Robot Learning Lab

Peters, J.; Tedrake, R.; Roy, N.; Morimoto, J. (in press). Robot Learning, Encyclopedia of Machine Learning.

Sigaud, O.; Peters, J. (in press). Robot Learning, Encyclopedia of the Sciences of Learning, Springer Verlag, Seel, Norbert M..

Peters, J.; Bagnell, J.A. (in press). Policy gradient methods, Encyclopedia of Machine Learning (invited article). [PDF]

Nguyen-Tuong, D.; Seeger, M.; Peters, J. (2010). Real-Time Local GP Model Learning, From Motor Learning to Interaction Learning in Robots, Springer Verlag, 264.

Sigaud, O.; Peters, J. (2010). From Motor Learning to Interaction Learning in Robots, Studies in Computational Intelligence, Springer Verlag, 264.

Kober,J.; Mohler, B.; Peters, J. (2010). Imitation and Reinforcement Learning for Motor Primitives with Perceptual Coupling, From Motor Learning to Interaction Learning in Robots, Springer Verlag.

Detry,R.; Baseski, E.; Popovic, M.; Touati, Y.; Krueger, N.; Kroemer, O.; Peters, J.; Piater, J. (2010). Learning Continuous Grasp Affordances by Sensorimotor Exploration, From Motor Learning to Interaction Learning in Robots, Springer Verlag, 264.

Lesperance, Y.; Lakemeyer, G.; Peters, J.; Pirri, F. (2008). Proceedings of the 6th International Cognitive Robotics Workshop (CogRob 2008), July 21-22, 2008, Patras, Greece, ISBN 978-960-6843-09-9.

Peters, J. (2008). Machine Learning for Robotics, VDM-Verlag, ISBN 978-3-639-02110-3. [PDF]

Peters, J. (2007). Machine Learning of Motor Skills for Robotics, Ph.D. Thesis, Department of Computer Science, University of Southern California.
[Keywords: Machine Learning, Reinforcement Learning, Robotics, Motor Primitives, Policy Gradients, Natural Actor-Critic, Reward-Weighted Regression]

Wierstra, D.; Foerster, A.; Peters, J.; Schmidhuber, J. (in press). Recurrent Policy Gradients, Logic Journal of the IGPL.

Sehnke, F.; Osendorfer, C.; Rueckstiess, T.; Graves, A.; Peters, J.; Schmidhuber, J. (in press). Parameter-exploring Policy Gradients, Neural Networks.

Morimura, T.; Uchibe, E.; Yoshimoto, J.; Peters, J.; Doya, K. (2010). Derivatives of Logarithmic Stationary Distributions for Policy Gradient Reinforcement Learning, Neural Computation, 22, 2.

Hachiya,H.; Akiyama, T.; Sugiyama, M.; Peters, J. (2009). Adaptive Importance Sampling for Value Function Approximation in Off-policy Reinforcement Learning, Neural Networks, 22, 10, pp.1399-1410.
[Keywords: off-policy reinforcement learning; value function approximation; policy iteration; adaptive importance sampling; importance-weighted cross-validation; efficient sample reuse]

Deisenroth, M.P., Rasmussen, C.E.; Peters, J (2009). Gaussian Process Dynamic Programming, Neurocomputing, 72, pp.1508-1524.

Peters, J.; Ng, A. (2009). Guest Editorial: Special Issue on Robot Learning, Part B, Autonomous Robots, 27, 2.

Nguyen-Tuong, D.; Seeger, M.; Peters, J. (2009). Model Learning with Local Gaussian Process Regression, Advanced Robotics, 23, 15, pp.2015-2034.

Kober, J.; Peters, J. (2009). Reinforcement Learning fuer Motor-Primitive, Kuenstliche Intelligenz.

Peters, J.; Morimoto, J.; Tedrake, R.; Roy, N. (2009). Robot Learning, IEEE Robotics & Automation Magazine, 16, 3, pp.19-20.
[Keywords: robot learning, tc spotlight]

Peters, J.; Ng, A. (2009). Guest Editorial: Special Issue on Robot Learning, Part A, Autonomous Robots, 27, 1.

