Date-Modified = {2013-06-28 20:16:10 +0000},
	School = {Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University},
	Title = {Echo State Network Reservoir Shaping and Information Dynamics at the Edge of Chaos},
	Year = {2011}}

Tim Landgraf, Anselm Brachmann, Manuel Blum, Ra{ú}l Rojas (2011) Unsupervised Neural Coding of Nightingale Songs Using Deep Autoencoders. In Computational Neuroscience & Neurotechnology Bernstein Conference & Neurex Annual Meeting. Bibtex

@inproceedings{landgraf2011unsupervised,
  title={Unsupervised Neural Coding of Nightingale Songs Using Deep Autoencoders},
  author={Landgraf, Tim and Brachmann, Anselm and Blum, Manuel and Rojas, Ra{ú}l},
  booktitle={Computational Neuroscience & Neurotechnology Bernstein Conference & Neurex Annual Meeting},
  year={2011}
}

Manuel Blum, Martin Riedmiller (2011) Q-function Approximation in Batch Mode Reinforcement Learning. In International Workshop on Bio-Inspired Robots. Bibtex

@inproceedings{blum2011q,
  title={Q-function Approximation in Batch Mode Reinforcement Learning},
  author={Blum, Manuel and Riedmiller, Martin},
  booktitle={International Workshop on Bio-Inspired Robots},
  year={2011}
}

2010

Oliver Obst, Joschka Boedecker, Minoru Asada (2010) Improving Recurrent Neural Network Performance Using Transfer Entropy. In Neural Information Processing Models and Applications. pp. 193–200. Springer. web Bibtex

@inproceedings{Obst2010,
	Author = {Obst, Oliver and Boedecker, Joschka and Asada, Minoru},
	Booktitle = {Neural Information Processing Models and Applications},
	Date-Added = {2013-06-28 19:10:44 +0000},
	Date-Modified = {2013-06-28 19:30:44 +0000},
	Editor = {Wong, Kok Wai and Mendis, B Sumudu U and Bouzerdoum, Abdesselam},
	Isbn = {9783642175336},
	Keywords = {guided self organisation,information,machine learning,recurrent neural network,reservoir computing,theory,BoedeckerSelect},
	Pages = {193--200},
	Publisher = {Springer},
	Series = {Lecture Notes in Computer Science},
	Title = {{Improving Recurrent Neural Network Performance Using Transfer Entropy}},
	Url = {http://www.oliverobst.eu/publications/OBA10.html},
	Volume = {6444},
	Year = {2010},
	Bdsk-Url-1 = {http://www.oliverobst.eu/publications/OBA10.html}}

2009

Joschka Boedecker, Oliver Obst, Norbert Michael Mayer, Minoru Asada (Oct 2009) Initialization and Self-Organized Optimization of Recurrent Neural Network Connectivity. HFSP Journal 3 (5) pp. 340–349. doi web Bibtex

@article{BOMA09b,
	Author = {Joschka Boedecker and Oliver Obst and Norbert Michael Mayer and Minoru Asada},
	Date-Added = {2010-03-20 14:02:34 +0900},
	Date-Modified = {2010-03-20 14:02:34 +0900},
	Doi = {10.2976/1.3240502},
	Journal = {HFSP Journal},
	Keywords = {recurrent neural networks, intrinsic plasticity, reservoir computing, BoedeckerSelect},
	Month = Oct,
	Number = 5,
	Pages = {340--349},
	Title = {Initialization and Self-Organized Optimization of Recurrent Neural Network Connectivity},
	Url = {http://dx.doi.org/10.2976/1.3240502},
	Volume = 3,
	Year = 2009,
	Bdsk-Url-1 = {http://dx.doi.org/10.2976/1.3240502}}

Joschka Boedecker, Oliver Obst, Norbert Michael Mayer, Minoru Asada (apr 2009) Studies on Reservoir Initialization and Dynamics Shaping in Echo State Networks. In Proceedings of the 17th European Symposium On Artificial Neural Networks ({ESANN}'09). pp. 227–232. D-Side Publications. Evere, Belgium. web Bibtex

