Catching heuristics are optimal control policies. - Boris Belousov; Gerhard Neumann; Constantin A. Rothkopf; Jan Peters 001 (NIPS, 2016)

f-Divergence constrained policy improvement. - Boris Belousov; Jan Peters 001 (CoRR, 2018)

Self-Paced Contextual Reinforcement Learning. - Pascal Klink; Hany Abdulsamad; Boris Belousov; Jan Peters 001 (CoRL, 2019)

HJB Optimal Feedback Control with Deep Differential Value Functions and Action Constraints. - Michael Lutter; Boris Belousov; Kim Listmann; Debora Clever; Jan Peters 001 (CoRL, 2019)

Receding Horizon Curiosity. - Matthias Schultheis; Boris Belousov; Hany Abdulsamad; Jan Peters 001 (CoRL, 2019)

Building a Library of Tactile Skills Based on FingerVision. - Boris Belousov; Alymbek Sadybakasov; Bastian Wibranek; Filipe Veiga; Oliver Tessmann; Jan Peters 001 (Humanoids, 2019)

Entropic Risk Measure in Policy Search. - David Nass; Boris Belousov; Jan Peters 001 (IROS, 2019)

Entropic Regularization of Markov Decision Processes. - Boris Belousov; Jan Peters 001 (Entropy, 2019)

Underactuated Waypoint Trajectory Optimization for Light Painting Photography. - Christian Eilers; Jonas Eschmann; Robin Menzenbach; Boris Belousov; Fabio Muratore; Jan Peters 001 (ICRA, 2020)

Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction. - Niklas Funk; Georgia Chalvatzaki; Boris Belousov; Jan Peters 001 (CoRL, 2021)

Neural Posterior Domain Randomization. - Fabio Muratore; Theo Gruner; Florian Wiese; Boris Belousov; Michael Gienger; Jan Peters 001 (CoRL, 2021)

Distributionally Robust Trajectory Optimization Under Uncertain Dynamics via Relative-Entropy Trust Regions. - Hany Abdulsamad; Tim Dorau; Boris Belousov; Jia-Jie Zhu; Jan Peters 001 (CoRR, 2021)

A Probabilistic Interpretation of Self-Paced Learning with Applications to Reinforcement Learning. - Pascal Klink; Hany Abdulsamad; Boris Belousov; Carlo D'Eramo; Jan Peters 001; Joni Pajarinen (J. Mach. Learn. Res., 2021)

Improving Sample Efficiency of Example-Guided Deep Reinforcement Learning for Bipedal Walking. - Rustam Galljamov; Guoping Zhao; Boris Belousov; André Seyfarth; Jan Peters 001 (Humanoids, 2022)

Active Exploration for Robotic Manipulation. - Tim Schneider; Boris Belousov; Georgia Chalvatzaki; Diego Romeres; Devesh K. Jha; Jan Peters 001 (IROS, 2022)

Active Inference for Robotic Manipulation. - Tim Schneider; Boris Belousov; Hany Abdulsamad; Jan Peters 001 (CoRR, 2022)

How Crucial is Transformer in Decision Transformer? - Max Siebenborn; Boris Belousov; Junning Huang; Jan Peters 001 (CoRR, 2022)

On Optimal Behavior Under Uncertainty in Humans and Robots - Boris Belousov (2022)

Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation. - Yaonan Zhu; Shukrullo Nazirjonov; Bingheng Jiang; Jacinto Colan; Tadayoshi Aoyama; Yasuhisa Hasegawa; Boris Belousov; Kay Hansel; Jan Peters 001 (CBS, 2023)

Pseudo-Likelihood Inference. - Theo Gruner; Boris Belousov; Fabio Muratore; Daniel Palenicek; Jan R. Peters (NeurIPS, 2023)

Continuous-Time Fitted Value Iteration for Robust Policies. - Michael Lutter; Boris Belousov; Shie Mannor; Dieter Fox; Animesh Garg; Jan Peters 001 (IEEE Trans. Pattern Anal. Mach. Intell., 2023)

