- Funk, N.; Urain, J.; Carvalho, J.; Prasad, V.; Chalvatzaki, G.; Peters, J. (submitted). ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching.
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- Hendawy, A.; Metternich, H.; Vincent, T.; Kallel, M.; Peters, J.; D'Eramo, C. (2026). Use the Online Network If You Can: Towards Fast and Stable Reinforcement Learning, International Conference on Learning Representations (ICLR).
- Helmut, E.; Funk, N.; Schneider, T.; de Farias, C.; Peters, J. (2026). FARM: Force-Aware Robotic Manipulation with Tactile-Conditioned Diffusion Policies, German Robotics Conference (GRC).
- Bohlinger, N.; Peters, J. (2026). Unified Legged Locomotion: A Single Policy for Millions of Morphologies, German Robotics Conference (GRC).
- Holzmann, P.; Pfefferkorn, M.; Carvalho, J.; Younes, A.; Le, A.; Chalvatzaki, G; Peters, J.; Findeisen, R. (2026). Robot Path Planning via Flow Matching with Safety and Adaptivity through Predictive Control, German Robotics Conference (GRC).
- Kienle, C.; Alt, B.; Arenz, O.; Peters, J. (2026). Learning Hierarchical Domain Models through Environment Interaction, German Robotics Conference (GRC).
- Bohlinger, N.; Peters, J. (2026). Active Embodiment Identification with Reinforcement Learning for Legged Robots, ICRA 2026 Workshop on Act to Sense to Act Better.
- Funk, N.; Chen, C.; Schneider, T.; Chalvatzaki, G.; Calandra, R.; Peters, J. (2025). On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting, ICRA 2025 Workshop on “Towards Human Level Intelligence Vision and Tactile Sensing”.
- Bohlinger, N.; Peters, J. (2025). Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization, IROS 2025 Workshop on Foundation Models for Robotic Design.
- Bohlinger, N.; Peters, J. (2025). Massively Scaling Explicit Policy-conditioned Value Functions, Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM).
- Bohlinger, N.; Czechmanowski, G.; Krupka, M.; Kicki, P.; Walas, K.; Peters, J.; Tateo, D. (2025). Morphology-Aware Legged Locomotion with Reinforcement Learning, German Robotics Conference (GRC).
- Carvalho, J.; Le, A.; Jahr, P. ; Sun, Q. ; Urain, J.; Koert, D.; Peters, J. (2025). Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)×R3, German Robotics Conference (GRC).
- Chen, J.; Kshirsagar, A.; Heller, F.; Gomez Andreu, M.; Belousov, B.; Schneider, T.; Lin, L. P. Y.; Doerschner, K.; Drewing, K.; Peters, J. (2025). Active Sampling for Hardness Classification with Vision-Based Tactile Sensors, German Robotics Conference (GRC).
- Nonnengiesser, F.; Kshirsagar, A.; Belousov, B.; Peters, J. (2025). Visuotactile In-Hand Pose Estimation, German Robotics Conference (GRC).
- Nguyen, D.H.; Schneider, T.; Duret, G.; Kshirsagar, A.; Belousov, B.; Peters, J. (2025). TacEx: GelSight Tactile Simulation in Isaac Sim – Combining Soft-Body and Visuotactile Simulators, German Robotics Conference (GRC).
- Pompetzki, K.; Le, A. T.; Gruner, T.; Watson, J.; Chalvatzaki, G.; Peters, J. (2025). Geometrically-Aware Goal Inference: Leveraging Motion Planning as Inference, German Robotics Conference (GRC).
- Celik, O.; Li, Z.; Blessing, D.; Li, G.; Palenicek, D.; Peters, J.; Chalvatzaki, G.; Neumann, G. (2025). Diffusion-Based Maximum Entropy Reinforcement Learning, 7th Robot Learning Workshop: Towards Robots with Human-Level Abilities.
