Intelligent Autonomous Systems | Team / Publications: Boris Belousov

Journal Publications
Bib 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). Bib Liu, Y.; Belousov, B.; Schneider, T.; Harsono, K.; Cheng, T.W.; Shih, S.G.; Tessmann, O.; Peters, J. (2024). Advancing Sustainable Construction: Discrete Modular Systems & Robotic Assembly, Sustainability, 16, pp.6678, MDPI. Bib Lutter, M.; Belousov, B.; Mannor, S.; Fox, D.; Garg, A.; Peters, J. (2023). Continuous-Time Fitted Value Iteration for Robust Policies, IEEE Transaction on Pattern Analysis and Machine Intelligence (PAMI). Bib 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. Bib 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). Bib Belousov, B.; Peters, J. (2019). Entropic Regularization of Markov Decision Processes, Entropy, 21, 7, MDPI.

Journal Publications

Bib
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).
Bib
Liu, Y.; Belousov, B.; Schneider, T.; Harsono, K.; Cheng, T.W.; Shih, S.G.; Tessmann, O.; Peters, J. (2024). Advancing Sustainable Construction: Discrete Modular Systems & Robotic Assembly, Sustainability, 16, pp.6678, MDPI.
Bib
Lutter, M.; Belousov, B.; Mannor, S.; Fox, D.; Garg, A.; Peters, J. (2023). Continuous-Time Fitted Value Iteration for Robust Policies, IEEE Transaction on Pattern Analysis and Machine Intelligence (PAMI).
Bib
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.
Bib
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).
Bib
Belousov, B.; Peters, J. (2019). Entropic Regularization of Markov Decision Processes, Entropy, 21, 7, MDPI.

