Journal Publications
Lutter, M.; Belousov, B.; Mannor, S.; Fox, D.; Garg, A.; Peters, J. (submitted). Continuous-Time Fitted Value Iteration for Robust Policies, Submitted to Transaction on Pattern Analysis and Machine Intelligence (TPAMI).   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.   Download Article [PDF]   BibTeX Reference [BibTex]

Klink, P.; Abdulsamad, H.; Belousov, B.; D'Eramo, C.; Peters, J.; Pajarinen, J. (2021). A Probabilistic Interpretation of Self-Paced Learning with Applications to Reinforcement Learning, Journal of Machine Learning Research (JMLR).   Download Article [PDF]   BibTeX Reference [BibTex]

Belousov, B.; Peters, J. (2019). Entropic Regularization of Markov Decision Processes, Entropy, 21, 7, MDPI.   Download Article [PDF]   BibTeX Reference [BibTex]
Conference and Workshop Papers
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.   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]

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]

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]

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.; Clever, D.; Belousov, B.; Listmann, K.; Peters, J. (2020). Evaluating the Robustness of HJB Optimal Feedback Control, International Symposium on Robotics.   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]

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]

Nass, D.; Belousov, B.; Peters, J. (2019). Entropic Risk Measure in Policy Search, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   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]

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]

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]

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]

Klink, P.; Abdulsamad, H.; Belousov, B.; Peters, J. (2019). Self-Paced Contextual Reinforcement Learning, Proceedings of the 3rd Conference on Robot Learning (CoRL).   Download Article [PDF]   BibTeX Reference [BibTex]

Belousov, B.; Peters, J. (2018). Entropic Regularization of Markov Decision Processes, 38th International Workshop on Bayesian Inference and Maximum Entropy Methods in Science and Engineering.   Download Article [PDF]   BibTeX Reference [BibTex]

Belousov, B.; Peters, J. (2018). Mean squared advantage minimization as a consequence of entropic policy improvement regularization, European Workshops on Reinforcement Learning (EWRL).   Download Article [PDF]   BibTeX Reference [BibTex]

Belousov, B.; Neumann, G.; Rothkopf, C.A.; Peters, J. (2017). Catching heuristics are optimal control policies, Proceedings of the Karniel Thirteenth Computational Motor Control Workshop.   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]
Books, Book Chapters & Theses
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]

Belousov, B. (2016). Optimal Control of Ball Catching, Master Thesis.   Download Article [PDF]   BibTeX Reference [BibTex]
Technical Reports
Belousov, B.; Peters, J. (2017). f-Divergence constrained policy improvement, arXiv.   Download Article [PDF]   BibTeX Reference [BibTex]

  

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