I have graduated and have become a fulltime employee at the German Research Center for AI (DFKI), Research Department: Systems AI for Robot Learning.

Boris Belousov

Quick Info

Research Interests

Machine Learning, Robotics

Links

Google Scholar Research Gate Curriculum Vitae Personal Website

Contact Information

TU Darmstadt, FG IAS,
Hochschulstr. 10, 64289 Darmstadt
Room E304, Building S2|02
work+49-6151-16-25387

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 that are firmly grounded in Bayesian decision theory. He has worked on maximum entropy reinforcement learning, risk-sensitive policy search, active learning, curriculum learning, distributionally-robust optimization, domain randomization, visuotactile manipulation.

References

Systems AI for Robot Learning

  • Lutter, M.; Belousov, B.; Mannor, S.; Fox, D.; Garg, A.; Peters, J. (in press). Continuous-Time Fitted Value Iteration for Robust Policies, IEEE Transaction on Pattern Analysis and Machine Intelligence (PAMI).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Siebenborn, M.; Belousov, B.; Huang, J.; Peters, J. (2022). How Crucial is Transformer in Decision Transformer?, Foundation Models for Decision Making Workshop at Neural Information Processing Systems.   Download Article [PDF]   BibTeX Reference [BibTex]
  • Galljamov, R.; Zhao, G.; Belousov, B.; Seyfarth, A.; Peters, J. (2022). Improving Sample Efficiency of Deep Reinforcement Learning for Bipedal Walking, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids).   BibTeX Reference [BibTex]
  • Belousov, B.; Abdulsamad H.; Klink, P.; Parisi, S.; Peters, J. (2021). Reinforcement Learning Algorithms: Analysis and Applications, Studies in Computational Intelligence, Springer International Publishing.   Download Article [PDF]   BibTeX Reference [BibTex]

Reinforcement Learning and Tactile Manipulation for Autonomous Robotic Assembly

  • Liu, Y.; Belousov, B.; Funk, N.; Chalvatzaki, G.; Peters, J.; Tessman, O. (2023). Auto(mated)nomous Assembly, International Conference on Trends on Construction in the Post-Digital Era, pp.167-181, Springer, Cham.   Download Article [PDF]   BibTeX Reference [BibTex]
  • 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]

Maximum Entropy Reinforcement Learning and Stochastic Optimal Control

Information-Theoretic Active Exploration

  • Schneider, T.; Belousov, B.; Chalvatzaki, G.; Romeres, D.; Jha, D.K.; Peters, J. (2022). Active Exploration for Robotic Manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Schneider, T.; Belousov, B.; Abdulsamad, H.; Peters, J. (2022). Active Inference for Robotic Manipulation, 5th Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Muratore, F.; Gruner, T.; Wiese, F.; Belousov, B.; Gienger, M.; Peters, J. (2021). Neural Posterior Domain Randomization, Conference on Robot Learning (CoRL).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Belousov, B.; Abdulsamad, H.; Schultheis, M.; Peters, J. (2019). Belief Space Model Predictive Control for Approximately Optimal System Identification, 4th Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Schultheis, M.; Belousov, B.; Abdulsamad, H.; Peters, J. (2019). Receding Horizon Curiosity, Proceedings of the 3rd Conference on Robot Learning (CoRL).   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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