@inproceedings{BOMA09a,
	Address = {Evere, Belgium},
	Author = {Joschka Boedecker and Oliver Obst and Norbert Michael Mayer and Minoru Asada},
	Booktitle = {Proceedings of the 17th European Symposium On Artificial Neural Networks ({ESANN}'09)},
	Date-Added = {2010-03-20 14:14:56 +0900},
	Date-Modified = {2010-03-20 16:30:56 +0900},
	Editor = {Michel Verleysen},
	Month = apr,
	Pages = {227--232},
	Publisher = {D-Side Publications},
	Title = {Studies on Reservoir Initialization and Dynamics Shaping in Echo State Networks},
	Url = {http://www.dice.ucl.ac.be/Proceedings/esann/esannpdf/es2009-132.pdf},
	Year = 2009,
	Bdsk-Url-1 = {http://www.dice.ucl.ac.be/Proceedings/esann/esannpdf/es2009-132.pdf},
	keywords = {BoedeckerSelect}
}

Norbert Michael Mayer, Joschka Boedecker, Minoru Asada (2009) Robot motion description and real-time management with the Harmonic Motion Description Protocol. Robotics and Autonomous Systems 57 (8) pp. 870-876. web Bibtex

@article{MBA09,
	Author = {Norbert Michael Mayer and Joschka Boedecker and Minoru Asada},
	Date-Added = {2010-03-20 14:01:04 +0900},
	Date-Modified = {2010-03-20 14:01:39 +0900},
	Journal = {Robotics and Autonomous Systems},
	Number = {8},
	Pages = {870-876},
	Title = {Robot motion description and real-time management with the Harmonic Motion Description Protocol},
	Url = {http://dx.doi.org/10.1016/j.robot.2009.03.014},
	Volume = {57},
	Year = {2009},
	Bdsk-Url-1 = {http://dx.doi.org/10.1016/j.robot.2009.03.014},
	keywords = {BoedeckerSelect}
}

2008

Rodrigo da Silva Guerra, Joschka Boedecker, Norbert Michael Mayer, Shinzo Yanagimachi, Yasuji Hirosawa, Kazuhiko Yoshikawa, Masaaki Namekawa, Minoru Asada (2008) Introducing Physical Visualization Sub-League. In RoboCup 2007: Robot Soccer World Cup XI. pp. 496–503. Springer. Bibtex

@inproceedings{GBM+08,
	Author = {Rodrigo da Silva Guerra and Joschka Boedecker and Norbert Michael Mayer and Shinzo Yanagimachi and Yasuji Hirosawa and Kazuhiko Yoshikawa and Masaaki Namekawa and Minoru Asada},
	Booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
	Date-Modified = {2010-03-20 14:26:07 +0900},
	Editor = {Ubbo Visser and Fernando Ribeiro and Takeshi Ohashi and Frank Dellaert},
	Pages = {496--503},
	Publisher = {Springer},
	Series = {Lecture Notes in Computer Science},
	Title = {Introducing Physical Visualization Sub-League},
	Year = 2008}

Norbert Michael Mayer, Joschka Boedecker, Kazuhiro Masui, Masaki Ogino, Minoru Asada (2008) HMDP: A new protocol for motion pattern generation towards behavior abstraction. In RoboCup 2007: Robot Soccer World Cup XI. pp. 184-195. Springer. web Bibtex

@inproceedings{MBM+08,
	Author = {Norbert Michael Mayer and Joschka Boedecker and Kazuhiro Masui and Masaki Ogino and Minoru Asada},
	Booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
	Date-Modified = {2010-03-20 14:36:36 +0900},
	Editor = {Ubbo Visser and Fernando Ribeiro and Takeshi Ohashi and Frank Dellaert},
	Pages = {184-195},
	Publisher = {Springer},
	Series = {Lecture Notes in Computer Science},
	Title = {HMDP: A new protocol for motion pattern generation towards behavior abstraction},
	Url = {http://www.springerlink.com/content/r143876227277207/},
	Year = 2008,
	Bdsk-Url-1 = {http://www.springerlink.com/content/r143876227277207/}}