Conference and Workshop Papers
Bib 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). Bib 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). Bib Nonnengiesser, F.; Kshirsagar, A.; Belousov, B.; Peters, J. (2025). Visuotactile In-Hand Pose Estimation, German Robotics Conference (GRC). Bib 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). Bib 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). Bib Bhatt, A.; Palenicek, D.; Belousov, B.; Argus, M.; Amiranashvili, A.; Brox, T.; Peters, J. (2024). CrossQ: Batch Normalization in Deep Reinforcement Learning for Greater Sample Efficiency and Simplicity, International Conference on Learning Representations (ICLR), Spotlight. Bib Vincent, T.; Metelli, A.; Belousov, B.; Peters, J.; Restelli, M.; D'Eramo, C. (2024). Parameterized Projected Bellman Operator, Proceedings of the National Conference on Artificial Intelligence (AAAI). Bib Boehm, A.; Schneider, T.; Belousov, B.; Kshirsagar, A.; Lin, L.; Doerschner, K.; Drewing, K.; Rothkopf, C.A.; Peters, J. (2024). What Matters for Active Texture Recognition With Vision-Based Tactile Sensors, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Bib Wiebe, F.; Turcato, N.; Dalla Libera, A.; Zhang, C.; Vincent, T.; Vyas, S.; Giacomuzzo, G.; Carli, R.; Romeres, D.; Sathuluri, A.; Zimmermann, M.; Belousov, B.; Peters, J.; Kirchner, F.; Kumar, S. (2024). Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition, The 33rd International Joint Conference on Artificial Intelligence. Bib Lin, L.; Boehm, A.; Belousov, B.; Kshirsagar, A.; Schneider, T.; Peters, J.; Doerschner, K.; Drewing, K. (2024). Task-Adapted Single-Finger Explorations of Complex Objects, Eurohaptics. Bib Vincent, T.; Wahren, F.; Peters, J.; Belousov, B.; D'Eramo, C.; (2024). Adaptive Q-Network: On-the-fly Target Selection for Deep Reinforcement Learning, European Workshop on Reinforcement Learning (EWRL). Bib Vincent, T.; Wahren, F.; Peters, J.; Belousov, B.; D'Eramo, C.; (2024). Adaptive Q-Network: On-the-fly Target Selection for Deep Reinforcement Learning, ICML Workshop on Automated Reinforcement Learning. Bib Watson, J.; Hahner, B.; Belousov, B.; Peters, J. (2024). Tractable Bayesian Dynamics Priors from Differentiable Physics for Learning and Control, 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40). Bib Bhatt, A.; Palenicek, D.; Belousov, B.; Argus, M.; Amiranashvili, A.; Brox, T.; Peters, J. (2024). CrossQ: Batch Normalization in Deep Reinforcement Learning for Greater Sample Efficiency and Simplicity, European Workshop on Reinforcement Learning (EWRL). Bib Kshirsagar, A.; Heller, F.; Gomez Andreu, M.; Belousov, B.; Schneider, T.; Lin, L. P. Y.; Doerschner, K.; Drewing, K.; Peters, J. (2024). Hardness Similarity Detection Using Vision-Based Tactile Sensors, 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40). Bib Helmut, E.; Dziarski, L.; Funk, N.; Belousov, B.; Peters, J. (2024). Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis, 2nd NeurIPS Workshop on Touch Processing: From Data to Knowledge. Bib Nguyen, D.H.; Schneider, T.; Duret, G.; Kshirsagar, A.; Belousov, B.; Peters, J. (2024). TacEx: GelSight Tactile Simulation in Isaac Sim – Combining Soft-Body and Visuotactile Simulators, CoRL 2024 Workshop on Learning Robot Fine and Dexterous Manipulation: Perception and Control. Bib Meser, M.; Bhatt, A.; Belousov, B.; Peters, J. (2024). MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench, 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40). Bib Kaidanov, O.; Al-Hafez, F.; Süvari, Y.; Belousov, B.; Peters, J. (2024). The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control, CoRL 2024 Workshop on Whole-body Control and Bimanual Manipulation: Applications in Humanoids and Beyond. Bib Faust, T.L.; Maraqten, H.; Aghadavoodi, E.; Belousov, B.; Peters, J. (2024). Velocity-History-Based Soft Actor-Critic: Tackling IROS'24 Competition AI Olympics with RealAIGym, IROS'24 Competition AI Olympics with RealAIGym. Bib Toelle, M.; Belousov, B.; Peters, J. (2023). A Unifying Perspective on Language-Based Task Representations for Robot Control, CoRL Workshop on Language and Robot Learning: Language as Grounding. Bib 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. Bib Zhu, Y.; Nazirjonov, S.; Jiang, B.; Colan, J.; Aoyama, T.; Hasegawa, Y.; Belousov, B.; Hansel, K.; Peters, J. (2023). Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation, IEEE International Conference on Cyborg and Bionic Systems (CBS), pp.49-52. Bib Funk, N.; Mueller, P.-O.; Belousov, B.; Savchenko, A.; Findeisen, R.; Peters, J. (2023). High-Resolution Pixelwise Contact Area and Normal Force Estimation for the GelSight Mini Visuotactile Sensor Using Neural Networks, Embracing Contacts-Workshop at ICRA 2023. Bib Vincent, T.; Belousov, B.; D'Eramo, C.; Peters, J. (2023). Iterated Deep Q-Network: Efficient Learning of Bellman Iterations for Deep Reinforcement Learning, European Workshop on Reinforcement Learning (EWRL). Bib Gruner, T.; Belousov, B.; Muratore, F.; Palenicek, D.; Peters, J. (2023). Pseudo-Likelihood Inference, Advances in Neural Information Processing Systems (NIPS / NeurIPS). Bib Boehm, A.; Schneider, T.; Belousov, B.; Kshirsagar, A.; Lin, L.; Doerschner, K.; Drewing, K.; Rothkopf, C.A.; Peters, J. (2023). Tactile Active Texture Recognition With Vision-Based Tactile Sensors, NeurIPS Workshop on Touch Processing: a new Sensing Modality for AI. Bib 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). Bib Schneider, T.; Belousov, B.; Abdulsamad, H.; Peters, J. (2022). Active Inference for Robotic Manipulation, 5th Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM). Bib Galljamov, R.; Zhao, G.; Belousov, B.; Seyfarth, A.; Peters, J. (2022). Improving Sample Efficiency of Example-Guided Deep Reinforcement Learning for Bipedal Walking, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids). Bib 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. Bib 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. Bib Muratore, F.; Gruner, T.; Wiese, F.; Belousov, B.; Gienger, M.; Peters, J. (2021). Neural Posterior Domain Randomization, Conference on Robot Learning (CoRL). Bib 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. Bib Funk, N.; Chalvatzaki, G.; Belousov, B.; Peters, J. (2021). Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction, Conference on Robot Learning (CoRL). Bib 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). Bib Lutter, M.; Clever, D.; Belousov, B.; Listmann, K.; Peters, J. (2020). Evaluating the Robustness of HJB Optimal Feedback Control, International Symposium on Robotics. Bib 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). Bib 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). Bib 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). Bib 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). Bib Schultheis, M.; Belousov, B.; Abdulsamad, H.; Peters, J. (2019). Receding Horizon Curiosity, Proceedings of the 3rd Conference on Robot Learning (CoRL). Bib 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). Bib 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. Bib Klink, P.; Abdulsamad, H.; Belousov, B.; Peters, J. (2019). Self-Paced Contextual Reinforcement Learning, Proceedings of the 3rd Conference on Robot Learning (CoRL). Bib 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. Bib Belousov, B.; Peters, J. (2018). Mean Squared Advantage Minimization as a Consequence of Entropic Policy Improvement Regularization, European Workshops on Reinforcement Learning (EWRL). Bib 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. Bib Belousov, B.; Neumann, G.; Rothkopf, C.; Peters, J. (2016). Catching Heuristics Are Optimal Control Policies, Advances in Neural Information Processing Systems (NIPS / NeurIPS).

