Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors. - Steven Bohez; Saran Tunyasuvunakool; Philemon Brakel; Fereshteh Sadeghi; Leonard Hasenclever; Yuval Tassa; Emilio Parisotto; Jan Humplik; Tuomas Haarnoja; Roland Hafner; Markus Wulfmeier; Michael Neunert; et al. (CoRR, 2022)

NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields. - Arunkumar Byravan; Jan Humplik; Leonard Hasenclever; Arthur Brussee; Francesco Nori; Tuomas Haarnoja; Ben Moran; Steven Bohez; Fereshteh Sadeghi; Bojan Vujatovic; Nicolas Heess (ICRA, 2023)

Score-based generative models learn manifold-like structures with constrained mixing. - Li Kevin Wenliang; Ben Moran (CoRR, 2023)

SkillS: Adaptive Skill Sequencing for Efficient Temporally-Extended Exploration. - Giulia Vezzani; Dhruva Tirumala; Markus Wulfmeier; Dushyant Rao; Abbas Abdolmaleki; Ben Moran; Tuomas Haarnoja; Jan Humplik; Roland Hafner; Michael Neunert; Claudio Fantacci; Tim Hertweck; et al. (Trans. Mach. Learn. Res., 2023)

Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning. - Dhruva Tirumala; Markus Wulfmeier; Ben Moran; Sandy H. Huang; Jan Humplik; Guy Lever; Tuomas Haarnoja; Leonard Hasenclever; Arunkumar Byravan; Nathan Batchelor; Neil Sreendra; Kushal Patel; et al. (CoRL, 2024)

Replay across Experiments: A Natural Extension of Off-Policy RL. - Dhruva Tirumala; Thomas Lampe; José Enrique Chen; Tuomas Haarnoja; Sandy H. Huang; Guy Lever; Ben Moran; Tim Hertweck; Leonard Hasenclever; Martin A. Riedmiller; Nicolas Heess; Markus Wulfmeier (ICLR, 2024)

Learning agile soccer skills for a bipedal robot with deep reinforcement learning. - Tuomas Haarnoja; Ben Moran; Guy Lever; Sandy H. Huang; Dhruva Tirumala; Jan Humplik; Markus Wulfmeier; Saran Tunyasuvunakool; Noah Y. Siegel; Roland Hafner; Michael Bloesch; Kristian Hartikainen; et al. (Sci. Robotics, 2024)

Data Release for: Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning. - Tuomas Haarnoja; Ben Moran; Guy Lever; Sandy H. Huang; Dhruva Tirumala; Jan Humplik; Markus Wulfmeier; Saran Tunyasuvunakool; Noah Y. Siegel; Roland Hafner; Michael Bloesch; Kristian Hartikainen; et al. (Zenodo, 2024)

Proc4Gem: Foundation models for physical agency through procedural generation. - Yixin Lin; Jan Humplik; Sandy H. Huang; Leonard Hasenclever; Francesco Romano; Stefano Saliceti; Daniel Zheng; José Enrique Chen; Catarina Barros; Adrian Collister; Matt Young; Adil Dostmohamed; et al. (CoRR, 2025)

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data. - Ben Moran; Mauro Comi; Arunkumar Byravan; Steven Bohez; Tom Erez; Zhibin Li; Leonard Hasenclever (CoRR, 2025)