We are always searching for good students and have many good opportunities. However, we are also open to suggestions by students as long as they touch the topics relevant to intelligent systems. > Click here for Offered Topics / Angebotene Themen < Note that these Theses are only for TU Darmstadt students who can directly contact Team Members for more information. For exceptional external students, we offer Theses as well, these need to contact Jan Peters by
jan.peters@tu-darmstadt.de first. Here is the list of currently ongoing theses:
| Student | Advisor | Type | Topic |
|---|
| Jiahui Shi | Junning Huang | M.Sc. | Hybrid Force-Impedance Control for Robot Manipulators |
| Haris Cavkic | Suman Pal from IAS, Aiswarya Menon from IAS | M.Sc. | Flow Matching for Industrial Motion Planning: Learning Trajectory Distributions for Real-World Applications |
| Vojin Vlačić | Cristiana Mirandade Farias, Alap Kshirsagar, Tim Schneider | M.Sc. | Active Exploration for Bimanual Grasping |
| Keagan Holmes | Ahmed Hendawy | M.Sc. | Sharing Multimodal Behaviors in Multi-Task Reinforcement Learning through Diffusion Models |
| Yiyang Wang | Siwei Ju from IAS | M.Sc. | Benchmarking Reinforcement Learning and Control Methods on F1Tenth Car Model |
| Zhijingshui Yang | Junning Huang from IAS, Jiayun Li from PEARL | M.Sc. | Hybrid Force–Impedance Control for Robotic Household Manipulation |
| Mustafa Kamal | Michael Drolet from IAS | M.Sc. | Learning-based Methods for Gait Cycle Phase Prediction |
| Habib Maraqten | Theo Vincent | M.Sc. | Sample-efficient gradient reinforcement learning |
| Matteo Princisgh | Davide Tateo, Joao Carvalho from IAS, Matteo Lupperto from Università degli Studi di Milano | M.Sc. | Learning to Plan |
| Wenbin Sun | Junning Huang, Yichen Cai | M.Sc. | Contact Force Estimation for Robotic Manipulation |
| Shihao Li | Theo Gruner, Puze Liu, and Maik Pfefferkorn | M.Sc. | Relative Entropy Adaptive Domain Randomization |
| David Lang | Cristiana Mirandade Farias, Kay Pompetzki | M.Sc. | Stochastic Skill Blending via Generative Models |
| Ansh Prakash | Joao Carvalho from IAS | M.Sc. | Episodic Flow RL |
| Xiaoqi Zhou | Joao Carvalho, Niklas Funk from IAS | M.Sc. | Bimanual Action Flow |
| Hannah Knodel | Kai Ploeger from IAS | B.Sc. | Investigating the Role of Feedback in Reinforcement Learning-Based Robot Juggling |
| Artur Zelik | Michael Drolet from IAS, Firas Al-Hafez from IAS | M.Sc. | Language-guided Robot Motion Synthesis |
| Jan Gröpper | Claudius Kienle from IAS | B.Sc. | Learning Samplers for Task and Motion Planning |
| Pablo Candelas | Claudius Kienle from IAS | M.Sc. | Reward Shaping for Symbolic Reinforcement Learning |
| Bora Büyükbas | Lucas Schulze, Oleg Arenz | B.Sc. | Open-World Reinforcement Learning |
| Paul Knaußt | Cristiana Mirandade Farias, Kay Pompetzki | M.Sc. | Hierarchical Planning for Object Arrangement |
| Ahmad Hamad | Leon Keller from IAS | B.Sc. | Hierarchical Imitation Learning |
| Alina Böhm | Oleg Arenz from IAS, Zihan Ye from AIML | M.Sc. | Differentiable Forward Reasoning for Optimizing Skills and Learning Predicate Classifiers |
| Marco Meese | Theo Gruner, Sophie Lueth | B.Sc. | Foundation Models for Actuator Dynamics |
| Faran Ahmad | ClaudiusKienle from IAS | M.Sc. | Learning Symbolic Domain Models with SLMs for Hierarchical Planning |
| Matej Zoltan Suvert | Kay Pompetzki and Cristiana Mirandade Farias from IAS | B.Sc. | Reactive Impedance Control on General Manifolds |
