Article

Abi-Farraj, Firas ; Pacchierotti, Claudio ; Arenz, Oleg ; Neumann, Gerhard ; Robuffo Giordano, Paolo (2022)
A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping.
In: IEEE Transactions on Haptics, 13 (2)
doi: 10.26083/tuprints-00022928
Article, Secondary publication, Postprint

Arenz, Oleg ; Zhong, Mingjun ; Neumann, Gerhard (2022)
Trust-Region Variational Inference with Gaussian Mixture Models.
In: Journal of Machine Learning Research, 21
doi: 10.26083/tuprints-00022920
Article, Secondary publication, Publisher's Version

Belousov, Boris ; Peters, Jan (2019)
Entropic Regularization of Markov Decision Processes.
In: Entropy, (7)
Article, Secondary publication

Ewerton, Marco ; Arenz, Oleg ; Maeda, Guilherme ; Koert, Dorothea ; Kolev, Zlatko ; Takahashi, Masaki ; Peters, Jan (2019)
Learning Trajectory Distributions for Assisted Teleoperation and Path Planning.
In: Frontiers in Robotics and AI, 6
doi: 10.25534/tuprints-00009657
Article, Secondary publication

Ewerton, Marco ; Arenz, Oleg ; Peters, Jan (2022)
Assisted teleoperation in changing environments with a mixture of virtual guides.
In: Advanced Robotics, 34 (18)
doi: 10.26083/tuprints-00023003
Article, Secondary publication, Postprint

Gomez-Gonzalez, Sebastian ; Nemmour, Yassine ; Schölkopf, Bernhard ; Peters, Jan (2022)
Reliable Real-Time Ball Tracking for Robot Table Tennis.
In: Robotics, 8 (4)
doi: 10.26083/tuprints-00015740
Article, Secondary publication, Publisher's Version

Koert, Dorothea ; Kircher, Maximilian ; Salikutluk, Vildan ; D'Eramo, Carlo ; Peters, Jan (2021)
Multi-Channel Interactive Reinforcement Learning for Sequential Tasks.
In: Frontiers in Robotics and AI, 2020, 7
doi: 10.26083/tuprints-00019239
Article, Secondary publication, Publisher's Version

Koert, Dorothea ; Pajarinen, Joni ; Schotschneider, Albert ; Trick, Susanne ; Rothkopf, Constantin A. ; Peters, Jan (2022)
Learning Intention Aware Online Adaptation of Movement Primitives.
In: IEEE Robotics and Automation Letters, 4 (4)
doi: 10.26083/tuprints-00020543
Article, Secondary publication, Postprint

Lioutikov, Rudolf ; Neumann, Gerhard ; Maeda, Guilherme ; Peters, Jan (2022)
Learning movement primitive libraries through probabilistic segmentation.
In: The International Journal of Robotics Research, 36 (8)
doi: 10.26083/tuprints-00020539
Article, Secondary publication, Postprint

Moos, Janosch ; Hansel, Kay ; Abdulsamad, Hany ; Stark, Svenja ; Clever, Debora ; Peters, Jan (2022)
Robust Reinforcement Learning: A Review of Foundations and Recent Advances.
In: Machine Learning and Knowledge Extraction, 4 (1)
doi: 10.26083/tuprints-00021118
Article, Secondary publication, Publisher's Version

Muratore, Fabio ; Ramos, Fabio ; Turk, Greg ; Yu, Wenhao ; Gienger, Michael ; Peters, Jan (2022)
Robot Learning From Randomized Simulations: A Review.
In: Frontiers in Robotics and AI, 9
doi: 10.26083/tuprints-00021227
Article, Secondary publication, Publisher's Version

Pajarinen, Joni ; Arenz, Oleg ; Peters, Jan ; Neumann, Gerhard (2022)
Probabilistic Approach to Physical Object Disentangling.
In: IEEE Robotics and Automation Letters, 5 (4)
doi: 10.26083/tuprints-00022927
Article, Secondary publication, Postprint

Pajarinen, Joni ; Thai, Hong Linh ; Akrour, Riad ; Peters, Jan ; Neumann, Gerhard (2022)
Compatible natural gradient policy search.
In: Machine Learning, 108 (8-9)
doi: 10.26083/tuprints-00020531
Article, Secondary publication, Publisher's Version

Parisi, Simone ; Tateo, Davide ; Hensel, Maximilian ; D’Eramo, Carlo ; Peters, Jan ; Pajarinen, Joni (2022)
Long-Term Visitation Value for Deep Exploration in Sparse-Reward Reinforcement Learning.
In: Algorithms, 15 (3)
doi: 10.26083/tuprints-00021017
Article, Secondary publication, Publisher's Version