- Scherer, C. F.; Tölle, M.; Gruner, T.; Palenicek, D.; Schneider, T.; Schramowski, P.; Belousov, B.; Peters, J. (2025). AllmAN: A German Vision-Language-Action Model, German Robotics Conference (GRC).
- Toelle, M.; Gruner, T.; Palenicek, D.; Guenster, J.; Liu, P.; Watson, J.; Tateo, D.; Peters, J. (2025). Towards Safe Robot Foundation Models, German Robotics Conference (GRC).
- Schneider, T.; de Farias, C.; Calandra, R.; Chen L.; Peters, J. (2025). Active Perception for Tactile Sensing: A Task-Agnostic Attention-Based Approach, German Robotics Conference (GRC).
- Le, A.T.; Pompetzki, K.; Peters, J.; Biess, A. (2025). Kinematics Correspondence As Inexact Graph Matching, German Robotics Conference (GRC).
- Guler, B.; Pompetzki, K.; Manschitz, S.; Peters, J. (2025). Towards Assistive Teleoperation for Knot Untangling, German Robotics Conference (GRC).
- Bohlinger, N.; Czechmanowski, G.; Krupka, M.; Kicki, P.; Walas, K.; Peters, J.; Tateo, D. (2025). Learning Robot Locomotion for Multiple Embodiments, The 12th International Symposium on Adaptive Motion of Animals and Machines and 2nd LokoAssist Symposium (AMAM).
- Le, A. T.; Nguyen, K.; Vu, M.N.; Carvalho, J.; Peters, J. (2025). Model Tensor Planning, ICRA @ RoboARCH: Robotics Acceleration with Computing Hardware and Systems.
- Le, A.T.; Pompetzki, K.; Peters, J.; Biess, A. (2025). Kinematics Correspondence As Inexact Graph Matching, Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM).
- Moeller, C.; Funk, N.; Peters, J. (2025). Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models, 3rd Workshop on Generative Models for Computer Vision at CVPR 2025.
- Bohlinger, N.; Ai, B.; Dai, L.; Li, D.; Mu, T.; Wu, Z.; Fay, K.; Christensen, H.I.; Peters, J.; Su, H. (2025). Towards Embodiment Scaling Laws in Robot Locomotion, RSS 2025 Workshop on Robot Hardware-Aware Intelligence.
- Vincent, T.; Tripathi, Y.; Faust, T.; Oren, Y.; Peters, J.; D'Eramo, C. (2025). Bridging the Performance Gap Between Target-Free and Target-Based Reinforcement Learning With Iterated Q-Learning, Finding The Frame Workshop @RLC.
- Delfosse, Q.; Blüml, J.; Tatai, F.; Vincent, T.; Gregori, B.; Dillies, E.; Peters, J.; Rothkopf, C.; Kersting, K. (2025). Deep Reinforcement Learning Agents are not even close to Human Intelligence, Inductive Bias Workshop @RLC.
- Bohlinger, N.; Peters, J. (2025). Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization, Humanoids 2025 Workshop on Sim-to-Real Transfer for Humanoid Robots.
- Bohlinger, N.; Peters, J. (2025). Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization, IROS 2025 Workshop on Challenges and Application Prospects for Reconfigurable Modular Robots.
- Bohlinger, N.; Kicki, P.; Tateo, D.; Walas, K.; Peters, J. (2025). Evaluation of an Actuated Spine in Agile Quadruped Locomotion, IROS 2025 Workshop on Climbing Robotics.
- Hendawy, A.; Metternich, H.; Peters, J.; Tiboni, G.; D'Eramo, C. (2025). It is All Connected: Multi-Task Reinforcement Learning via Mode Connectivity, European Workshop on Reinforcement Learning (EWRL).
- Kienle, C.; Alt, B.; Arenz, O.; Peters, J. (2025). HiTAMP: A Hierarchical LLM-Modulo Planner for Feasible Long-Horizon Task and Motion Planning, ICRA 2025 Workshop on Language and Semantics of Task and Motion Planning.