Steinke, F.; Hein, M.; Peters, J.; Schoelkopf, B (2008). Manifold-valued Thin-Plate Splines with Applications in Computer Graphics, Computer Graphics Forum (Special Issue on Eurographics 2008), 27, 2. [PDF]

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (2008). Operational space control: A theoretical and emprical comparison, International Journal of Robotics Research, 27, 6, pp.737-757.
[Keywords: task space control, operational space control, redundancy resolution, humanoid robotics] [PDF]

Peters, J. (2008). Machine Learning for Motor Skills in Robotics, Kuenstliche Intelligenz, 3.
[Keywords: motor control, motor primitives, motor learning] [PDF]

Peters, J.;Schaal, S. (2008). Natural actor critic, Neurocomputing, 71, 7-9, pp.1180-1190.
[Keywords: reinforcement learning, policy gradient, natural actor-critic, natural gradients] [PDF]

Peters, J.;Schaal, S. (2008). Learning to control in operational space, International Journal of Robotics Research, 27, pp.197-212.
[Keywords: operational space control, learning, EM ALGORITHM, redundancy resolution, reinforcement learning] [PDF]

Peters, J.;Schaal, S. (2008). Reinforcement learning of motor skills with policy gradients, Neural Networks, 21, 4, pp.682-97.
[Keywords: Reinforcement learning, Policy gradient methods, Natural gradients, Natural Actor-Critic, Motor skills, Motor primitives] [PDF]

Peters, J.;Mistry, M.;Udwadia, F. E.;Nakanishi, J.;Schaal, S. (2008). A unifying methodology for robot control with redundant DOFs, Autonomous Robots, 24, 1, pp.1-12.
[Keywords: operational space control, inverse control, dexterous manipulation, optimal control] [PDF]

Peters, J. (2007). Computational Intelligence: By Amit Konar, The Computer Journal, 50, 6, pp.758.
[Keywords: book review]

Peters, J. (1998). Fuzzy Logic for Practical Applications, Kuenstliche Intelligenz (KI), 4, pp.60.
[Keywords: book review]

Nguyen-Tuong, D.; Peters, J. (2010). Incremental Sparsification for Real-time Online Model Learning, Proceedings of Thirteenth International Conference on Artificial Intelligence and Statistics (AISTATS 2010).

Kober,J.; Muelling,K.; Kroemer, O.; Lampert,C.H.; Schoelkopf, B.; Peters, J. (2010). Movement Templates for Learning of Hitting and Batting, IEEE International Conference on Robotics and Automation.

Nguyen-Tuong, D.; Peters, J. (2010). Using Model Knowledge for Learning Inverse Dynamics, IEEE International Conference on Robotics and Automation.

Hachiya, H.; Peters, J.; Sugiyama, M. (2009). Efficient Sample Reuse in EM-based Policy Search, Proceedings of the 16th European Conference on Machine Learning (ECML 2009).

Peters, J.; Kober, J.; Muelling, K.; Nguyen-Tuong, D.; Kroemer, O. (2009). Towards Motor Skill Learning for Robotics, Proceedings of the International Symposium on Robotics Research (ISRR), Invited Paper.

Nguyen-Tuong, D.; Seeger, M.; Peters, J. (2009). Local Gaussian Process Regression for Real Time Online Model Learning and Control, Advances in Neural Information Processing Systems 22 (NIPS 2008), Cambridge, MA: MIT Press. [PDF]

Neumann, G.; Peters, J. (2009). Fitted Q-iteration by Advantage Weighted Regression, Advances in Neural Information Processing Systems 22 (NIPS 2008), Cambridge, MA: MIT Press. [PDF]

Kober, J.; Peters, J. (2009). Policy Search for Motor Primitives in Robotics, Advances in Neural Information Processing Systems 22 (NIPS 2008), Cambridge, MA: MIT Press. [PDF]

Chiappa, S.; Kober, J.; Peters, J. (2009). Using Bayesian Dynamical Systems for Motion Template Libraries, Advances in Neural Information Processing Systems 22 (NIPS 2008), Cambridge, MA: MIT Press. [PDF]

Hoffman, M.; de Freitas, N. ; Doucet, A.; Peters, J. (2009). An Expectation Maximization Algorithm for Continuous Markov Decision Processes with Arbitrary Reward, Proceedings of the Twelfth International Conference on Artificial Intelligence and Statistics (AIStats).

Peters, J.; Kober, J. (2009). Using Reward-Weighted Imitation for Robot Reinforcement Learning, Proceedings of the 2009 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning..

Hachiya, H.; Akiyama, T.; Sugiyama, M.; Peters, J. (2009). Efficient Data Reuse in Value Function Approximation, Proceedings of the 2009 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning..