Rawal, Niyati ; Koert, Dorothea ; Turan, Cigdem ; Kersting, Kristian ; Peters, Jan ; Stock-Homburg, Ruth (2022)
ExGenNet: Learning to Generate Robotic Facial Expression Using Facial Expression Recognition.
In: Frontiers in Robotics and AI, 8
doi: 10.26083/tuprints-00020336
Article, Secondary publication, Publisher's Version

Scherf, Lisa ; Schmidt, Aljoscha ; Pal, Suman ; Koert, Dorothea (2023)
Interactively learning behavior trees from imperfect human demonstrations.
In: Frontiers in Robotics and AI, 10
doi: 10.26083/tuprints-00024370
Article, Secondary publication, Publisher's Version

Tanneberg, Daniel ; Peters, Jan ; Rueckert, Elmar (2022)
Intrinsic motivation and mental replay enable efficient online adaptation in stochastic recurrent networks.
In: Neural Networks, 109
doi: 10.26083/tuprints-00020537
Article, Secondary publication, Postprint

Tanneberg, Daniel ; Ploeger, Kai ; Rueckert, Elmar ; Peters, Jan (2022)
SKID RAW: Skill Discovery From Raw Trajectories.
In: IEEE Robotics and Automation Letters, 6 (3)
doi: 10.26083/tuprints-00020536
Article, Secondary publication, Postprint

Conference or Workshop Item

Akrour, Riad ; Pajarinen, Joni ; Peters, Jan ; Neumann, Gerhard (2022)
Projections for Approximate Policy Iteration Algorithms.
36th International Conference on Machine Learning. Long Beach, California, USA (09.-15.06.2019)
doi: 10.26083/tuprints-00020582
Conference or Workshop Item, Secondary publication, Publisher's Version

Arenz, Oleg ; Abdulsamad, Hany ; Neumann, Gerhard (2022)
Optimal Control and Inverse Optimal Control by Distribution Matching.
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Daejeon, Korea (09.-14.10.2016)
doi: 10.26083/tuprints-00022929
Conference or Workshop Item, Secondary publication, Postprint

Arenz, Oleg ; Neumann, Gerhard ; Zhong, Mingjun (2022)
Efficient Gradient-Free Variational Inference using Policy Search.
35th International Conference on Machine Learning (ICML 2018). Stockholm, Sweden (10.-15.07.2018)
doi: 10.26083/tuprints-00022925
Conference or Workshop Item, Secondary publication, Publisher's Version

Becker, Philipp ; Arenz, Oleg ; Neumann, Gerhard (2022)
Expected Information Maximization: Using the I-Projection for Mixture Density Estimation.
8. International Conference on Learning Representations (ICLR 2020). Virtual Conference (26.-30.04.2020)
doi: 10.26083/tuprints-00022969
Conference or Workshop Item, Secondary publication, Publisher's Version

Belousov, Boris ; Neumann, Gerhard ; Rothkopf, Constantin A. ; Peters, Jan (2022)
Catching heuristics are optimal control policies.
Advances in Neural Information Processing Systems 29 (NIPS 2016). Barcelona, Spain (05.-10.12.2016)
doi: 10.26083/tuprints-00020556
Conference or Workshop Item, Secondary publication, Publisher's Version

Belousov, Boris ; Sadybakasov, Alymbek ; Wibranek, Bastian ; Veiga, Filipe ; Tessmann, Oliver ; Peters, Jan (2022)
Building a Library of Tactile Skills Based on FingerVision.
19th International Conference on Humanoid Robots (Humanoids). Toronto, ON, Canada (15.-17.10.2019)
doi: 10.26083/tuprints-00020548
Conference or Workshop Item, Secondary publication, Postprint

Eilers, Christian ; Eschmann, Jonas ; Menzenbach, Robin ; Belousov, Boris ; Muratore, Fabio ; Peters, Jan (2022)
Underactuated Waypoint Trajectory Optimization for Light Painting Photography.
International Conference on Robotics and Automation (ICRA). Paris, France (31.05-31.08.2020)
doi: 10.26083/tuprints-00020549
Conference or Workshop Item, Secondary publication, Postprint

Koert, Dorothea ; Maeda, Guilherme ; Lioutikov, Rudolf ; Neumann, Gerhard ; Peters, Jan (2022)
Demonstration based trajectory optimization for generalizable robot motions.
International Conference on Humanoid Robots (Humanoids). Cancun, Mexico (15.-17.11.2016)
doi: 10.26083/tuprints-00020544
Conference or Workshop Item, Secondary publication, Postprint

Koert, Dorothea ; Maeda, Guilherme ; Neumann, Gerhard ; Peters, Jan (2022)
Learning Coupled Forward-Inverse Models with Combined Prediction Errors.
International Conference on Robotics and Automation (ICRA) 2018. Brisbane, QLD, Australia (21.-25.05.2018)
doi: 10.26083/tuprints-00020546
Conference or Workshop Item, Secondary publication, Postprint

