Jan Peters
収録論文 203本 ・ フィジカルAI/ロボット学習
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning2026/8/1
- Rapid Embodiment Adaptation for Quadrupedal Locomotion2026/8/1
- More Structure, Not More Capacity: Object-Centric Representations for Visuomotor Imitation Learning2026/7/1
- Catch, Throw, Repeat: Planning for Human-Robot Partner Juggling2026/7/1
- Directional Constraints for Efficient Exploration in Safe Reinforcement Learning2026/7/1
- Task-Error Residual Learning for Real-Robot Five-Ball Juggling2026/6/1
- Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking2026/6/1
- Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation2026/6/1
- Robots Need More than VLA and World Models2026/6/1
- Shape Your Body: Value Gradients for Multi-Embodiment Robot Design2026/6/1
- Scalable Multi-Task Data Generation via Reinforcement Learning for Language-Conditioned Bimanual Dexterous Manipulation2026/6/1
- Finetuning Vision-Language-Action Models Requires Fewer Layers Than You Think2026/6/1
- Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation2026/6/1
- Evaluation of an Actuated Spine in Agile Quadruped Locomotion2026/5/1
- Trust Region Inverse Reinforcement Learning: Explicit Dual Ascent using Local Policy Updates2026/5/1
- Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data2026/5/1
- AssistDLO: Assistive Teleoperation for Deformable Linear Object Manipulation2026/5/1
- Active Embodiment Identification with Reinforcement Learning for Legged Robots2026/5/1
- FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control2026/4/1
- RopeDreamer: A Kinematic Recurrent State Space Model for Dynamics of Flexible Deformable Linear Objects2026/4/1
- Task-Aware Bimanual Affordance Prediction via VLM-Guided Semantic-Geometric Reasoning2026/4/1
- Behavior-Constrained Reinforcement Learning with Receding-Horizon Credit Assignment for High-Performance Control2026/4/1
- Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments2026/4/1
- GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins2026/3/1
- A Safety-Aware Shared Autonomy Framework with BarrierIK Using Control Barrier Functions2026/3/1
- Neuromorphic BrailleNet: Accurate and Generalizable Braille Reading Beyond Single Characters through Event-Based Optical Tactile Sensing2026/1/1
- CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation2026/1/1
- An Anatomy of Vision-Language-Action Models: From Modules to Milestones and Challenges2025/12/1
- SE(3)-PoseFlow: Estimating 6D Pose Distributions for Uncertainty-Aware Robotic Manipulation2025/11/1
- Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation2025/10/1
- Floating-Base Deep Lagrangian Networks2025/10/1
- Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations2025/10/1
- Discrete Variational Autoencoding via Policy Search2025/9/1
- Embodied Arena: A Comprehensive, Unified, and Evolving Evaluation Platform for Embodied AI2025/9/1
- Investigating the Effect of LED Signals and Emotional Displays in Human-Robot Shared Workspaces2025/9/1
- Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization2025/9/1
- The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation2025/9/1
- Bayesian Inverse Physics for Neuro-Symbolic Robot Learning2025/6/1
- Ark: An Open-source Python-based Framework for Robot Learning2025/6/1
- Context-Aware Deep Lagrangian Networks for Model Predictive Control2025/6/1
- In-Hand Object Pose Estimation via Visual-Tactile Fusion2025/6/1
- DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion2025/6/1
- Tactile MNIST: Benchmarking Active Tactile Perception2025/6/1
- Towards Embodiment Scaling Laws in Robot Locomotion2025/5/1
- Apple: Toward General Active Perception via Reinforcement Learning2025/5/1
- Learning Hierarchical Domain Models Through Environment-Grounded Interaction2025/5/1
- Towards Safe Robot Foundation Models Using Inductive Biases2025/5/1
- Robust Localization, Mapping, and Navigation for Quadruped Robots2025/5/1
- Investigating Active Sampling for Hardness Classification with Vision-Based Tactile Sensors2025/5/1
- Model Tensor Planning2025/5/1
- TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion2025/5/1
- Constrained Gaussian Process Motion Planning via Stein Variational Newton Inference2025/4/1
- On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting2025/4/1
- FlowMP: Learning Motion Fields for Robot Planning with Conditional Flow Matching2025/3/1
- Neuro-Symbolic Imitation Learning: Discovering Symbolic Abstractions for Skill Learning2025/3/1
- Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion2025/3/1
- Towards Safe Robot Foundation Models2025/3/1
- Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition2025/3/1
- Redistributing Rewards Across Time and Agents for Multi-Agent Reinforcement Learning2025/2/1
- Noise-conditioned Energy-based Annealed Rewards (NEAR): A Generative Framework for Imitation Learning from Observation2025/1/1
- Fast and Robust Visuomotor Riemannian Flow Matching Policy2024/12/1
- Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR32024/12/1
- TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators2024/11/1
- Global Tensor Motion Planning2024/11/1
- Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis2024/11/1
- A Retrospective on the Robot Air Hockey Challenge: Benchmarking Robust, Reliable, and Safe Learning Techniques for Real-world Robotics2024/11/1
- The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control2024/11/1
- Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks2024/10/1
- Beyond the Cascade: Juggling Vanilla Siteswap Patterns2024/10/1
- Unsupervised Skill Discovery for Robotic Manipulation through Automatic Task Generation2024/10/1
- Velocity-History-Based Soft Actor-Critic Tackling IROS'24 Competition "AI Olympics with RealAIGym"2024/10/1
- Handling Long-Term Safety and Uncertainty in Safe Reinforcement Learning2024/9/1
- QueryCAD: Grounded Question Answering for CAD Models2024/9/1
- One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion2024/9/1
- Adaptive Control based Friction Estimation for Tracking Control of Robot Manipulators2024/9/1
- Safe and Efficient Path Planning under Uncertainty via Deep Collision Probability Fields2024/9/1
- ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching2024/9/1
- Bridging the gap between Learning-to-plan, Motion Primitives and Safe Reinforcement Learning2024/8/1
- Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrations2024/8/1
- MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench2024/8/1
- A Comparison of Imitation Learning Algorithms for Bimanual Manipulation2024/8/1
- MoVEInt: Mixture of Variational Experts for Learning Human-Robot Interactions from Demonstrations2024/7/1
- Exciting Action: Investigating Efficient Exploration for Learning Musculoskeletal Humanoid Locomotion2024/7/1
- PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations2024/7/1
- Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey2024/7/1
- ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning2024/6/1
- Learning Tactile Insertion in the Real World2024/5/1
- Integrating and Evaluating Visuo-tactile Sensing with Haptic Feedback for Teleoperated Robot Manipulation2024/4/1
- Clustering of Motion Trajectories by a Distance Measure Based on Semantic Features2024/4/1
- Safe Reinforcement Learning on the Constraint Manifold: Theory and Applications2024/4/1
- What Matters for Active Texture Recognition With Vision-Based Tactile Sensors2024/3/1
- Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers2024/2/1
- Transition State Clustering for Interaction Segmentation and Learning2024/2/1
- Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation2023/12/1
- LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for Locomotion2023/11/1
- Learning Multimodal Latent Dynamics for Human-Robot Interaction2023/11/1
- Towards Transferring Tactile-based Continuous Force Control Policies from Simulation to Robot2023/11/1
- Domain Randomization via Entropy Maximization2023/11/1
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models2023/10/1
- Accelerating Motion Planning via Optimal Transport2023/9/1
- Tracking Control for a Spherical Pendulum via Curriculum Reinforcement Learning2023/9/1
- Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models2023/8/1
- LS-IQ: Implicit Reward Regularization for Inverse Reinforcement Learning2023/3/1
- Model Predictive Control with Gaussian-Process-Supported Dynamical Constraints for Autonomous Vehicles2023/3/1
- A Human-Centered Safe Robot Reinforcement Learning Framework with Interactive Behaviors2023/2/1
- Fast Kinodynamic Planning on the Constraint Manifold with Deep Neural Networks2023/1/1
- Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators2023/1/1
- Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation2022/12/1
- Hierarchical Policy Blending As Optimal Transport2022/12/1
- How Crucial is Transformer in Decision Transformer?2022/11/1
- Variational Hierarchical Mixtures for Probabilistic Learning of Inverse Dynamics2022/11/1
- Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing2022/10/1
- Hierarchical Policy Blending as Inference for Reactive Robot Control2022/10/1
- MILD: Multimodal Interactive Latent Dynamics for Learning Human-Robot Interaction2022/10/1
- Active Exploration for Robotic Manipulation2022/10/1
- Inferring Smooth Control: Monte Carlo Posterior Policy Iteration with Gaussian Processes2022/10/1
- SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion2022/9/1
- Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interaction2022/9/1
- Self-supervised Sequential Information Bottleneck for Robust Exploration in Deep Reinforcement Learning2022/9/1
- Controlling the Cascade: Kinematic Planning for N-ball Toss Juggling2022/7/1
- Active Inference for Robotic Manipulation2022/6/1
- Learning Implicit Priors for Motion Optimization2022/4/1
- Residual Robot Learning for Object-Centric Probabilistic Movement Primitives2022/3/1
- Robot Learning of Mobile Manipulation with Reachability Behavior Priors2022/3/1
- Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery2022/3/1
- Regularized Deep Signed Distance Fields for Reactive Motion Generation2022/3/1
- An Adaptive Human Driver Model for Realistic Race Car Simulations2022/3/1
- Accelerating Integrated Task and Motion Planning with Neural Feasibility Checking2022/3/1
- A Hierarchical Approach to Active Pose Estimation2022/3/1
- Learning Geometric Constraints in Task and Motion Planning2022/1/1
- Distilled Domain Randomization2021/12/1
- Robot Learning from Randomized Simulations: A Review2021/11/1
- Learning Stable Vector Fields on Lie Groups2021/10/1
- Combining Physics and Deep Learning to learn Continuous-Time Dynamics Models2021/10/1
- Continuous-Time Fitted Value Iteration for Robust Policies2021/10/1
- A Differentiable Newton-Euler Algorithm for Real-World Robotics2021/10/1
- Real Robot Challenge: A Robotics Competition in the Cloud2021/9/1
- Efficient and Reactive Planning for High Speed Robot Air Hockey2021/7/1
- Robust Value Iteration for Continuous Control Tasks2021/5/1
- Efficient Stochastic Optimal Control through Approximate Bayesian Input Inference2021/5/1
- Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation2021/5/1
- Value Iteration in Continuous Actions, States and Time2021/5/1
- Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning2021/5/1
- Learning Human-like Hand Reaching for Human-Robot Handshaking2021/3/1
- Advancing Trajectory Optimization with Approximate Inference: Exploration, Covariance Control and Adaptive Risk2021/3/1
- Extended Tree Search for Robot Task and Motion Planning2021/3/1
- SKID RAW: Skill Discovery from Raw Trajectories2021/3/1
- Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning2021/3/1
- Distributionally Robust Trajectory Optimization Under Uncertain Dynamics via Relative Entropy Trust-Regions2021/3/1
- Human-Robot Handshaking: A Review2021/2/1
- Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop2020/12/1
- Structured Policy Representation: Imposing Stability in arbitrarily conditioned dynamic systems2020/12/1
- Differentiable Physics Models for Real-world Offline Model-based Reinforcement Learning2020/11/1
- A Variational Infinite Mixture for Probabilistic Inverse Dynamics Learning2020/11/1