Conference and Workshop Papers

Bib
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).
Bib
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).
Bib
Nonnengiesser, F.; Kshirsagar, A.; Belousov, B.; Peters, J. (2025). Visuotactile In-Hand Pose Estimation, German Robotics Conference (GRC).
Bib
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).
Bib
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).
Bib
Bhatt, A.; Palenicek, D.; Belousov, B.; Argus, M.; Amiranashvili, A.; Brox, T.; Peters, J. (2024). CrossQ: Batch Normalization in Deep Reinforcement Learning for Greater Sample Efficiency and Simplicity, International Conference on Learning Representations (ICLR), Spotlight.
Bib
Vincent, T.; Metelli, A.; Belousov, B.; Peters, J.; Restelli, M.; D'Eramo, C. (2024). Parameterized Projected Bellman Operator, Proceedings of the National Conference on Artificial Intelligence (AAAI).
Bib
Boehm, A.; Schneider, T.; Belousov, B.; Kshirsagar, A.; Lin, L.; Doerschner, K.; Drewing, K.; Rothkopf, C.A.; Peters, J. (2024). What Matters for Active Texture Recognition With Vision-Based Tactile Sensors, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).
Bib
Wiebe, F.; Turcato, N.; Dalla Libera, A.; Zhang, C.; Vincent, T.; Vyas, S.; Giacomuzzo, G.; Carli, R.; Romeres, D.; Sathuluri, A.; Zimmermann, M.; Belousov, B.; Peters, J.; Kirchner, F.; Kumar, S. (2024). Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition, The 33rd International Joint Conference on Artificial Intelligence.
Bib
Lin, L.; Boehm, A.; Belousov, B.; Kshirsagar, A.; Schneider, T.; Peters, J.; Doerschner, K.; Drewing, K. (2024). Task-Adapted Single-Finger Explorations of Complex Objects, Eurohaptics.
Bib
Vincent, T.; Wahren, F.; Peters, J.; Belousov, B.; D'Eramo, C.; (2024). Adaptive Q-Network: On-the-fly Target Selection for Deep Reinforcement Learning, European Workshop on Reinforcement Learning (EWRL).
Bib
Vincent, T.; Wahren, F.; Peters, J.; Belousov, B.; D'Eramo, C.; (2024). Adaptive Q-Network: On-the-fly Target Selection for Deep Reinforcement Learning, ICML Workshop on Automated Reinforcement Learning.
Bib
Watson, J.; Hahner, B.; Belousov, B.; Peters, J. (2024). Tractable Bayesian Dynamics Priors from Differentiable Physics for Learning and Control, 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40).
Bib
Bhatt, A.; Palenicek, D.; Belousov, B.; Argus, M.; Amiranashvili, A.; Brox, T.; Peters, J. (2024). CrossQ: Batch Normalization in Deep Reinforcement Learning for Greater Sample Efficiency and Simplicity, European Workshop on Reinforcement Learning (EWRL).
Bib
Kshirsagar, A.; Heller, F.; Gomez Andreu, M.; Belousov, B.; Schneider, T.; Lin, L. P. Y.; Doerschner, K.; Drewing, K.; Peters, J. (2024). Hardness Similarity Detection Using Vision-Based Tactile Sensors, 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40).
Bib
Helmut, E.; Dziarski, L.; Funk, N.; Belousov, B.; Peters, J. (2024). Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis, 2nd NeurIPS Workshop on Touch Processing: From Data to Knowledge.
Bib
Nguyen, D.H.; Schneider, T.; Duret, G.; Kshirsagar, A.; Belousov, B.; Peters, J. (2024). TacEx: GelSight Tactile Simulation in Isaac Sim – Combining Soft-Body and Visuotactile Simulators, CoRL 2024 Workshop on Learning Robot Fine and Dexterous Manipulation: Perception and Control.
Bib
Meser, M.; Bhatt, A.; Belousov, B.; Peters, J. (2024). MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench, 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40).
Bib
Kaidanov, O.; Al-Hafez, F.; Süvari, Y.; Belousov, B.; Peters, J. (2024). The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control, CoRL 2024 Workshop on Whole-body Control and Bimanual Manipulation: Applications in Humanoids and Beyond.
Bib
Faust, T.L.; Maraqten, H.; Aghadavoodi, E.; Belousov, B.; Peters, J. (2024). Velocity-History-Based Soft Actor-Critic: Tackling IROS'24 Competition AI Olympics with RealAIGym, IROS'24 Competition AI Olympics with RealAIGym.
Bib
Toelle, M.; Belousov, B.; Peters, J. (2023). A Unifying Perspective on Language-Based Task Representations for Robot Control, CoRL Workshop on Language and Robot Learning: Language as Grounding.