Koert, Dorothea ; Trick, Susanne ; Ewerton, Marco ; Lutter, Michael ; Peters, Jan (2022)
Online Learning of an Open-Ended Skill Library for Collaborative Tasks.
International Conference on Humanoid Robots (Humanoids). Beijing, China (06.-09.11.2018)
doi: 10.26083/tuprints-00020545
Conference or Workshop Item, Secondary publication, Postprint

Laux, Melvin ; Arenz, Oleg ; Peters, Jan ; Pajarinen, Joni (2022)
Deep Adversarial Reinforcement Learning for Object Disentangling.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Las Vegas, USA (Virtual) (25.10.-29.10.2020)
doi: 10.26083/tuprints-00022926
Conference or Workshop Item, Secondary publication, Postprint

Nass, David ; Belousov, Boris ; Peters, Jan (2022)
Entropic Risk Measure in Policy Search.
International Conference on Intelligent Robots and Systems (IROS). Macau, China (03.-08.11.2019)
doi: 10.26083/tuprints-00020551
Conference or Workshop Item, Secondary publication, Postprint

Ploeger, Kai ; Lutter, Michael ; Peters, Jan (2022)
High Acceleration Reinforcement Learning for Real-World Juggling with Binary Rewards.
Conference on Robot Learning (CoRL) 2020. Cambridge MA, USA (16.-18.11.2020)
doi: 10.26083/tuprints-00020583
Conference or Workshop Item, Secondary publication, Publisher's Version

Schultheis, Matthias ; Belousov, Boris ; Abdulsamad, Hany ; Peters, Jan (2022)
Receding Horizon Curiosity.
3rd Conference on Robot Learning (CoRL 2019). Osaka, Japan (30.10.- 1.11.2019)
doi: 10.26083/tuprints-00020578
Conference or Workshop Item, Secondary publication, Publisher's Version

Tanneberg, Daniel ; Peters, Jan ; Rueckert, Elmar (2022)
Online Learning with Stochastic Recurrent Neural Networks using Intrinsic Motivation Signals.
CoRL2017 - Conference on Robot Learning 2017. Mountain View, California (13.-15.11.2017)
doi: 10.26083/tuprints-00020580
Conference or Workshop Item, Secondary publication, Publisher's Version

Trick, Susanne ; Koert, Dorothea ; Peters, Jan ; Rothkopf, Constantin A. (2022)
Multimodal Uncertainty Reduction for Intention Recognition in Human-Robot Interaction.
International Conference on Intelligent Robots and Systems (IROS). Macau, China (03.-08.11.2019)
doi: 10.26083/tuprints-00020552
Conference or Workshop Item, Secondary publication, Postprint

Ph.D. Thesis

Abdulsamad, Hany (2022)
Statistical Machine Learning for Modeling and Control of Stochastic Structured Systems.
Technische Universität Darmstadt
doi: 10.26083/tuprints-00022573
Ph.D. Thesis, Primary publication, Publisher's Version

Arenz, Julian Oleg (2021)
Sample-Efficient I-Projections for Robot Learning.
Technische Universität
doi: 10.12921/tuprints-00014271
Ph.D. Thesis, Primary publication, Publisher's Version

Becker-Ehmck, Philip (2022)
Latent State-Space Models for Control.
Technische Universität Darmstadt
doi: 10.26083/tuprints-00022489
Ph.D. Thesis, Primary publication, Publisher's Version

Belousov, Boris (2022)
On Optimal Behavior Under Uncertainty in Humans and Robots.
Technische Universität Darmstadt
doi: 10.26083/tuprints-00022561
Ph.D. Thesis, Primary publication, Publisher's Version

Büchler, Dieter (2019)
Robot Learning for Muscular Systems.
Technische Universität
doi: 10.25534/tuprints-00017210
Ph.D. Thesis, Primary publication, Publisher's Version

Calandra, Roberto (2017)
Bayesian Modeling for Optimization and Control in Robotics.
Technische Universität
Ph.D. Thesis, Primary publication

Cowen-Rivers, Alexander (2023)
Pushing The Limits of Sample-Efficient Optimisation.
Technische Universität Darmstadt
doi: 10.26083/tuprints-00024178
Ph.D. Thesis, Primary publication, Publisher's Version

Dam, Tuan (2023)
Sample Efficient Monte Carlo Tree Search for Robotics.
Technische Universität Darmstadt
doi: 10.26083/tuprints-00022931
Ph.D. Thesis, Primary publication, Publisher's Version

Daniel, Christian (2016)
Learning Hierarchical Policies from Human Feedback.
Technische Universität Darmstadt
Ph.D. Thesis, Primary publication

Delfa Victoria, Juan Manuel (2016)
Automated Hierarchical, Forward-Chaining Temporal Planner for Planetary Robots Exploring Unknown Environments.
Technische Universität Darmstadt
Ph.D. Thesis, Primary publication