Parameterized Projected Bellman Operator. - Théo Vincent; Alberto Maria Metelli; Boris Belousov; Jan Peters 001; Marcello Restelli; Carlo D'Eramo (AAAI, 2024)

Task-Adapted Single-Finger Explorations of Complex Objects. - Lisa Pui Yee Lin; Alina Böhm; Boris Belousov; Alap Kshirsagar; Tim Schneider; Jan Peters 001; Katja Doerschner; Knut Drewing (EuroHaptics (1), 2024)

CrossQ: Batch Normalization in Deep Reinforcement Learning for Greater Sample Efficiency and Simplicity. - Aditya Bhatt 001; Daniel Palenicek; Boris Belousov; Max Argus; Artemij Amiranashvili; Thomas Brox; Jan Peters 001 (ICLR, 2024)

What Matters for Active Texture Recognition With Vision-Based Tactile Sensors. - Alina Böhm; Tim Schneider; Boris Belousov; Alap Kshirsagar; Lisa Pui Yee Lin; Katja Doerschner; Knut Drewing; Constantin A. Rothkopf; Jan Peters 001 (ICRA, 2024)

Reinforcement Learning for Athletic Intelligence: Lessons from the 1st "AI Olympics with RealAIGym" Competition. - Felix Wiebe; Niccolò Turcato; Alberto Dalla Libera; Chi Zhang; Théo Vincent; Shubham Vyas; Giulio Giacomuzzo; Ruggero Carli; Diego Romeres; Akhil Sathuluri; Markus Zimmermann; Boris Belousov; et al. (IJCAI, 2024)

Iterated Q-Network: Beyond the One-Step Bellman Operator. - Théo Vincent; Daniel Palenicek; Boris Belousov; Jan Peters 001; Carlo D'Eramo (CoRR, 2024)

MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench. - Moritz Meser; Aditya Bhatt 001; Boris Belousov; Jan Peters 001 (CoRR, 2024)

Velocity-History-Based Soft Actor-Critic Tackling IROS'24 Competition "AI Olympics with RealAIGym". - Tim Lukas Faust; Habib Maraqten; Erfan Aghadavoodi; Boris Belousov; Jan Peters 001 (CoRR, 2024)

The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control. - Oleg Kaidanov; Firas Al-Hafez; Yusuf Suvari; Boris Belousov; Jan Peters 001 (CoRR, 2024)

Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis. - Erik Helmut; Luca Dziarski; Niklas Funk; Boris Belousov; Jan Peters 001 (CoRR, 2024)

TacEx: GelSight Tactile Simulation in Isaac Sim - Combining Soft-Body and Visuotactile Simulators. - Duc Huy Nguyen; Tim Schneider; Guillaume Duret; Alap Kshirsagar; Boris Belousov; Jan R. Peters (CoRR, 2024)

Adaptive Q-Network: On-the-fly Target Selection for Deep Reinforcement Learning. - Théo Vincent; Fabian Wahren; Jan Peters 001; Boris Belousov; Carlo D'Eramo (ICLR, 2025)

Iterated Q-Network: Beyond One-Step Bellman Updates in Deep Reinforcement Learning. - Théo Vincent; Daniel Palenicek; Boris Belousov; Jan Peters 001; Carlo D'Eramo (Trans. Mach. Learn. Res., 2025)

Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition. - Felix Wiebe; Niccolò Turcato; Alberto Dalla Libera; Jean Seong Bjorn Choe; BumKyu Choi; Tim Lukas Faust; Habib Maraqten; Erfan Aghadavoodi; Marco Calì; Alberto Sinigaglia; Giulio Giacomuzzo; Diego Romeres; et al. (CoRR, 2025)

Investigating Active Sampling for Hardness Classification with Vision-Based Tactile Sensors. - Junyi Chen; Alap Kshirsagar; Frederik Heller; Mario Gomez Andreu; Boris Belousov; Tim Schneider; Lisa Pui Yee Lin; Katja Doerschner; Knut Drewing; Jan Peters 001 (CoRR, 2025)

In-Hand Object Pose Estimation via Visual-Tactile Fusion. - Felix Nonnengießer; Alap Kshirsagar; Boris Belousov; Jan Peters 001 (CoRR, 2025)