- Heller, F.; Kshirsagar, A.; Schneider, T.; Duret, G.; Peters, J. (2025). Inductive Biases for Predicting Deformation and Stress in Deformable Object Grasps with Graph Neural Networks, IROS 2025 Workshop on Robotic Manipulation of Deformable Objects.
- Brown, A.; Varadharajan, V.; Bohlinger, N.; Daneshmand, E.; Guerrier, M.; McLean, R.; Przystupa, M.; Aslan, O.; Kuramshin, A.; Gauthier, C.; Saavedra-Ruiz, M.; Paull, L.; Peters, J.; Beltrame, G.; Berseth, G. (2025). Survey on Physics Engines, Simulation Frameworks, and Benchmarks for Robot Learning.
- Funk, N.; Helmut, E.; Chalvatzaki, G.; Calandra, R.; Peters, J. (2024). Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation, IEEE Transactions on Robotics (T-RO), 40, pp.3812-3832.
- Al-Hafez, F.; Zhao, G.; Peters, J.; Tateo, D. (2024). Time-Efficient Reinforcement Learning with Stochastic Stateful Policies, International Conference on Learning Representations (ICLR).
- Drolet, M.; Stepputtis, S.; Kailas, S.; Jain, A.; Schaal, S.; Peters, J.; Ben Amor, H. (2024). A Comparison of Imitation Learning Algorithms for Bimanual Manipulation, IEEE Robotics and Automation Letters (RA-L).
- Funk, N.; Urain, J.; Carvalho, J.; Prasad, V.; Chalvatzaki, G.; Peters, J. (2024). ActionFlow: Efficient, Accurate, and Fast Policies with Spatially Symmetric Flow Matching, R:SS workshop: Structural Priors as Inductive Biases for Learning Robot Dynamics.
- Lach, L.; Funk, N.; Haschke, R.; Lemaignan, S.; Ritter, H.; Peters, J.; Chalvatzaki, G. (2023). Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Watson, J.; Hanher, B.; Peters, J. (2022). Differentiable Simulators as Gaussian Processes, R:SS Workshop: Differentiable Simulation for Robotics.
- Watson, J.; Peters, J.; (2022). Stationary Posterior Policy Iteration with Variational Inference, The Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM).
- Liu, P.; Zhang, K.; Tateo, D.; Jauhri, S.; Peters, J.; Chalvatzaki, G. (2022). ReDSDF: Regularized Deep Signed Distance Fields for Robotics, ICRA 2022 workshop on Motion Planning with Implicit Neural Representations of Geometry.
- Pal, S.; Chakraborty, K.; Aditya, D.; Datta, A.; Peters, J. (2021). Steuerung von Industriemaschinen mittels Verfolgung von Bewegungen Ihrer Bediener, Patent EP000004141592A1.
- Flynn, H.; Peters, J.; Kandemir, M. (2021). Verfahren und Vorrichtung fuer bestaerkendes Lernen, Patent DE102021212277A1.
- Watson, J.; Peters, J. (2021). Advancing Trajectory Optimization with Approximate Inference: Exploration, Covariance Control and Adaptive Risk, American Control Conference (ACC).
- Abdulsamad, H.; Dorau, T.; Belousov, B.; Zhu, J.-J; Peters, J. (2021). Distributionally Robust Trajectory Optimization Under Uncertain Dynamics via Relative Entropy Trust-Regions, arXiv.
- D`Eramo, C.; Cini, A.; Nuara, A.; Pirotta, M.; Alippi, C.; Peters, J.; Restelli, M. (2021). Gaussian Approximation for Bias Reduction in Q-Learning, Journal of Machine Learning Research (JMLR).
- Abdulsamad, H.; Peters, J. (2021). Model-Based Reinforcement Learning for Stochastic Hybrid Systems, arXiv.
- Flynn, H.; Kandemir, M.; Peters, J.; Reeb, D. (2021). Vorrichtung, Computerprogramm und computerimplementiertes Verfahren zum Maschinenlernen, Patent DE102021207868A1.