Joschka Boedecker, Minoru Asada (2008) SimSpark – Concepts and Application in the 3D Soccer Simulation League. In Workshop on The Universe of RoboCup Simulators at SIMPAR 2008. web Bibtex

@misc{BA08,
	Author = {Joschka Boedecker and Minoru Asada},
	Booktitle = {Workshop on The Universe of RoboCup Simulators at SIMPAR 2008},
	Date-Added = {2009-02-24 19:06:48 +0900},
	Date-Modified = {2013-06-28 19:32:58 +0000},
	Howpublished = {Online},
	Title = {SimSpark -- Concepts and Application in the 3D Soccer Simulation League},
	Url = {http://monicareggiani.net/simpar2008/RoboCupSimulators/SIMPAR_simspark.pdf},
	Year = {2008},
	Bdsk-Url-1 = {http://monicareggiani.net/simpar2008/RoboCupSimulators/SIMPAR_simspark.pdf}}

2007

Norbert Michael Mayer, Joschka Boedecker, Rodrigo da Silva Guerra, Minoru Asada (2007) 3D2Real: Simulation League Finals in Real Robots. In RoboCup 2006: Robot Soccer World Cup X. pp. 25-34. web Bibtex

@inproceedings{MBS+07,
	Author = {Norbert Michael Mayer and Joschka Boedecker and Rodrigo da Silva Guerra and Minoru Asada},
	Booktitle = {RoboCup 2006: Robot Soccer World Cup X},
	Date-Modified = {2010-03-20 14:33:49 +0900},
	Editor = {Gerhard Lakemeyer and Elizabeth Sklar and Domenico G. Sorrenti and Tomoichi Takahashi},
	Pages = {25-34},
	Series = {Lecture Notes in Computer Science},
	Title = {3D2Real: Simulation League Finals in Real Robots},
	Url = {http://www.springerlink.com/content/bw5515t617967rg3/},
	Year = 2007,
	Bdsk-Url-1 = {http://www.springerlink.com/content/bw5515t617967rg3/}}

Rodrigo da Silva Guerra, Joschka Boedecker, Minoru Asada (2007) Physical Visualization Sub-League: A New Platform for Research and Edutainment. pp. 15–20. Bibtex

@unpublished{GBA07,
	Author = {Rodrigo da Silva Guerra and Joschka Boedecker and Minoru Asada},
	Date-Added = {2009-02-24 18:32:47 +0900},
	Date-Modified = {2013-06-28 19:31:51 +0000},
	Note = {Proceedings of the 24th SIG-Challenge Workshop},
	Pages = {15--20},
	Title = {Physical Visualization Sub-League: A New Platform for Research and Edutainment},
	Year = {2007}}

Rodrigo da Silva Guerra, Joschka Boedecker, Shinzo Yanagimachi, Minoru Asada (2007) Introducing a New Minirobotics Platform for Research and Edutainment. In Proceedings of the 4th International Symposium on Autonomous Minirobots for Research and Edutainment. Bibtex

@inproceedings{GBY+07,
	Author = {Rodrigo da Silva Guerra and Joschka Boedecker and Shinzo Yanagimachi and Minoru Asada},
	Booktitle = {Proceedings of the 4th International Symposium on Autonomous Minirobots for Research and Edutainment},
	Date-Added = {2009-02-24 18:40:41 +0900},
	Date-Modified = {2010-03-20 15:25:59 +0900},
	Note = {Best Student Paper Award},
	Title = {Introducing a New Minirobotics Platform for Research and Edutainment},
	Year = {2007}}

Rodrigo da Silva Guerra, Joschka Boedecker, Norbert Michael Mayer, Shinzo Yanagimachi, Hiroshi Ishiguro, Minoru Asada (2007) A new minirobotics system for teaching and researching agent-based programming. In CATE '07: Proceedings of the 10th IASTED International Conference on Computers and Advanced Technology in Education. pp. 39–44. ACTA Press. Anaheim, CA, USA. Bibtex

