Boris Belousov

Quick Info

Research Interests

Machine Learning, Robotics


Publications Google Scholar Research Gate Personal Website

Contact Information

TU Darmstadt, FG IAS,
Hochschulstr. 10, 64289 Darmstadt
Room E304, Building S2|02

Boris Belousov joined IAS as a PhD student in February 2016. He holds a MSc degree in Electrical Engineering from FAU Erlangen-Nürnberg with a major in Communications and Multimedia Engineering and a BSc degree in Applied Mathematics and Physics from Moscow Institute of Physics and Technology with a specialization in Electrical Engineering and Cybernetics.

Boris is interested in optimal control, information theory, robotics, and reinforcement learning. To realize the vision of intelligent systems of the future—that autonomously set and accomplish goals, learn from experience and adapt to changing conditions—Boris develops methods and algorithms based on Bayesian decision theory. He has worked on maximum entropy reinforcement learning, risk-sensitive policy search, distributionally-robust optimization, active learning, curriculum learning, domain randomization, tactile manipulation.


Maximum Entropy Reinforcement Learning

Tactile Manipulation and Reinforcement Learning for Robotic Assembly

  • Belousov, B.; Wibranek, B.; Schneider, J.; Schneider, T.; Chalvatzaki, G.; Peters, J.; Tessmann, O. (2022). Robotic Architectural Assembly with Tactile Skills: Simulation and Optimization, Automation in Construction, 133, pp.104006.   Download Article [PDF]   BibTeX Reference [BibTex]
  • Funk, N.; Chalvatzaki, G.; Belousov, B.; Peters, J. (2021). Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction, Conference on Robot Learning (CoRL).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Wibranek, B.; Liu, Y.; Funk, N.; Belousov, B.; Peters, J.; Tessmann, O. (2021). Reinforcement Learning for Sequential Assembly of SL-Blocks: Self-Interlocking Combinatorial Design Based on Machine Learning, Proceedings of the 39th eCAADe Conference.   Download Article [PDF]   BibTeX Reference [BibTex]
  • Belousov, B.; Sadybakasov, A.; Wibranek, B.; Veiga, F.; Tessmann, O.; Peters, J. (2019). Building a Library of Tactile Skills Based on FingerVision, Proceedings of the 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Wibranek, B.; Belousov, B.; Sadybakasov, A.; Peters, J.; Tessmann, O. (2019). Interactive Structure: Robotic Repositioning of Vertical Elements in Man-Machine Collaborative Assembly through Vision-Based Tactile Sensing, Proceedings of the 37th eCAADe and 23rd SIGraDi Conference.   Download Article [PDF]   BibTeX Reference [BibTex]
  • Wibranek, B.; Belousov, B.; Sadybakasov, A.; Tessmann, O. (2019). Interactive Assemblies: Man-Machine Collaboration through Building Components for As-Built Digital Models, Computer-Aided Architectural Design Futures (CAAD Futures).   Download Article [PDF]   BibTeX Reference [BibTex]

Model-Based Exploration and Curriculum Learning

Optimal Control in Robots and Humans

  • Lutter, M.; Belousov, B.; Mannor, S.; Fox, D.; Garg, A.; Peters, J. (submitted). Continuous-Time Fitted Value Iteration for Robust Policies, Submitted to the IEEE Transaction on Pattern Analysis and Machine Intelligence (TPAMI).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Eilers, C.; Eschmann, J.; Menzenbach, R.; Belousov, B.; Muratore, F.; Peters, J. (2020). Underactuated Waypoint Trajectory Optimization for Light Painting Photography, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Lutter, M.; Belousov, B.; Listmann, K.; Clever, D.; Peters, J. (2019). HJB Optimal Feedback Control with Deep Differential Value Functions and Action Constraints, Conference on Robot Learning (CoRL).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Belousov, B.; Neumann, G.; Rothkopf, C.; Peters, J. (2016). Catching heuristics are optimal control policies, Advances in Neural Information Processing Systems (NIPS / NeurIPS).   Download Article [PDF]   BibTeX Reference [BibTex]

Boris serves as a reviewer for JMLR, TMLR, NeurIPS, ICML, AAAI, ICLR, EAAI, CORL, ICRA, IROS, AURO, RA-L, TR-O. For a full list of publications, see Publications.

Supervised Theses and Projects


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