Kober, J.; Peters, J. (2009). Learning Motor Primitives for Robotics, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).

Piater, J.; Jodogne, S.; Detry, R.; Kraft, D.; Krueger, N.; Kroemer, O.; Peters, J. (2009). Learning Visual Representations for Interactive Systems, Proceedings of the International Symposium on Robotics Research (ISRR), Invited Paper.

Kober, J., and Peters, J. (2009). Learning Motor Primitives for Robotics, Proceedings of Autonome Mobile Systeme (AMS 2009).

Muelling, K., and Peters, J. (2009). A computational model of human table tennis for robot application, Proceedings of Autonome Mobile Systeme (AMS 2009).

Kroemer, O., Detry, R., Piater, J., and Peters, J. (2009). Active Learning Using Mean Shift Optimization for Robot Grasping, Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009).

Nguyen-Tuong, D., Schoelkopf, B., and Peters, J. (2009). Sparse Online Model Learning for Robot Control with Support Vector Regression, Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009).

Sigaud, O.; Peters, J. (2009). From Motor Learning to Interaction Learning in Robots, Proceedings of Journees Nationales de la Recherche en Robotique.

Neumann, G.; Maass, W; Peters, J. (2009). Learning Complex Motions by Sequencing Simpler Motion Templates, Proceedings of the International Conference on Machine Learning (ICML2009).

Detry, R; Baseski, E.; Popovic, M.; Touati, Y.; Krueger, N; Kroemer, O.; Peters, J.; Piater, J; (2009). Learning Object-specific Grasp Affordance Densities, Proceedings of the International Conference on Development & Learning (ICDL 2009).

Lampert, C.H.; Peters, J. (2009). Active Structured Learning for High-Speed Object Detection, Proceedings of the DAGM (Pattern Recognition).

Deisenroth, M.; Peters, J.; Rasmussen, C. (2008). Approximate Dynamic Programming with Gaussian Processes, American Control Conference. [PDF]

Nguyen-Tuong, D.; Peters, J.; Seeger, M.; Schoelkopf, B. (2008). Computed Torque Control with Nonparametric Regressions Techniques, American Control Conference. [PDF]

Deisenroth, M.P., Rasmussen, C.E.; Peters, J (2008). Model-Based Reinforcement Learning with Continuous States and Actions, Proceedings of the European Symposium on Artificial Neural Networks (ESANN 2008). [PDF]

Nguyen-Tuong, D.; Peters, J.; Seeger, M.; Schoelkopf, B. (2008). Learning Inverse Dynamics: a Comparison, Proceedings of the European Symposium on Artificial Neural Networks (ESANN 2008). [PDF]

Peters, J.; Nguyen-Tuong, D. (2008). Real-Time Learning of Resolved Velocity Control on a Mitsubishi PA-10, International Conference on Robotics and Automation (ICRA). [PDF]

Hachiya, H.; Akiyama, T.; Sugiyama, M.; Peters, J. (2008). Adaptive Importance Sampling with Automatic Model Selection in Value Function Approximation, Proceedings of the Twenty-Third National Conference on Artificial Intelligence (AAAI 2008). [PDF]

Wierstra,D.; Schaul,T.; Peters, J.; Schmidhuber, J. (2008). Natural Evolution Strategies, 2008 IEEE Congress on Evolutionary Computation. [PDF]

Nguyen-Tuong, D.; Peters, J. (2008). Local Gaussian Processes Regression for Real-time Model-based Robot Control, International Conference on Intelligent Robot Systems (IROS). [PDF]

Kober, J.; Mohler, B.; Peters, J. (2008). Learning Perceptual Coupling for Motor Primitives, International Conference on Intelligent Robot Systems (IROS). [PDF]

Wierstra, D.; Schaul, T.; Peters, J.; Schmidthuber, J. (2008). Fitness Expectation Maximization, 10th International Conference on Parallel Problem Solving from Nature (PPSN 2008). [PDF]

Wierstra,D.; Schaul,T.; Peters, J.; Schmidhuber, J. (2008). Episodic Reinforcement Learning by Logistic Reward-Weighted Regression, Proceedings of the International Conference on Artificial Neural Networks (ICANN). [PDF]

Sehnke, F.; Osendorfer, C; Rueckstiess, T; Graves, A.; Peters, J.; Schmidhuber, J. (2008). Policy Gradients with Parameter-based Exploration for Control, Proceedings of the International Conference on Artificial Neural Networks (ICANN). [PDF]

Peters, J.; Kober, J.; Nguyen-Tuong, D. (2008). Policy Learning – a unified perspective with applications in robotics, Proceedings of the European Workshop on Reinforcement Learning (EWRL).
[Keywords: reinforcement learning, policy gradient, weighted regression] [PDF]

Kober, J.; Peters, J. (2008). Reinforcement Learning of Perceptual Coupling for Motor Primitives, Proceedings of the European Workshop on Reinforcement Learning (EWRL).