- Tosatto, S.; Stadtmueller, J.; Peters, J. (2020). Dimensionality Reduction of Movement Primitives in Parameter Space, arXiv.
- Abdulsamad, H.; Peters, J. (2020). Hierarchical Decomposition of Nonlinear Dynamics and Control for System Identification and Policy Distillation, 2nd Annual Conference on Learning for Dynamics and Control.
- Pajarinen, J.; Arenz, O.; Peters, J.; Neumann, N. (2020). Probabilistic approach to physical object disentangling, IEEE Robotics and Automation Letters (RA-L).
- Urain, J.; Ginesi, M.; Tateo, D.; Peters, J. (2020). ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows, IEEE/RSJ International Conference on Intelligent Robots and Systems.
- Abdulsamad, H.; Peters, J. (2020). Learning Hybrid Dynamics and Control, ECML/PKDD Workshop on Deep Continuous-Discrete Machine Learning.
- Tanneberg, D.; Rueckert, E.; Peters, J. (2020). Evolutionary Training and Abstraction Yields Algorithmic Generalization of Neural Computers, Nature Machine Intelligence, 2, 12, pp.753-763.
- Urain, J.; Tateo, D.; Ren, T.; Peters, J. (2020). Structured policy representation: Imposing stability in arbitrarily conditioned dynamic systems, NeurIPS 2020, 3rd Robot Learning Workshop, pp.7.
- Watson, J.; Imohiosen A.; Peters, J. (2020). Active Inference or Control as Inference? A Unifying View, International Workshop on Active Inference.
- Kandemir, M.; Peters, J.; Flynn, H. (2020). Vorrichtung und computerimplementiertes Verfahren zum Maschinenlernen, Patent EP000003975063A1.
- Tanneberg, D.; Peters, J.; Rueckert, E. (2019). Intrinsic Motivation and Mental Replay enable Efficient Online Adaptation in Stochastic Recurrent Networks, Neural Networks, 109, pp.67-80.
- Koert, D.; Pajarinen, J.; Schotschneider, A.; Trick, S., Rothkopf, C.; Peters, J. (2019). Learning Intention Aware Online Adaptation of Movement Primitives, IEEE Robotics and Automation Letters (RA-L), with presentation at the IEEE International Conference on Intelligent Robots and Systems (IROS).
- Celik, O.; Abdulsamad, H.; Peters, J. (2019). Chance-Constrained Trajectory Optimization for Nonlinear Systems with Unknown Stochastic Dynamics, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Trick, S.; Koert, D.; Peters, J.; Rothkopf, C. (2019). Multimodal Uncertainty Reduction for Intention Recognition in Human-Robot Interaction, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Stark, S.; Peters, J.; Rueckert, E. (2019). Experience Reuse with Probabilistic Movement Primitives, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Liu, Z.; Hitzmann, A.; Ikemoto, S.; Stark, S.; Peters, J.; Hosoda, K. (2019). Local Online Motor Babbling: Learning Motor Abundance of a Musculoskeletal Robot Arm, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Ewerton, M.; Arenz, O.; Maeda, G.; Koert, D.; Kolev, Z.; Takahashi, M.; Peters, J. (2019). Learning Trajectory Distributions for Assisted Teleoperation and Path Planning, Frontiers in Robotics and AI.
- Ewerton, M.; Maeda, G.; Koert, D.; Kolev, Z.; Takahashi, M.; Peters, J. (2019). Reinforcement Learning of Trajectory Distributions: Applications in Assisted Teleoperation and Motion Planning, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4294--4300.
- Delfosse, Q.; Stark, S.; Tanneberg, D.; Santucci, V. G.; Peters, J. (2019). Open-Ended Learning of Grasp Strategies using Intrinsically Motivated Self-Supervision, Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Tanneberg, D.; Rueckert, E.; Peters, J. (2019). Learning Algorithmic Solutions to Symbolic Planning Tasks with a Neural Computer Architecture, arXiv.
