Example
Research Interests
Robot Learning, Robotics, Machine Learning, Cognitive Science and Biomimetic Systems.
Affiliations
1. TU Darmstadt, Intelligent Autonomous Systems, Computer Science Department
2. German Research Center for AI (DFKI), Research Department: SAIROL
3. Hessian Centre for Artificial Intelligence
Contact
myname@ias.tu-darmstadt.de
Room E315, Building S2|02, TU Darmstadt, FB-Informatik, FG-IAS, Hochschulstr. 10, 64289 Darmstadt
+49-6151-16-00000
About Me
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Browse through my portfolio to see some of my [Work/Projects/Creations]. I'm proud of what I've accomplished so far, and I'm always open to new opportunities and collaborations.
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Publications
- Vincent, T.; Palenicek, D.; Belousov, B.; Peters, J.; D'Eramo, C. (2025). Iterated Q-Network: Beyond One-Step Bellman Updates in Deep Reinforcement Learning, Transactions on Machine Learning Research (TMLR), J2C Certificate.
- Prasad, V.; Heitlinger, L; Koert, D.; Stock-Homburg, R.; Peters, J.; Chalvatzaki, G. (2025). Learning Multimodal Latent Dynamics for Human-Robot Interaction, IEEE Transaction of Robotics (T-RO), 41, pp.4418-4438.
- Liu, P.; Bou-Ammar H.; Peters, J.; Tateo D. (2025). Safe Reinforcement Learning on the Constraint Manifold: Theory and Applications, IEEE Transactions on Robotics (T-Ro), 41, pp.3442-3461.
- Gu, S.; Liu, P.; Kshirsagar, A.; Chen, G.; Peters, J.; Knoll, A. (2025). ROSCOM: Robust Safe Reinforcement Learning on Stochastic Constraint Manifolds, IEEE Transactions on Automation Science and Engineering (T-ASE), 22, pp.5841 - 5851.
- Luis, C.E.; Bottero, A.G.; Vinogradska, J.; Berkenkamp, F.; Peters, J. (2025). Uncertainty Representations in State-Space Layers for Deep Reinforcement Learning under Partial Observability, Transactions on Machine Learning Research (TMLR).
- Watson, J.; Song, C.; Weeger, O.; Gruner, T.; Le, A.T.; Hansel, K.; Headway, A.; Arenz, O.; Trojak, W.; Cranmer, M.; D’Eramo, C.; Bülow, F.; Goyal, T.; Peters, J.; Hoffman, M.W.; (2025). Machine Learning with Physics Knowledge for Prediction: A Survey, Transactions on Machine Learning Research (TMLR).
- 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”.
- Carvalho, J.; Le, A.T.; Kicki, P. ; Koert, D.; Peters, J. (2025). Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Models, IEEE Transactions on Robotics (T-Ro), 41, pp.4881-4901.
- Kienle, C.; Alt, B.; Katic, D.; Jäkel, R.; Peters, J. (2025). QueryCAD: Grounded Question Answering for CAD Models, IEEE International Conference on Robotics and Automation (ICRA 2025).
- Le, A. T.; Hansel, K.; Carvalho, J.; Watson, J.; Urain, J.; Biess, A.; Chalvatzaki, G.; Peters, J. (2025). Global Tensor Motion Planning, IEEE Robotics and Automation Letters (RA-L), 10, 7, pp.7302-7309.
- Toelle, M.; Gruner, T.; Palenicek, D.; Schneider, T. Guenster, J.; Watson, J.; Tateo, D.; Liu, P.; Peters, J. (2025). Towards Safe Robot Foundation Models using Inductive Biases, SafeVLM Workshop @ IEEE International Conference on Robotics and Automation (ICRA), Spotlight.
- Le, A. T.; Nguyen, K.; Vu, M.N.; Carvalho, J.; Peters, J. (2025). Model Tensor Planning, Transactions on Machine Learning Research (TMLR).
- Arriaga, O.; Adam, R.O.; Laux, M.; Gutzeit, L.; Ragni, M.; Peters, J.; Kirchner, F. (2025). Bayesian Inverse Physics for Neuro-Symbolic Robot Learning, Conference on Neurosymbolic Learning and Reasoning.
- Vincent, T.; Wahren, F.; Peters, J.; Belousov, B.; D'Eramo, C. (2025). Adaptive Q-Network: On-the-fly Target Selection for Deep Reinforcement Learning, International Conference on Learning Representations (ICLR).
- Diwan, A.A.; Urain, J.; Kober, J.; Peters, J. (2025). Noise-conditioned Energy-based Annealed Rewards (NEAR): A Generative Framework for Imitation Learning from Observation, International Conference on Learning Representations (ICLR).
- Straub, D.; Niehues, T.F.; Peters, J.; Rothkopf, C.A. (2025). Inverse decision-making using neural amortized Bayesian actors, International Conference on Learning Representations (ICLR).
- Huang, J.; Tateo, D.; Liu, P.; Peters, J. (2025). Adaptive Control based Friction Estimation for Tracking Control of Robot Manipulators, IEEE Robotics and Automation Letters, and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10, pp.2454-2461.
- Duret, G.; Bourennane, Y.; Mazurak, D.; Samsonenko, A.; Zara, F.; Peters, J.; Chen, L. (2025). Facilitate and scale up the creation of 3D meshes and 6D category-based datasets with generative models: GenVegeFruits, Proceedings of the IEEE International Conference on Image Processing (ICIP).