Nguyen-Tuong, D.; Peters, J. (2008). Learning Robot Dynamics for Computed Torque Control using Local Gaussian Processes Regression, Proceedings of the ECSIS Symposium on Learning and Adaptive Behavior in Robotic Systems, LAB-RS 2008. [PDF]

Peters, J., Schaal, S. (2007). Policy Learning for Motor Skills, Proceedings of 14th International Conference on Neural Information Processing (ICONIP).
[Keywords: Machine Learning, Reinforcement Learning, Robotics, Motor Primitives, Policy Gradients, Natural Actor-Critic, Reward-Weighted Regression] [PDF]

Wierstra, D.; Foerster, A.; Peters, J.; Schmidhuber, J. (2007). Solving Deep Memory POMDPs with Recurrent Policy Gradients, Proceedings of the International Conference on Artificial Neural Networks (ICANN).
[Keywords: policy gradients, reinforcement learning] [PDF]

Peters, J.; Schaal, S.; Schoelkopf, B. (2007). Towards Machine Learning of Motor Skills, Proceedings of Autonome Mobile Systeme (AMS).
[Keywords: Motor Skill Learning, Robotics, Natural Actor-Critic, Reward-Weighted Regeression] [PDF]

Theodorou, E; Peters, J; Schaal, S. (2007). Reinforcement Learning for Optimal Control of Arm Movements, Abstracts of the 37st Meeting of the Society of Neuroscience..
[Keywords: Optimal Control,Reinforcement Learning, Arm Movements]

Nakanishi, J.;Mistry, M.;Peters, J.;Schaal, S. (2007). Experimental evaluation of task space position/orientation control towards compliant control for humanoid robots, IEEE International Conference on Intelligent Robotics Systems (IROS 2007).
[Keywords: operational space control, quaternion, task space control, resolved motion rate control, resolved acceleration, force control] [PDF]

Peters, J.;Schaal, S. (2007). Reinforcement learning for operational space control, International Conference on Robotics and Automation (ICRA2007), pp.2111-2116.
[Keywords: operational space control, reinforcement learning, weighted regression, EM-Algorithm] [PDF]

Peters, J.;Schaal, S. (2007). Using reward-weighted regression for reinforcement learning of task space control, Proceedings of the 2007 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning.
[Keywords: reinforcement learning, cart-pole, policy gradient methods] [PDF]

Peters, J.;Schaal, S. (2007). Applying the episodic natural actor-critic architecture to motor primitive learning, Proceedings of the 2007 European Symposium on Artificial Neural Networks (ESANN).
[Keywords: reinforcement learning, policy gradient methods, motor primitives, natural actor-critic] [PDF]

Peters, J.;Schaal, S. (2007). Reinforcement learning by reward-weighted regression for operational space control, Proceedings of the International Conference on Machine Learning (ICML2007).
[Keywords: reinforcement learning, operational space control, weighted regression] [PDF]

Peters, J.;Theodorou, E.;Schaal, S. (2007). Policy gradient methods for machine learning, INFORMS Conference of the Applied Probability Society.
[Keywords: policy gradient methods, reinforcement learning, simulation-optimization]

Riedmiller, M.;Peters, J.;Schaal, S. (2007). Evaluation of policy gradient methods and variants on the cart-pole benchmark, Proceedings of the 2007 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning.
[Keywords: reinforcement learning, cart-pole, policy gradient methods] [PDF]

Peters, J.;Schaal, S. (2006). Learning operational space control, in: Burgard, W.;Sukhatme, G. S.;Schaal, S. (eds.), Robotics: Science and Systems (RSS 2006), Cambridge, MA: MIT Press.
[Keywords: operational space control redundancy forward models inverse models compliance reinforcement leanring locally weighted learning] [PDF]

Peters, J.;Schaal, S. (2006). Reinforcement Learning for Parameterized Motor Primitives, Proceedings of the 2006 International Joint Conference on Neural Networks (IJCNN 2006).
[Keywords: motor primitives, reinforcement learning] [PDF]

