Julen Urain De Jesus

According to our database, Julen Urain De Jesus authored at least 21 papers between 2018 and 2025.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2025

Global Tensor Motion Planning.

An T. Le, Kay Pompetzki, João Carvalho, Joe Watson, Julen Urain, Armin Biess, Georgia Chalvatzaki, Jan Peters

IEEE Robotics Autom. Lett., July, 2025

Noise-conditioned Energy-based Annealed Rewards (NEAR): A Generative Framework for Imitation Learning from Observation.

Anish Abhijit Diwan, Julen Urain, Jens Kober, Jan Peters

Proceedings of the Thirteenth International Conference on Learning Representations, 2025

2024

Deep Generative Models for Motion Planning and Control.

Julen Urain

PhD thesis, 2024

Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR3.

Joao Carvalho, An T. Le, Philipp Jahr, Qiao Sun, Julen Urain, Dorothea Koert, Jan Peters

CoRR, 2024

Global Tensor Motion Planning.

An T. Le, Kay Hansel, João Carvalho, Joe Watson, Julen Urain, Armin Biess, Georgia Chalvatzaki, Jan Peters

CoRR, 2024

ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching.

Niklas Funk, Julen Urain, Joao Carvalho, Vignesh Prasad, Georgia Chalvatzaki, Jan Peters

CoRR, 2024

Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrations.

Julen Urain, Ajay Mandlekar, Yilun Du, Mahi Shafiullah, Danfei Xu, Katerina Fragkiadaki, Georgia Chalvatzaki, Jan Peters

CoRR, 2024

PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations.

Cheng Qian, Julen Urain, Kevin Zakka, Jan Peters

Proceedings of the Conference on Robot Learning, 6-9 November 2024, Munich, Germany., 2024

2023

Composable energy policies for reactive motion generation and reinforcement learning.

Julen Urain, Anqi Li, Puze Liu, Carlo D'Eramo, Jan Peters

Int. J. Robotics Res., September, 2023

SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion.

Julen Urain, Niklas Funk, Jan Peters, Georgia Chalvatzaki

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Hierarchical Policy Blending as Inference for Reactive Robot Control.

Kay Hansel, Julen Urain, Jan Peters, Georgia Chalvatzaki

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Learning Stable Vector Fields on Lie Groups.

Julen Urain, Davide Tateo, Jan Peters

IEEE Robotics Autom. Lett., 2022

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation.

Niklas Funk, Charles B. Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain De Jesus, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter, Jan Peters

IEEE Robotics Autom. Lett., 2022

A Hierarchical Approach to Active Pose Estimation.

Jascha Hellwig, Mark Baierl, João Carvalho, Julen Urain, Jan Peters

CoRR, 2022

Learning Implicit Priors for Motion Optimization.

Julen Urain, An T. Le, Alexander Lambert, Georgia Chalvatzaki, Byron Boots, Jan Peters

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

2021

A Robot Cluster for Reproducible Research in Dexterous Manipulation.

Stefan Bauer, Felix Widmaier, Manuel Wüthrich, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew R. Walter, Rishabh Madan, Charles B. Schaff, Takahiro Maeda, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan K. Gordon, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa, Animesh Garg, Annika Buchholz, Sebastian Stark, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bernhard Schölkopf

CoRR, 2021

Real Robot Challenge: A Robotics Competition in the Cloud.

Stefan Bauer, Manuel Wüthrich, Felix Widmaier, Annika Buchholz, Sebastian Stark, Anirudh Goyal, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vincent Berenz, Vaibhav Agrawal, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew R. Walter, Rishabh Madan, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan K. Gordon, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa, Animesh Garg, Takahiro Maeda, Harshit Sikchi, Jilong Wang, Qingfeng Yao, Shuyu Yang, Robert McCarthy, Francisco Roldan Sanchez, Qiang Wang, David Cordova Bulens, Kevin McGuinness, Noel E. O'Connor, Stephen J. Redmond, Bernhard Schölkopf

Proceedings of the NeurIPS 2021 Competitions and Demonstrations Track, 2021

2020

Structured Policy Representation: Imposing Stability in arbitrarily conditioned dynamic systems.

Julen Urain, Davide Tateo, Tianyu Ren, Jan Peters

CoRR, 2020

ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows.

Julen Urain, Michele Ginesi, Davide Tateo, Jan Peters

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

2019

Generalized Multiple Correlation Coefficient as a Similarity Measurement between Trajectories.

Julen Urain, Jan Peters

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018

Human Intention Detection as a Multiclass Classification Problem: Application in Physical Human-Robot Interaction While Walking.

Jessica Lanini, Hamed Razavi, Julen Urain, Auke Jan Ijspeert

IEEE Robotics Autom. Lett., 2018