- High Acceleration Reinforcement Learning for Real-World Juggling with Binary Rewards2020/10/1
- Contextual Latent-Movements Off-Policy Optimization for Robotic Manipulation Skills2020/10/1
- A Differentiable Newton Euler Algorithm for Multi-body Model Learning2020/10/1
- ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows2020/10/1
- Advances in Human-Robot Handshaking2020/8/1
- Assisted Teleoperation in Changing Environments with a Mixture of Virtual Guides2020/8/1
- Model-Based Quality-Diversity Search for Efficient Robot Learning2020/8/1
- Multi-Sensor Next-Best-View Planning as Matroid-Constrained Submodular Maximization2020/7/1
- Learning to Play Table Tennis From Scratch using Muscular Robots2020/6/1
- Orientation Attentive Robotic Grasp Synthesis with Augmented Grasp Map Representation2020/6/1
- Underactuated Waypoint Trajectory Optimization for Light Painting Photography2020/3/1
- Deep Adversarial Reinforcement Learning for Object Disentangling2020/3/1
- Learning to Fly via Deep Model-Based Reinforcement Learning2020/3/1
- Dimensionality Reduction of Movement Primitives in Parameter Space2020/3/1
- Metric-Based Imitation Learning Between Two Dissimilar Anthropomorphic Robotic Arms2020/3/1
- Probabilistic approach to physical object disentangling2020/2/1
- A Probabilistic Framework for Imitating Human Race Driver Behavior2020/1/1
- Evaluation of the Handshake Turing Test for anthropomorphic Robots2020/1/1
- Stochastic Optimal Control as Approximate Input Inference2019/10/1
- Receding Horizon Curiosity2019/10/1
- Building a Library of Tactile Skills Based on FingerVision2019/9/1
- HJB Optimal Feedback Control with Deep Differential Value Functions and Action Constraints2019/9/1
- Reliable Real Time Ball Tracking for Robot Table Tennis2019/8/1
- Experience Reuse with Probabilistic Movement Primitives2019/8/1
- Multimodal Uncertainty Reduction for Intention Recognition in Human-Robot Interaction2019/7/1
- Assessing Transferability from Simulation to Reality for Reinforcement Learning2019/7/1
- Deep Lagrangian Networks for end-to-end learning of energy-based control for under-actuated systems2019/7/1
- Deep Lagrangian Networks: Using Physics as Model Prior for Deep Learning2019/7/1
- Local Online Motor Babbling: Learning Motor Abundance of A Musculoskeletal Robot Arm2019/6/1
- Generalized Multiple Correlation Coefficient as a Similarity Measurements between Trajectories2019/6/1
- Entropic Risk Measure in Policy Search2019/6/1
- Learning walk and trot from the same objective using different types of exploration2019/4/1
- Learning to Control Highly Accelerated Ballistic Movements on Muscular Robots2019/4/1
- PIPPS: Flexible Model-Based Policy Search Robust to the Curse of Chaos2019/2/1
- An Algorithmic Perspective on Imitation Learning2018/11/1
- Learning to serve: an experimental study for a new learning from demonstrations framework2018/10/1
- Adaptation and Robust Learning of Probabilistic Movement Primitives2018/8/1
- Optimizing Execution of Dynamic Goal-Directed Robot Movements with Learning Control2018/7/1
- Probabilistic Trajectory Segmentation by Means of Hierarchical Dirichlet Process Switching Linear Dynamical Systems2018/6/1
- In-Hand Object Stabilization by Independent Finger Control2018/6/1
- Inverse Reinforcement Learning via Nonparametric Spatio-Temporal Subgoal Modeling2018/3/1
- Intrinsic Motivation and Mental Replay enable Efficient Online Adaptation in Stochastic Recurrent Networks2018/2/1
- Hybrid control trajectory optimization under uncertainty2017/2/1
- Can Modular Finger Control for In-Hand Object Stabilization be accomplished by Independent Tactile Feedback Control Laws?2016/12/1
- Model-Free Trajectory-based Policy Optimization with Monotonic Improvement2016/6/1
- Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations2015/10/1
- Towards engagement models that consider individual factors in HRI: on the relation of extroversion and negative attitude towards robots to gaze and speech during a human-robot assembly task2015/8/1
- Multi-Task Policy Search2013/7/1
- Learning Prioritized Control of Motor Primitives2012/9/1