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)

Generalized Multiple Correlation Coefficient as a Similarity Measurement between Trajectories. - Julen Urain; Jan Peters 001 (IROS, 2019)

ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows. - Julen Urain; Michele Ginesi; Davide Tateo; Jan Peters 001 (IROS, 2020)

Structured Policy Representation: Imposing Stability in arbitrarily conditioned dynamic systems. - Julen Urain; Davide Tateo; Tianyu Ren; Jan Peters 001 (CoRR, 2020)

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; et al. (NeurIPS (Competition and Demos), 2021)

A Robot Cluster for Reproducible Research in Dexterous Manipulation. - Stefan Bauer; Felix Widmaier; Manuel Wüthrich; Niklas Funk; Julen Urain De Jesus; Jan Peters 001; Joe Watson; Claire Chen; Krishnan Srinivasan; Junwu Zhang; Jeffrey Zhang 005; Matthew R. Walter; et al. (CoRR, 2021)

Learning Implicit Priors for Motion Optimization. - Julen Urain; An T. Le 001; Alexander Lambert; Georgia Chalvatzaki; Byron Boots; Jan Peters 001 (IROS, 2022)

A Hierarchical Approach to Active Pose Estimation. - Jascha Hellwig; Mark Baierl; João Carvalho; Julen Urain; Jan Peters 001 (CoRR, 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; et al. (IEEE Robotics Autom. Lett., 2022)

Learning Stable Vector Fields on Lie Groups. - Julen Urain; Davide Tateo; Jan Peters 001 (IEEE Robotics Autom. Lett., 2022)

Hierarchical Policy Blending as Inference for Reactive Robot Control. - Kay Hansel; Julen Urain; Jan Peters 001; Georgia Chalvatzaki (ICRA, 2023)

SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion. - Julen Urain; Niklas Funk; Jan Peters 001; Georgia Chalvatzaki (ICRA, 2023)

Composable energy policies for reactive motion generation and reinforcement learning. - Julen Urain; Anqi Li 001; Puze Liu; Carlo D'Eramo; Jan Peters 001 (Int. J. Robotics Res., 2023)

PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations. - Cheng Qian; Julen Urain; Kevin Zakka; Jan Peters 001 (CoRL, 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 001 (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 001 (CoRR, 2024)

Global Tensor Motion Planning. - An T. Le 001; Kay Hansel; João Carvalho; Joe Watson; Julen Urain; Armin Biess; Georgia Chalvatzaki; Jan Peters 001 (CoRR, 2024)

Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR3. - Joao Carvalho; An T. Le 001; Philipp Jahr; Qiao Sun; Julen Urain; Dorothea Koert; Jan Peters 001 (CoRR, 2024)

Deep Generative Models for Motion Planning and Control. - Julen Urain (2024)

Noise-conditioned Energy-based Annealed Rewards (NEAR): A Generative Framework for Imitation Learning from Observation. - Anish Abhijit Diwan; Julen Urain; Jens Kober; Jan Peters 001 (ICLR, 2025)

Global Tensor Motion Planning. - An T. Le 001; Kay Pompetzki; João Carvalho; Joe Watson; Julen Urain; Armin Biess; Georgia Chalvatzaki; Jan Peters 001 (IEEE Robotics Autom. Lett., 2025)