Intelligent Autonomous Systems | Team / Publications: João Carvalho

Journal Papers
Bib Funk, N.; Urain, J.; Carvalho, J.; Prasad, V.; Chalvatzaki, G.; Peters, J. (submitted). ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching. Bib Carvalho, J.; Le, A.T.; Jahr, P. ; Sun, Q. ; Urain, J.; Koert, D.; Peters, J. (submitted). Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR3, Submitted to the IEEE Robotics and Automation Letters (R-AL). Bib Palenicek, D.; Lutter, M.; Carvalho, J.; Dennert, D.; Ahmad, F.; Peters, J. (submitted). Diminishing Return of Value Expansion Methods, Submitted to the IEEE Transaction on Pattern Analysis and Machine Intelligence (PAMI). Bib Carvalho, J.; Le, A.T.; Kicki, P. ; Koert, D.; Peters, J. (submitted). Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Models, Submitted to the IEEE Transactions on Robotics (T-Ro). Bib Le, A. T.; Hansel, K.; Carvalho, J.; Watson, J.; Urain, J.; Biess, A.; Chalvatzaki, G.; Peters, J. (submitted). Global Tensor Motion Planning, Submitted to the IEEE Robotics and Automation Letters (R-AL). Bib Le, A. T.; Nguyen, K.; Vu, M.N.; Carvalho, J.; Peters, J. (2025). Model Tensor Planning, Submitted to Transactions on Machine Learning Research (TMLR). Bib Tosatto, S.; Carvalho, J.; Peters, J. (2022). Batch Reinforcement Learning with a Nonparametric Off-Policy Policy Gradient, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 44, 10, pp.5996--6010.

Journal Papers

Bib
Funk, N.; Urain, J.; Carvalho, J.; Prasad, V.; Chalvatzaki, G.; Peters, J. (submitted). ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching.
Bib
Carvalho, J.; Le, A.T.; Jahr, P. ; Sun, Q. ; Urain, J.; Koert, D.; Peters, J. (submitted). Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR3, Submitted to the IEEE Robotics and Automation Letters (R-AL).
Bib
Palenicek, D.; Lutter, M.; Carvalho, J.; Dennert, D.; Ahmad, F.; Peters, J. (submitted). Diminishing Return of Value Expansion Methods, Submitted to the IEEE Transaction on Pattern Analysis and Machine Intelligence (PAMI).
Bib
Carvalho, J.; Le, A.T.; Kicki, P. ; Koert, D.; Peters, J. (submitted). Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Models, Submitted to the IEEE Transactions on Robotics (T-Ro).
Bib
Le, A. T.; Hansel, K.; Carvalho, J.; Watson, J.; Urain, J.; Biess, A.; Chalvatzaki, G.; Peters, J. (submitted). Global Tensor Motion Planning, Submitted to the IEEE Robotics and Automation Letters (R-AL).
Bib
Le, A. T.; Nguyen, K.; Vu, M.N.; Carvalho, J.; Peters, J. (2025). Model Tensor Planning, Submitted to Transactions on Machine Learning Research (TMLR).
Bib
Tosatto, S.; Carvalho, J.; Peters, J. (2022). Batch Reinforcement Learning with a Nonparametric Off-Policy Policy Gradient, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 44, 10, pp.5996--6010.