| Julian Ferrer Rodriguez | Kay Pompetzki and Cristiana Mirandade Farias from IAS | M.Sc. | Distribution-Guided Policy Blending for Reactive Motion Planning |
| Noah Becker | Tim Schneider and Kay Pompetzki from IAS | M.Sc. | Prediction and Control of Slip Velocity in Robotic Grippers Using Transformer-Based Fusion of Visuotactile, Image, and IMU Data |
| Fabian Hahne | Cristiana Mirandade Farias, Alap Kshirsagar, Vignesh Prasad | M.Sc. | Vision-Language-Action Models with Intrinsic Motivation |
| Topic | Students | Advisor |
|---|
| Who is Adam? Non-Stationary Optimizer Dynamics in Reinforcement Learning | Yichen Feng, Shili Zhang | Aryaman Reddi |
| Memory-RL: A High-Performance JAX Library for Memory-Augmented Reinforcement Learning | Noah Farr, Arne Backstein | Aryaman Reddi, Mahdi Kallel from LiteRL |
| Robotic Knot Untangling | Tim Missal, Tom Roehner, Gina Leonie Wigginghaus | Berk Gueler from IAS |
| Long Horizon Shared Autonomy | Zhihao Han, Yuchao Wu, Ahmad Hamad | Berk Gueler from IAS |
| Developing Distributional Gradient-TD Learning Methods | Kevin Gerhardt | Theo Vincent |
| 3D Reconstruction Using Gaussian Splattings | Shuai Li | Yichen Cai, Cristiana Farias |
| Learning a Primitive-VLA using RL | Yulia Belyaeva, Bjarne Freund | Claudius Kienle, Ken Simmoteit |
| Legged Robot Localization under Uncertain Dynamics | Jad Dayoub | Lucas Schulze |
| Simulation of Vision-based Tactile Sensors | Duc Huy Nguyen | Tim Schneider, Alap Kshirsagar, Guillaume Duret |
| Residual VLA Fine-Tuning with Coherent Rewards | Christian Scherer | Theo Gruner, Daniel Palenicek, Joe Watson |
| Learning Tactile Insertion in the Real World | Dheeraj Reddy Jada, Philipp Nepomuk Maybach, Xusong Yin, Arwin Zamanzadeh | Tim Schneider from IAS, Janis Lenz from IMS, Theo Gruner from IAS, Daniel Palenicek from IAS |
| Tactile Pole Balancing | Bárbara Fernandes Dias Bueno, Victor Pedreira Santos Pepe, Thiago Daquino Velasquez | Tim Schneider, Niklas Funk |
| Imitation Learning for Vineyard Management | Rui Li, Nick Göckel, Fawad Hussain | Tim Schneider, Kay Hansel, Erik Helmut |
| Articulated body dynamics network for in-hand manipulation | Jonathan Frey, Kaan Yilmaz, Lam Nguyen | Lucas Schulze, Cristiana Miranda de Farias? |
| Learning to Navigate with RL | Tim Althaus, Moritz Willimowski | Joao Carvalho, Davide Tateo, Matteo Princisgh from Uni Milan |
| Real-World Trust Region Inverse Reinforcement Learning | Mohammed Saeed | |
| Real-World Trust Region Inverse Reinforcement Learning | Santhosh G S | |
| Embodiment-aware universal humanoid policy | Kevin Händler, Maryana Smirnova, Ivan Smirnov | Nico Bohlinger, Michael Drolet |
| JENGA! Learning Hierarchical Tactile Policies | Timur Uttsal, Kim Thanh Le Hoang, Boris Ohmer | Cristiana Mirandade Farias, Erik Helmut, Tim Schneider |
| Tactile Slip Control | David Reiter, Pranshu Gupta, Thang Khuc, Varshika Shrivastwa | Noah Becker, Tim Schneider, Kay Pompetzki |
| Context-Aware DeLaN for Exoskeletons | Jona Hoppe, Maximilian Schwarz | Lucas Schulze |
| LeWerkzeugkasten 1 - Assemble using tools | Martin Carlsen, Fabian Buchenberger | Theo Gruner, Ken Simmoteit, Erik Helmut, Kay Pompetzki |
| LeWerkzeugkasten 2: Learning latent action spaces for imitation learning | Emil Sivic, Jonathan Sutphen, Christian Kubitzek | Theo Gruner, Ken Simmoteit, Erik Helmut, Kay Pompetzki |
| Real-World Trust Region Inverse Reinforcement Learning | Yichen Feng | |