Bib
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.
Bib
Zhu, Y.; Nazirjonov, S.; Jiang, B.; Colan, J.; Aoyama, T.; Hasegawa, Y.; Belousov, B.; Hansel, K.; Peters, J. (2023). Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation, IEEE International Conference on Cyborg and Bionic Systems (CBS), pp.49-52.
Bib
Funk, N.; Mueller, P.-O.; Belousov, B.; Savchenko, A.; Findeisen, R.; Peters, J. (2023). High-Resolution Pixelwise Contact Area and Normal Force Estimation for the GelSight Mini Visuotactile Sensor Using Neural Networks, Embracing Contacts-Workshop at ICRA 2023.
Bib
Vincent, T.; Belousov, B.; D'Eramo, C.; Peters, J. (2023). Iterated Deep Q-Network: Efficient Learning of Bellman Iterations for Deep Reinforcement Learning, European Workshop on Reinforcement Learning (EWRL).
Bib
Gruner, T.; Belousov, B.; Muratore, F.; Palenicek, D.; Peters, J. (2023). Pseudo-Likelihood Inference, Advances in Neural Information Processing Systems (NIPS / NeurIPS).
Bib
Boehm, A.; Schneider, T.; Belousov, B.; Kshirsagar, A.; Lin, L.; Doerschner, K.; Drewing, K.; Rothkopf, C.A.; Peters, J. (2023). Tactile Active Texture Recognition With Vision-Based Tactile Sensors, NeurIPS Workshop on Touch Processing: a new Sensing Modality for AI.
Bib
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).
Bib
Schneider, T.; Belousov, B.; Abdulsamad, H.; Peters, J. (2022). Active Inference for Robotic Manipulation, 5th Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM).
Bib
Galljamov, R.; Zhao, G.; Belousov, B.; Seyfarth, A.; Peters, J. (2022). Improving Sample Efficiency of Example-Guided Deep Reinforcement Learning for Bipedal Walking, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids).
Bib
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.
Bib
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.
Bib
Muratore, F.; Gruner, T.; Wiese, F.; Belousov, B.; Gienger, M.; Peters, J. (2021). Neural Posterior Domain Randomization, Conference on Robot Learning (CoRL).
Bib
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.
Bib
Funk, N.; Chalvatzaki, G.; Belousov, B.; Peters, J. (2021). Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction, Conference on Robot Learning (CoRL).
Bib
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).
Bib
Lutter, M.; Clever, D.; Belousov, B.; Listmann, K.; Peters, J. (2020). Evaluating the Robustness of HJB Optimal Feedback Control, International Symposium on Robotics.
Bib
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).
Bib
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).
Bib
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).
Bib
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).
Bib
Schultheis, M.; Belousov, B.; Abdulsamad, H.; Peters, J. (2019). Receding Horizon Curiosity, Proceedings of the 3rd Conference on Robot Learning (CoRL).
Bib
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).
Bib
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.
Bib
Klink, P.; Abdulsamad, H.; Belousov, B.; Peters, J. (2019). Self-Paced Contextual Reinforcement Learning, Proceedings of the 3rd Conference on Robot Learning (CoRL).
Bib
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.
Bib
Belousov, B.; Peters, J. (2018). Mean Squared Advantage Minimization as a Consequence of Entropic Policy Improvement Regularization, European Workshops on Reinforcement Learning (EWRL).
Bib
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.
Bib
Belousov, B.; Neumann, G.; Rothkopf, C.; Peters, J. (2016). Catching Heuristics Are Optimal Control Policies, Advances in Neural Information Processing Systems (NIPS / NeurIPS).

Books, Book Chapters & Theses
Bib Belousov, B. (2022). On Optimal Behavior Under Uncertainty in Humans and Robots, Ph.D. Thesis. Bib Belousov, B.; Abdulsamad H.; Klink, P.; Parisi, S.; Peters, J. (2021). Reinforcement Learning Algorithms: Analysis and Applications, Studies in Computational Intelligence, Springer International Publishing. Bib Belousov, B. (2016). Optimal Control of Ball Catching, Master Thesis.

Technical Reports
Bib Belousov, B.; Peters, J. (2017). f-Divergence Constrained Policy Improvement, arXiv.