- Thai, H.L.; Peters, J.; Hermann, M. (2019). Verfahren und Vorrichtung zum Ansteuern eines Roboters, Patent DE102019203634A1.
- Koert, D.; Maeda, G.; Neumann, G.; Peters, J. (2018). Learning Coupled Forward-Inverse Models with Combined Prediction Errors, Proceedings of the International Conference on Robotics and Automation (ICRA).
- Ewerton, M.; Rother, D.; Weimar, J.; Kollegger, G.; Wiemeyer, J.; Peters, J.; Maeda, G. (2018). Assisting Movement Training and Execution with Visual and Haptic Feedback, Frontiers in Neurorobotics.
- Akrour, R.; Abdolmaleki, A.; Abdulsamad, H.; Peters, J.; Neumann, G. (2018). Model-Free Trajectory-based Policy Optimization with Monotonic Improvement, Journal of Machine Learning Research (JMLR).
- Parisi, S.; Tangkaratt, V.; Peters, J.; Khan M. E. (2018). TD-Regularized Actor-Critic Methods, European Workshop on Reinforcement Learning (EWRL).
- Bischoff, B.; Vinogradska, J.; Peters, J. (2018). Verfahren und Vorrichtung zum Einstellen mindestens eines Parameters eines Aktorregelungssystems und Aktorregelungssystems, Patent PCT/EP2018/067213, EP000003646122A1, WO002019002349.
- Bischoff, B.; Vinogradska, J.; Peters, J. (2018). Verfahren und Vorrichtung zum Einstellen mindestens eines Parameters eines Aktorregelungssystems und Aktorregelungssystem, Patent PCT/EP2018/071742, EP000003698222A1, WO002019076511.
- Bischoff, B.; Vinogradska, J.; Peters, J. (2018). Verfahren und Vorrichtung zum Betreiben eines Aktorregelungssystems, Computerprogramm und Maschinenlesbares Speichermedium, Patent PCT/EP2018/071753, EP000003698223A1, EP000003698223B1, WO002019076512.
- Ewerton, M.; Kollegger, G.; Maeda, G.; Wiemeyer, J.; Peters, J. (2017). Iterative Feedback-basierte Korrekturstrategien beim Bewegungslernen von Mensch-Roboter-Dyaden, DVS Sportmotorik 2017.
- Kollegger, G.; Reinhardt, N.; Ewerton, M.; Peters, J.; Wiemeyer, J. (2017). Die Bedeutung der Beobachtungsperspektive beim Bewegungslernen von Mensch-Roboter-Dyaden, DVS Sportmotorik 2017.
- Wiemeyer, J.; Peters, J.; Kollegger, G.; Ewerton, M. (2017). BIMROB – Bidirektionale Interaktion von Mensch und Roboter beim Bewegungslernen, DVS Sportmotorik 2017.
- Simone Parisi, Voot Tangkaratt, Jan Peters (2017). Regularized Contextual Policy Search via Mutual Information, Proceedings of the Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM).
- Kollegger, G.; Ewerton, M.; Wiemeyer, J.; Peters, J. (2017). BIMROB – Bidirectional Interaction between human and robot for the learning of movements – Robot trains human – Human trains robot, 23. SportÂwissenschaftÂlicher Hochschultag der dvs.
- Ewerton, M.; Maeda, G.; Rother, D.; Weimar, J.; Lotter, L.; Kollegger, G.; Wiemeyer, J.; Peters, J. (2017). Assisting the practice of motor skills by humans with a probability distribution over trajectories, Workshop Human-in-the-loop robotic manipulation: on the influence of the human role at IROS 2017, Vancouver, Canada.
- Kollegger, G.; Ewerton, M.; Wiemeyer, J.; Peters, J. (2017). BIMROB -- Bidirectional Interaction Between Human and Robot for the Learning of Movements, in: Lames, M.; Saupe, D.; Wiemeyer, J. (eds.), Proceedings of the 11th International Symposium on Computer Science in Sport (IACSS 2017), pp.151--163, Springer International Publishing.