Conferences
Bib 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). Bib 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. Bib Le, A. T.; Hansel, K.; Carvalho, J.; Urain, J.; Biess, A.; Chalvatzaki, G.; Peters, J. (2024). Global Tensor Motion Planning, CoRL 2024 Workshop on Differentiable Optimization Everywhere. Bib Funk, N.; Urain, J.; Carvalho, J.; Prasad, V.; Chalvatzaki, G.; Peters, J. (2024). ACTIONFLOW: Equivariant, Accurate, and Efficient Manipulation Policies with Flow Matching, CoRL 2024 Workshop on Mastering Robot Manipulation in a World of Abundant Data. Bib Funk, N.; Urain, J.; Carvalho, J.; Prasad, V.; Chalvatzaki, G.; Peters, J. (2024). ActionFlow: Efficient, Accurate, and Fast Policies with Spatially Symmetric Flow Matching, R:SS workshop: Structural Priors as Inductive Biases for Learning Robot Dynamics. Bib Palenicek, D.; Lutter, M.; Carvalho, J.; Peters, J. (2023). Diminishing Return of Value Expansion Methods in Model-Based Reinforcement Learning, International Conference on Learning Representations (ICLR). Bib Carvalho, J.; Le, A. T.; Baierl, M.; Koert, D.; Peters, J. (2023). Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Bib Carvalho, J.; Koert, D.; Daniv, M.; Peters, J. (2022). Adapting Object-Centric Probabilistic Movement Primitives with Residual Reinforcement Learning, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids). Bib Vorndamme, J.; Carvalho, J.; Laha, R.; Koert, D.; Figueredo, L.; Peters, J.; Haddadin, S. (2022). Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids). Bib Carvalho, J., Tateo, D., Muratore, F., Peters, J. (2021). An Empirical Analysis of Measure-Valued Derivatives for Policy Gradients, International Joint Conference on Neural Networks (IJCNN). Bib Tosatto, S.; Carvalho, J.; Abdulsamad, H.; Peters, J. (2020). A Nonparametric Off-Policy Policy Gradient, Proceedings of the 23rd International Conference on Artificial Intelligence and Statistics (AISTATS).

Conferences

Bib
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).
Bib
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.
Bib
Le, A. T.; Hansel, K.; Carvalho, J.; Urain, J.; Biess, A.; Chalvatzaki, G.; Peters, J. (2024). Global Tensor Motion Planning, CoRL 2024 Workshop on Differentiable Optimization Everywhere.
Bib
Funk, N.; Urain, J.; Carvalho, J.; Prasad, V.; Chalvatzaki, G.; Peters, J. (2024). ACTIONFLOW: Equivariant, Accurate, and Efficient Manipulation Policies with Flow Matching, CoRL 2024 Workshop on Mastering Robot Manipulation in a World of Abundant Data.
Bib
Funk, N.; Urain, J.; Carvalho, J.; Prasad, V.; Chalvatzaki, G.; Peters, J. (2024). ActionFlow: Efficient, Accurate, and Fast Policies with Spatially Symmetric Flow Matching, R:SS workshop: Structural Priors as Inductive Biases for Learning Robot Dynamics.
Bib
Palenicek, D.; Lutter, M.; Carvalho, J.; Peters, J. (2023). Diminishing Return of Value Expansion Methods in Model-Based Reinforcement Learning, International Conference on Learning Representations (ICLR).
Bib
Carvalho, J.; Le, A. T.; Baierl, M.; Koert, D.; Peters, J. (2023). Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Bib
Carvalho, J.; Koert, D.; Daniv, M.; Peters, J. (2022). Adapting Object-Centric Probabilistic Movement Primitives with Residual Reinforcement Learning, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids).
Bib
Vorndamme, J.; Carvalho, J.; Laha, R.; Koert, D.; Figueredo, L.; Peters, J.; Haddadin, S. (2022). Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives, 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids).
Bib
Carvalho, J., Tateo, D., Muratore, F., Peters, J. (2021). An Empirical Analysis of Measure-Valued Derivatives for Policy Gradients, International Joint Conference on Neural Networks (IJCNN).
Bib
Tosatto, S.; Carvalho, J.; Abdulsamad, H.; Peters, J. (2020). A Nonparametric Off-Policy Policy Gradient, Proceedings of the 23rd International Conference on Artificial Intelligence and Statistics (AISTATS).

Workshop Papers
Bib Carvalho, J.; Peters, J. (2022). An Analysis of Measure-Valued Derivatives for Policy Gradients, Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM). Bib Carvalho, J.; Baierl, M; Urain, J; Peters, J. (2022). Conditioned Score-Based Models for Learning Collision-Free Trajectory Generation, NeurIPS 2022 Workshop on Score-Based Methods.

Theses
Bib Carvalho, J. (2025). Enhancing Robot Manipulation Skills through Learning, PhD Thesis. Bib Carvalho, J.A.C. (2019). Nonparametric Off-Policy Policy Gradient, Master Thesis.