Redundancy Resolution as Action Bias in Policy Search for Robotic Manipulation. - Firas Al-Hafez; Jochen J. Steil (CoRL, 2021)

LS-IQ: Implicit Reward Regularization for Inverse Reinforcement Learning. - Firas Al-Hafez; Davide Tateo; Oleg Arenz; Guoping Zhao; Jan Peters 001 (ICLR, 2023)

LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for Locomotion. - Firas Al-Hafez; Guoping Zhao; Jan Peters 001; Davide Tateo (CoRR, 2023)

Exciting Action: Investigating Efficient Exploration for Learning Musculoskeletal Humanoid Locomotion. - Henri-Jacques Geiß; Firas Al-Hafez; André Seyfarth; Jan Peters 001; Davide Tateo (Humanoids, 2024)

Time-Efficient Reinforcement Learning with Stochastic Stateful Policies. - Firas Al-Hafez; Guoping Zhao; Jan Peters 001; Davide Tateo (ICLR, 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)