Dezfuli, Niloofar (2015)
Novel Interaction Concepts for Event Participation Through Social Television.
Technische Universität
Ph.D. Thesis, Primary publication

Fernandes Veiga, Filipe (2018)
Towards Dexterous In-Hand Manipulation through Tactile Sensing.
Technische Universität
Ph.D. Thesis, Primary publication

Gebhardt, Gregor H.W. (2019)
Using Mean Embeddings for State Estimation and Reinforcement Learning.
Technische Universität
Ph.D. Thesis, Primary publication

Gomez Gonzalez, Sebastian (2020)
Real Time Probabilistic Models for Robot Trajectories.
Technische Universität Darmstadt
doi: 10.25534/tuprints-00011492
Ph.D. Thesis, Primary publication

Kober, Jens (2012)
Learning Motor Skills: From Algorithms to Robot Experiments.
Technische Universität
Ph.D. Thesis, Primary publication

Koc, Okan (2018)
Optimal Trajectory Generation and Learning Control for Robot Table Tennis.
Technische Universität
Ph.D. Thesis, Primary publication

Koert, Dorothea (2020)
Interactive Machine Learning for Assistive Robots.
Technische Universität
doi: 10.25534/tuprints-00014184
Ph.D. Thesis, Primary publication, Publisher's Version

Lampariello, Roberto (2021)
Optimal Motion Planning for Object Interception and Capture.
Technische Universität
doi: 10.26083/tuprints-00017617
Ph.D. Thesis, Primary publication, Publisher's Version

Lioutikov, Rudolf (2018)
Parsing Motion and Composing Behavior for Semi-Autonomous Manipulation.
Technische Universität
Ph.D. Thesis, Primary publication

Lutter, Michael (2021)
Inductive Biases in Machine Learning for Robotics and Control.
Technische Universität
doi: 10.26083/tuprints-00020048
Ph.D. Thesis, Primary publication, Publisher's Version

Löckel, Stefan Alexander (2022)
Machine Learning for Modeling and Analyzing of Race Car Drivers.
Technische Universität
doi: 10.26083/tuprints-00020218
Ph.D. Thesis, Primary publication, Publisher's Version

Manschitz, Simon (2018)
Learning Sequential Skills for Robot Manipulation Tasks.
Technische Universität
Ph.D. Thesis, Primary publication

Muelling, Katharina (2013)
Modeling and Learning of Complex Motor Tasks: A Case Study with Robot Table Tennis.
Technische Universität
Ph.D. Thesis, Primary publication

Muratore, Fabio (2021)
Randomizing Physics Simulations for Robot Learning.
Technische Universität
doi: 10.26083/tuprints-00019940
Ph.D. Thesis, Primary publication, Publisher's Version

Paraschos, Alexandros (2017)
Robot Skill Representation, Learning and Control with Probabilistic Movement Primitives.
Technische Universität
Ph.D. Thesis, Primary publication

Parisi, Simone (2020)
Reinforcement Learning with Sparse and Multiple Rewards.
Technische Universität
doi: 10.25534/tuprints-00011372
Ph.D. Thesis, Primary publication

Sousa Ewerton, Marco Antonio (2020)
Bidirectional Human-Robot Learning: Imitation and Skill Improvement.
Technische Universität
doi: 10.25534/tuprints-00011875
Ph.D. Thesis, Primary publication

Tanneberg, Daniel (2020)
Understand-Compute-Adapt: Neural Networks for Intelligent Agents.
Technische Universität Darmstadt
doi: 10.25534/tuprints-00017234
Ph.D. Thesis, Primary publication, Publisher's Version

Tosatto, Samuele (2021)
Off-Policy Reinforcement Learning for Robotics.
Technische Universität
doi: 10.26083/tuprints-00017536
Ph.D. Thesis, Primary publication, Publisher's Version

Vinogradska, Julia (2018)
Gaussian Processes in Reinforcement Learning: Stability Analysis and Efficient Value Propagation.
Technische Universität
Ph.D. Thesis, Primary publication

Wang, Zhikun (2013)
Intention Inference and Decision Making with Hierarchical Gaussian Process Dynamics Models.
Technische Universität
Ph.D. Thesis, Primary publication

van Hoof, Herke (2016)
Machine Learning through Exploration for Perception-Driven Robotics.
Technische Universität Darmstadt
Ph.D. Thesis, Primary publication

Master Thesis

Merfels, Christian (2014)
Large-scale probabilistic feature mapping and tracking for autonomous driving.
Technische Universität
Master Thesis, Primary publication

Bachelor Thesis

Luck, Kevin Sebastian (2014)
Latent Space Reinforcement Learning.
Technische Universität
Bachelor Thesis, Primary publication