Ting, J.;Mistry, M.;Nakanishi, J.;Peters, J.;Schaal, S. (2006). A Bayesian approach to nonlinear parameter identification for rigid body dynamics, in: Burgard, W.;Sukhatme, G. S.;Schaal, S. (eds.), Robotics: Science and Systems (RSS 2006), Cambridge, MA: MIT Press.
[Keywords: Bayesian regression linear models dimensionality reduction input noise rigid body dynamics parameter identification] [PDF]

Peters, J.;Schaal, S. (2006). Policy gradient methods for robotics, Proceedings of the IEEE International Conference on Intelligent Robotics Systems (IROS 2006).
[Keywords: policy gradient methods, reinforcement learning, robotics] [PDF]

Nakanishi, J.;Cory, R.;Mistry, M.;Peters, J.;Schaal, S. (2005). Comparative experiments on task space control with redundancy resolution, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.3901-3908.
[Keywords: manipulator dynamics redundant manipulators space optimization dynamical decoupling humanoid robots inverse kinematics motor coordination redundancy resolution robot dynamics seven-degree-of-freedom anthropomorphic robot arm task space control Dynamical d] [PDF]

Peters, J.;Vijayakumar, S.;Schaal, S. (2005). Natural Actor-Critic, in: Gama, J.;Camacho, R.;Brazdil, P.;Jorge, A.;Torgo, L. (eds.), Proceedings of the 16th European Conference on Machine Learning (ECML 2005), 3720, pp.280-291, Springer.
[Keywords: Reinforcement Learning, Policy Gradients, Natural Gradients] [PDF]

Peters, J.;Mistry, M.;Udwadia, F. E.;Schaal, S. (2005). A new methodology for robot control design, The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005).
[Keywords: robot control, nonlinear control, gauss principle] [PDF]

Peters, J.;Mistry, M.;Udwadia, F. E.;Cory, R.;Nakanishi, J.;Schaal, S. (2005). A unifying framework for the control of robotics systems, IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp.1824-1831. [PDF]

Schaal, S.;Peters, J.;Nakanishi, J.;Ijspeert, A. (2004). Learning Movement Primitives, International Symposium on Robotics Research (ISRR2003), Springer.
[Keywords: movement primitives, supervised learning, reinforcment learning, locomotion, phase resetting, learning from demonstration] [PDF]

Peters, J.; Schaal, S. (2004). Learning Motor Primitives with Reinforcement Learning, Proceedings of the 11th Joint Symposium on Neural Computation.
[Keywords: natural policy gradients, motor primitives, natural actor-critic]

Mohajerian, P.;Peters, J.;Ijspeert, A.;Schaal, S. (2003). A unifying computational framework for optimization and dynamic systems approaches to motor control, Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003).
[Keywords: computational motor control, optimization, dynamic systems, formal modeling] [PDF]

Peters, J.;Vijayakumar, S.;Schaal, S. (2003). Reinforcement learning for humanoid robotics, IEEE-RAS International Conference on Humanoid Robots (Humanoids2003).
[Keywords: reinforcement learning, policy gradients, movement primitives, behaviors, dynamic systems, humanoid robotics] [PDF]

Peters, J.;Vijayakumar, S.;Schaal, S. (2003). Scaling reinforcement learning paradigms for motor learning, Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003).
[Keywords: Reinforcement learning, neurodynamic programming, actorcritic methods, policy gradient methods, natural policy gradient] [PDF]

Schaal, S.;Peters, J.;Nakanishi, J.;Ijspeert, A. (2003). Control, planning, learning, and imitation with dynamic movement primitives, Workshop on Bilateral Paradigms on Humans and Humanoids, IEEE International Conference on Intelligent Robots and Systems (IROS 2003).
[Keywords: movement primitives, supervised learning, reinforcment learning, locomotion, phase resetting, learning from demonstration] [PDF]

Burdet, E.; Tee, K.P.; Chew, C.M.; Peters, J.; Bt, V.L. (2001). Hybrid IDM/Impedance Learning in Human Movements, First International Symposium on Measurement, Analysis and Modeling of Human Functions Proceedings.
[Keywords: human motor control]

Peters, J; Riener, R (2000). A real-time model of the human knee for application in virtual orthopaedic trainer, Proceedings of the 10th International Conference on Biomedical Engineering Conference (ICBME).
[Keywords: Biomechanics, human motor control]