Assessment of limit-cycle-based control on 2D kneed biped. - Jose-Luis Peralta-Cabezas; Tuomas Haarnoja; Tomi Ylikorpi; Aarne Halme (ICRA, 2011)

Model-based velocity control for Limit Cycle Walking. - Tuomas Haarnoja; Jose-Luis Peralta-Cabezas; Aarne Halme (IROS, 2011)

An estimator for the eigenvalues of the system matrix of a periodic-reference LMS algorithm. - Tuomas Haarnoja; Kari Tammi; Kai Zenger (ICASSP, 2012)

Exact LTP Representation of the Generalized Periodic-Reference FxLMS Algorithm. - Tuomas Haarnoja; Kari Tammi; Kai Zenger (IEEE Trans. Signal Process., 2014)

Backprop KF: Learning Discriminative Deterministic State Estimators. - Tuomas Haarnoja; Anurag Ajay; Sergey Levine; Pieter Abbeel (NIPS, 2016)

Reinforcement Learning with Deep Energy-Based Policies. - Tuomas Haarnoja; Haoran Tang; Pieter Abbeel; Sergey Levine (ICML, 2017)

Latent Space Policies for Hierarchical Reinforcement Learning. - Tuomas Haarnoja; Kristian Hartikainen; Pieter Abbeel; Sergey Levine (ICML, 2018)

Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor. - Tuomas Haarnoja; Aurick Zhou; Pieter Abbeel; Sergey Levine (ICML, 2018)

Composable Deep Reinforcement Learning for Robotic Manipulation. - Tuomas Haarnoja; Vitchyr Pong; Aurick Zhou; Murtaza Dalal; Pieter Abbeel; Sergey Levine (ICRA, 2018)

Soft Actor-Critic Algorithms and Applications. - Tuomas Haarnoja; Aurick Zhou; Kristian Hartikainen; George Tucker; Sehoon Ha; Jie Tan 001; Vikash Kumar; Henry Zhu; Abhishek Gupta 004; Pieter Abbeel; Sergey Levine (CoRR, 2018)

Acquiring Diverse Robot Skills via Maximum Entropy Deep Reinforcement Learning. - Tuomas Haarnoja (2018)

Learning to Walk Via Deep Reinforcement Learning. - Tuomas Haarnoja; Sehoon Ha; Aurick Zhou; Jie Tan 001; George Tucker; Sergey Levine (Robotics: Science and Systems, 2019)

Dynamical Distance Learning for Unsupervised and Semi-Supervised Skill Discovery. - Kristian Hartikainen; Xinyang Geng; Tuomas Haarnoja; Sergey Levine (CoRR, 2019)

Dynamical Distance Learning for Semi-Supervised and Unsupervised Skill Discovery. - Kristian Hartikainen; Xinyang Geng; Tuomas Haarnoja; Sergey Levine (ICLR, 2020)

Towards Real Robot Learning in the Wild: A Case Study in Bipedal Locomotion. - Michael Bloesch; Jan Humplik; Viorica Patraucean; Roland Hafner; Tuomas Haarnoja; Arunkumar Byravan; Noah Yamamoto Siegel; Saran Tunyasuvunakool; Federico Casarini; Nathan Batchelor; Francesco Romano; Stefano Saliceti; et al. (CoRL, 2021)

Forgetting and Imbalance in Robot Lifelong Learning with Off-policy Data. - Wenxuan Zhou; Steven Bohez; Jan Humplik; Nicolas Heess; Abbas Abdolmaleki; Dushyant Rao; Markus Wulfmeier; Tuomas Haarnoja (CoLLAs, 2022)

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)

Offline Distillation for Robot Lifelong Learning with Imbalanced Experience. - Wenxuan Zhou; Steven Bohez; Jan Humplik; Abbas Abdolmaleki; Dushyant Rao; Markus Wulfmeier; Tuomas Haarnoja; Nicolas Heess (CoRR, 2022)

From motor control to team play in simulated humanoid football. - Siqi Liu 002; Guy Lever; Zhe Wang 055; Josh Merel; S. M. Ali Eslami; Daniel Hennes; Wojciech M. Czarnecki; Yuval Tassa; Shayegan Omidshafiei; Abbas Abdolmaleki; Noah Y. Siegel; Leonard Hasenclever; et al. (Sci. Robotics, 2022)

Figure Data for the paper "From Motor Control to Team Play in Simulated Humanoid Football". - Siqi Liu 002; Guy Lever; Zhe Wang 055; Josh Merel; S. M. Ali Eslami; Daniel Hennes; Wojciech Czarnecki 001; Yuval Tassa; Shayegan Omidshafiei; Abbas Abdolmaleki; Noah Y. Siegel; Leonard Hasenclever; et al. (Zenodo, 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)

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)