@inproceedings{GBM+07,
	Address = {Anaheim, CA, USA},
	Author = {da Silva Guerra, Rodrigo and Boedecker, Joschka and Mayer, Norbert Michael and Yanagimachi, Shinzo and Ishiguro, Hiroshi and Asada, Minoru},
	Booktitle = {CATE '07: Proceedings of the 10th IASTED International Conference on Computers and Advanced Technology in Education},
	Date-Added = {2010-03-20 14:07:52 +0900},
	Date-Modified = {2010-03-20 14:08:13 +0900},
	Editor = {V. Uskov},
	Isbn = {978-0-88986-700-0},
	Location = {Beijing, China},
	Pages = {39--44},
	Publisher = {ACTA Press},
	Title = {A new minirobotics system for teaching and researching agent-based programming},
	Year = {2007}}

Michael Mayer, Joschka Boedecker, Minoru Asada (2007) On Standardization in the RoboCup Soccer Humanoids Leagues. web Bibtex

@misc{MBA07,
	Author = {Michael Mayer and Joschka Boedecker and Minoru Asada},
	Date-Added = {2010-03-20 14:53:27 +0900},
	Date-Modified = {2013-06-28 19:32:35 +0000},
	Howpublished = {Online},
	Note = {2nd Workshop on Humanoid Soccer Robots at HUMANOIDS 2007},
	Title = {On Standardization in the RoboCup Soccer Humanoids Leagues},
	Url = {http://www.humanoidsoccer.org/ws07/papers/HSR-2-105.pdf},
	Year = {2007},
	Bdsk-Url-1 = {http://www.humanoidsoccer.org/ws07/papers/HSR-2-105.pdf}}

2006

Minoru Asada, Norbert Michael Mayer, Joschka Boedecker, Masaki Ogino, Sawa Fuke (2006) The RoboCup Soccer Humanoid League: Overview and Outlook. web Bibtex

@misc{AMB+06,
	Author = {Minoru Asada and Norbert Michael Mayer and Joschka Boedecker and Masaki Ogino and Sawa Fuke},
	Date-Modified = {2013-06-28 19:33:54 +0000},
	Howpublished = {Online},
	Note = {1st Workshop on Humanoid Soccer Robots at HUMANOIDS 2006},
	Title = {The RoboCup Soccer Humanoid League: Overview and Outlook},
	Url = {http://www.dei.unipd.it/ emg/whs2006/papers/HSR-115.pdf},
	Year = 2006,
	Bdsk-Url-1 = {http://www.dei.unipd.it/ emg/whs2006/papers/HSR-115.pdf}}

Oliver Obst, Joschka Boedecker (2006) Flexible Coordination of Multiagent Team Behavior using HTN Planning. In RoboCup 2005: Robot Soccer World Cup IX. pp. 521-528. Springer. web Bibtex

@inproceedings{OB06,
	Author = {Oliver Obst and Joschka Boedecker},
	Booktitle = {RoboCup 2005: Robot Soccer World Cup IX},
	Date-Modified = {2010-03-20 14:35:11 +0900},
	Editor = {Itsuki Noda and Adam Jacoff and Ansgar Bredenfeld and Yasutake Takahashi},
	Pages = {521-528},
	Publisher = {Springer},
	Series = {Lecture Notes in Computer Science},
	Title = {Flexible Coordination of Multiagent Team Behavior using HTN Planning},
	Url = {http://www.springerlink.com/content/h40354278n447503/},
	Year = 2006,
	Bdsk-Url-1 = {http://www.springerlink.com/content/h40354278n447503/}}

Joschka Boedecker, Norbert Michael Mayer, Masaki Ogino, Rodrigo da Silva Guerra, Masaki Kikuchi, Minoru Asada (2006) Getting closer: How Simulation and Humanoid League can benefit from each other. In Proceedings of the 3rd International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2005). pp. 93-98. Springer. web Bibtex