- Kollegger, G., Wiemeyer, J., Ewerton, M. & Peters, J. (2017). BIMROB - Bidirectional Interaction between human and robot for the learning of movements - Robot trains human - Human trains robot, in: A. Schwirtz, F. Mess, Y. Demetriou & V. Senner (eds.), Inovation & Technologie im Sport - 23. Sportwissenschaftlicher Hochschultag der deutschen Vereinigung für Sportwissenschaft, pp.179, Czwalina-Feldhaus.
- Bischoff, B.; Vinogradska, J.; Peters, J. (2017). Verfahren und Vorrichtung zum Einstellen mindestens eines Parameters eines Aktorregelungssystems und Aktorregelungssystem, Patent PCT/EP2018/071742, DE102017218813A1.
- Bischoff, B.; Vinogradska, J.; Peters, J. (2017). Verfahren und Vorrichtung zum Einstellen mindestens eines Parameters eines Aktorregelungssystems, Aktorregelungssystem und Datensatz, Patent DE102017211209A1.
- Bischoff, B.; Vinogradska, J.; Peters, J. (2017). Verfahren und Vorrichtung zum Betreiben eines Aktorregelungssystems, Computerprogramm und maschinenlesbares Speichermedium, Patent PCT/EP2018/071753,DE102017218811A1.
- Sharma, D.; Tanneberg, D.; Grosse-Wentrup, M.; Peters, J.; Rueckert, E. (2016). Adaptive Training Strategies for BCIs, Cybathlon Symposium.
- Rueckert, E.; Camernik, J.; Peters, J.; Babic, J. (2016). Probabilistic Movement Models Show that Postural Control Precedes and Predicts Volitional Motor Control, Nature PG: Scientific Reports, 6, 28455.
- Faber, N.; Friess, T.; Fiebig, K.H.; Hesse, T.; Sharma, D.; Peters, J.; Grosse-Wentrup, M. (2016). Neurofeedback for State of the Art Paradigms in Brain-Computer Interfacing , Cybathlon Symposium.
- Friess, T.; Fiebig, K.H.; Sharma, D.; Faber, N.; Hesse, T.; Tanneberg, D.; Peters, J.; Grosse-Wentrup, M. (2016). Personalized Brain-Computer Interfaces for Non-Laboratory Environments, Cybathlon Symposium.
- Maeda, G.; Maloo, A.; Ewerton, M.; Lioutikov, R.; Peters, J. (2016). Proactive Human-Robot Collaboration with Interaction Primitives, International Workshop on Human-Friendly Robotics (HFR), Genoa, Italy.
- Maeda, G.; Maloo, A.; Ewerton, M.; Lioutikov, R.; Peters, J. (2016). Anticipative Interaction Primitives for Human-Robot Collaboration, AAAI Fall Symposium Series. Shared Autonomy in Research and Practice, Arlington, VA, USA.
- Kollegger, G.; Ewerton, M.; Peters, J.; Wiemeyer, J. (2016). Bidirektionale Interaktion zwischen Mensch und Roboter beim Bewegungslernen (BIMROB), 11. Symposium der DVS Sportinformatik.
- Hesse, T.; Faber, N.; Beckerle, P.; Rinderknecht, S.; Peters, J. (2016). Towards Universal Human-Machine Interfaces: A real-life Brain-Computer Interface Case Study, Users Body Experience and Human-Machine Interfaces in (Assistive) Robotics.
- Lioutikov, R.; Neumann, G.; Maeda, G.J.; Peters, J. (2015). Probabilistic Segmentation Applied to an Assembly Task, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).
- Calandra R.; Peters J.; Seyfarth A.; Deisenroth M.P. (2013). An Experimental Evaluation of Bayesian Optimization on Bipedal Locomotion, NIPS 2013 workshop on Bayesian optimization.
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