- Bohlinger, N.; Peters, J. (2025). Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization, IROS 2025 Workshop on Foundation Models for Robotic Design.
- Palenicek, D.; Vogt, F.; Peters, J. (2025). Scaling CrossQ with Weight Normalization, Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM).
- 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).
- Vincent, T.; Faust, T.; Tripathi, Y.; Peters, J.; D'Eramo, C. (2025). Eau De Q-Network: Adaptive Distillation of Neural Networks in Deep Reinforcement Learning, Conference on Reinforcement Learning and Decision Making (RLDM).
- 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).
- Lenz, J.; Pfenning, I.; Gruner, T.; Palenicek, D.; Schneider, T.; Peters, J. (2025). Exploring the Role of Vision and Touch in Reinforcement Learning for Dexterous Insertion Tasks, Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM).
- 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).
- Bohlinger, N.; Kinzel, J.; Palenicek, D.; Antczak, L.; Peters, J. (2025). Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion, International Conference on Intelligent Robots and Systems (IROS).
- Bohlinger, N.; Stasica, M.; Bick, A.; Mohseni, O.; Fritzsche, J.; Hübler, C.; Peters, J.; Seyfarth, A. (2025). Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations, International Conference on Intelligent Robots and Systems (IROS).
- Le, A.T.; Pompetzki, K.; Peters, J.; Biess, A. (2025). Kinematics Correspondence As Inexact Graph Matching, German Robotics Conference (GRC).
- Koosha, T. A.; Kshirsagar, A.; Augustat, N.; Hahne, F.; Mühl, D.; Melzig, C. A.; Bremmer, F.; Peters, J.; Endres, D. M. (2025). Staring Down the Elevator Shaft: Postural Responses to Virtual Heights in an Indoor Environment, Proceedings of the Annual Meeting of the Cognitive Science Society (CogSci).
- Chowdhury, A.; Maurer, H.; Kshirsagar, A.; Ploeger, K.; Peters, J.; Mueller, H. (2025). The Earlier You Know, the Smoother You Act, Conference of the Human Movement Science Section of the German Association of Sports Science.
- 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).
- Jankowski, J.; Maric, A.; Liu, P.; Tateo, D.; Peters, J.; Calinon, S. (2025). Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey, Robotics: Science and Systems (RSS).
- 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.
- Vincent, T.; Faust, T.; Tripathi, Y.; Peters, J.; D'Eramo, C. (2025). Eau De Q-Network: Adaptive Distillation of Neural Networks in Deep Reinforcement Learning, Reinforcement Learning Journal (RLJ).
- 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, Conference on Robot Learning (CoRL).
- Pompetzki, K.; Le, A. T.; Gruner, T.; Watson, J.; Chalvatzaki, G.; Peters, J. (2025). Geometrically-Aware Goal Inference: Leveraging Motion Planning as Inference, Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM).
- 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).
- Celik, O.; Li, Z.; Blessing, D.; Li, G.; Palenicek, D.; Peters, J.; Chalvatzaki, G.; Neumann, G. (2025). DIME: Diffusion-Based Maximum Entropy Reinforcement Learning, International Conference on Machine Learning (ICML).
- Aditya, D.; Huang, J.; Bohlinger, N.; Kicki, P.; Walas, Peters, J.; Luperto, M.; Tateo, D. (2025). Robust Localization, Mapping, and Navigation for Quadruped Robots, European Conference on Mobile Robots (ECMR).
- Schulze, L.; Peters, J.; Arenz, O. (2025). Context-Aware Deep Lagrangian Networks for Model Predictive Control, 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Celik, O.; Li, Z.; Blessing, D.; Li, G.; Palenicek, D.; Peters, J.; Chalvatzaki, G.; Neumann, G. (2025). DIME: Diffusion-Based Maximum Entropy Reinforcement Learning, EXAIT Workshop at International Conference on Machine Learning (ICML).
- 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.
- Nguyen, K.; Le, A. T.; Pham, T.; Manfred, H.; Peters, J.; Vu, M.N. (2025). FlowMP: Learning Motion Fields for Robot Planning with Conditional Flow Matching, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Rother, D.; Herbert, F.; Kalter, F.; Koert, D.; Pajarinen, J.; Peters, J.; Weisswange, T.H. (2025). Entropy based blending of policies for multi-agent coexistence., Autonomous Agents Multi Agent Systems, 39, pp.27.
- Keller, L.; Tanneberg, D.; Peters, J. (2025). Neuro-Symbolic Imitation Learning: Discovering Symbolic Abstractions for Skill Learning, IEEE International Conference on Robotics and Automation (ICRA 2025).
- Ding, H.; Jaquier, N.; Peters, J.; Rozo, L. (2025). Fast and Robust Visuomotor Riemannian Flow Matching Policy, IEEE Transactions on Robotics (T-Ro), 41, pp.5327-5343.
- Moyen, S.B.; Krohn, R.; Lueth, S.C.; Pompetzki, K.; Peters, J.; Prasad, V.; Chalvatzaki, G. (2025). The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation, IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids).
- 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, European Workshop on Reinforcement Learning (EWRL).
- 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, European Workshop on Reinforcement Learning (EWRL).
- 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.
- Koosha, T.A.; Hahne, F.; Kshirsagar, A.; Augustat, N.; Melzig, C.A.; Bremmer, F.; Peters, J.; Endres, D.M. (2025). Inferring Height-Induced Changes in Postural Control via Inverse Optimal Control, Conference on Cognitive Computational Neuroscience (CCN).