@inproceedings{BMO+05b,
	Author = {Joschka Boedecker and Norbert Michael Mayer and Masaki Ogino and Rodrigo da Silva Guerra and Masaki Kikuchi and Minoru Asada},
	Booktitle = {Proceedings of the 3rd International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2005)},
	Date-Modified = {2010-03-20 16:30:42 +0900},
	Editor = {Kazuyuki Murase and Kosuke Sekiyama and Naoyuki Kubota and Tomohide Naniwa and Joaquin Sitte},
	Pages = {93-98},
	Publisher = {Springer},
	Title = {Getting closer: How Simulation and Humanoid League can benefit from each other},
	Url = {http://www.springerlink.com/content/pux8u46024226775/},
	Year = 2006,
	Bdsk-Url-1 = {http://www.springerlink.com/content/pux8u46024226775/}}

2005

Oliver Obst, Anita Maas, Joschka Boedecker (Jul 2005) HTN Planning for Flexible Coordination Of Multiagent Team Behavior. pp. 87–94. Edinburgh, Scotland. Bibtex

@unpublished{OMB05b,
	Address = {Edinburgh, Scotland},
	Author = {Oliver Obst and Anita Maas and Joschka Boedecker},
	Date-Modified = {2013-06-28 19:28:50 +0000},
	Editor = {Ubbo Visser and Gerhard Lakemeyer and George Vachtesevanos and Manuela Veloso},
	Month = {Jul},
	Note = {Proceedings of the IJCAI-05 Workshop on Agents in Real-Time and Dynamic Environments},
	Pages = {87--94},
	Title = {HTN Planning for Flexible Coordination Of Multiagent Team Behavior},
	Year = 2005}

Joschka Boedecker, Norbert Michael Mayer, Masaki Ogino, Rodrigo da Silva Guerra, Masaaki Kikuchi, Minoru Asada (2005) Getting closer: How Simulation and Humanoid League can benefit from each other. Universität Koblenz-Landau. Universität Koblenz-Landau, Institut für Informatik, Universitätsstr. 1, D-56070 Koblenz. web Bibtex

@techreport{BMO+05a,
	Address = {Universität Koblenz-Landau, Institut für Informatik, Universitätsstr. 1, D-56070 Koblenz},
	Author = {Joschka Boedecker and Norbert Michael Mayer and Masaki Ogino and Rodrigo da Silva Guerra and Masaaki Kikuchi and Minoru Asada},
	Date-Modified = {2010-03-20 16:30:37 +0900},
	Institution = {Universität Koblenz-Landau},
	Language = {English},
	Number = {5-2005},
	Title = {Getting closer: How Simulation and Humanoid League can benefit from each other},
	Type = {Fachberichte Informatik},
	Url = {http://www.uni-koblenz-landau.de/koblenz/fb4/publications/fachberichte/fb2005/b2hd-boedeckeretal52005},
	Year = 2005,
	Bdsk-Url-1 = {http://www.uni-koblenz-landau.de/koblenz/fb4/publications/fachberichte/fb2005/b2hd-boedeckeretal52005}}

Oliver Obst, Anita Maas, Joschka Boedecker (2005) HTN Planning for Flexible Coordination Of Multiagent Team Behavior. Universität Koblenz-Landau. Universität Koblenz-Landau, Institut für Informatik, Universitätsstr. 1, D-56070 Koblenz. web Bibtex

@techreport{OMB05a,
	Address = {Universität Koblenz-Landau, Institut für Informatik, Universitätsstr. 1, D-56070 Koblenz},
	Author = {Oliver Obst and Anita Maas and Joschka Boedecker},
	Date-Added = {2010-03-20 14:38:18 +0900},
	Date-Modified = {2010-03-20 14:39:01 +0900},
	Institution = {{Universität Koblenz-Landau}},
	Issn = {1860-4471},
	Language = {english},
	Number = {3--2005},
	Title = {{HTN Planning for Flexible Coordination Of Multiagent Team Behavior}},
	Type = {Fachberichte Informatik},
	Url = {http://www.uni-koblenz-landau.de/koblenz/fb4/publications/fachberichte/fb2005/b2hd-obstetal32005},
	Year = 2005,
	Bdsk-Url-1 = {http://www.uni-koblenz.de/fb4/publikationen/gelbereihe/RR-3-2005.pdf},
	Bdsk-Url-2 = {http://www.uni-koblenz-landau.de/koblenz/fb4/publications/fachberichte/fb2005/b2hd-obstetal32005}}