JP
Jan Peters
cs.LGcs.ROcs.AIstat.MLcs.SYeess.SYcs.HCcs.CVReinforcement, PsychologyArtificial Intelligence
On Valency
published · living versionsW_9yx7tx3d·v1 · currentpublished
Retrieve to Act: Motion Primitive Graph Retrieval for Robust VLA Execution
with Pham Tri Quang, Bao-Ngoc Dao, Minh Duc Nguyen, Duc-Duy Nguyen +13
1 version
W_4rknqf4q·v1published
W_fnd2jxua·v1published
W_pcj475z5·v1published
Preprints & journals
274 papers in the corpus · 2008–2026Diminishing Return of Value Expansion Methods.42461745 · Palenicek, Daniel, Lutter, Michael, Carvalho, Joao et al.2026 · 0 citationsIEEE transactions on pattern analysis and machine intelligence. 2026;48(11):14351-14361
Integrating Flow Matching and Model Predictive Control for Safe Robot Navigation2610.29377v1 · Philipp Holzmann, Maik Pfefferkorn, Joao Carvalho et al.2026 · 0 citationsarXivon Valency
Safe Reinforcement Learning with Receding-Horizon Safety Critic and Differentiable Action Shields2610.20255v1 · Siwei Ju, Jan Peters, Oleg Arenz2026 · 0 citationsarXiv
Continual Graph Multi-Agent Reinforcement Learning2610.10302v1 · Tommaso Marzi, Ahmed Hendawy, Jan Peters et al.2026 · 0 citationsarXiv
Do My Samples Help? Compute Budget Allocation for Real-World Sampling-Based MPC in Contact-Rich Manipulation2610.14064v1 · Magnus Dierking, Joao Carvalho, Vince Kurtz et al.2026 · 0 citationsarXiv
BluffJAX: Adversarial Imperfect Information Games in JAX2610.07686v1 · Aryaman Reddi, Jan Peters, Carlo D'Eramo2026 · 0 citationsarXiv
Exploiting Hierarchical Controller Structure in Contextual Parameter Learning for Humanoid Loco-Manipulation2610.04609v1 · Sebastian Hirt, Lukas Theiner, Jan Peters et al.2026 · 0 citationsarXiv
A Geometric Perspective on Reward Function Updates in Inverse Reinforcement Learning2610.14041v1 · Anish Diwan, Jan Peters, Oleg Arenz2026 · 0 citationsarXiv
Neuro-Symbolic Predicate Learning for Semantic Safe Robot Control2609.39594v1 · Zihan Ye, Jiayi Liu, Puze Liu et al.2026 · 0 citationsarXiv
Does This Action Still Explain the Task? Reverse Scoring for Diffusion Language Model Agents2609.38536v1 · Jiacheng Qiu, Christopher E. Mower, Jan Peters et al.2026 · 0 citationsarXiv
Embedding Physics Priors in Robot Learning: A Survey2609.22319v1 · Mattia Piccinini, Lucas Schulze, Alice Plebe et al.2026 · 0 citationsarXiv
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning2608.07558v1 · Shilin Shan, Chuhao Zhou, Ruize Wang et al.2026 · 0 citationsarXiv
Directional Constraints for Efficient Exploration in Safe Reinforcement Learning2607.12784v1 · Paolo Magliano, Puze Liu, Jan Peters et al.2026 · 0 citationsarXiv
More Structure, Not More Capacity: Object-Centric Representations for Visuomotor Imitation Learning2607.09825v1 · Yi Li (TU Darmstadt), Alexandre Chapin (LIRIS), Liming Chen (LIRIS) et al.2026 · 0 citationsarXiv
Scalable Multi-Task Data Generation via Reinforcement Learning for Language-Conditioned Bimanual Dexterous Manipulation2606.22471v2 · Zechu Li, Yufeng Jin, Puze Liu et al.2026 · 0 citationsIROS 2026
Finetuning Vision-Language-Action Models Requires Fewer Layers Than You Think2606.20246v2 · Gia-Binh Nguyen, Trong-Bao Ho, Thien-Loc Ha et al.2026 · 0 citationsarXiv
Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation2606.20712v1 · Magnus Dierking, Joao Carvalho, An Thai Le et al.2026 · 0 citationsarXiv
Task-Error Residual Learning for Real-Robot Five-Ball Juggling2606.16978v2 · Kai Ploeger, Alap Kshirsagar, Jan Peters2026 · 0 citationsarXiv
Robots Need More than VLA and World Models2606.06556v1 · Elis Karcini, Faisal Mehrban, Quang Nguyen et al.2026 · 0 citationsarXiv
Shape Your Body: Value Gradients for Multi-Embodiment Robot Design2606.00702v2 · Nico Bohlinger, Jan Peters2026 · 0 citationsarXiv
The Challenges of Using Reinforcement Learning for Controlling Industrial Energy Systems2605.31044v2 · Tobias Lademann, Th'eo Vincent, Jan Peters et al.2026 · 0 citationsarXiv
Streaming Reinforcement Learning under Partial Observability with Real-Time Recurrent Learning2605.24709v2 · Noah Farr, Aryaman Reddi, Carlo D'Eramo et al.2026 · 0 citationsarXiv
The earlier you know, the smoother you act: anticipatory control in solo and dyadic juggling.42118263 · Chowdhury, Abir, Maurer, Heiko, Kshirsagar, Alap et al.2026 · 0 citationsExperimental brain research. 2026;244(6)
Trust Region Inverse Reinforcement Learning: Explicit Dual Ascent using Local Policy Updates2605.11020v2 · Anish Diwan, Davide Tateo, Christopher E. Mower et al.2026 · 0 citationsarXiv
Evaluation of an Actuated Spine in Agile Quadruped Locomotion2605.07988v1 · Nico Bohlinger, Piotr Kicki, Davide Tateo et al.2026 · 0 citationsarXiv
Active Embodiment Identification with Reinforcement Learning for Legged Robots2605.08020v1 · Nico Bohlinger, Jan Peters2026 · 0 citationsarXiv
Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments2604.09323v1 · Reza Nazmara, Alap Kshirsagar, Jan Peters et al.2026 · 0 citationsMechatronics, Vol. 118, 103552 (2026)
Task-Aware Bimanual Affordance Prediction via VLM-Guided Semantic-Geometric Reasoning2604.08726v1 · Fabian Hahne, Vignesh Prasad, Georgia Chalvatzaki et al.2026 · 0 citationsarXiv
FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control2604.04539v2 · Donghu Kim, Youngdo Lee, Minho Park et al.2026 · 0 citationsarXiv
Behavior-Constrained Reinforcement Learning with Receding-Horizon Credit Assignment for High-Performance Control2604.03023v1 · Siwei Ju, Jan Tauberschmidt, Oleg Arenz et al.2026 · 0 citationsarXiv
Posterior Sampling Reinforcement Learning with Gaussian Processes for Continuous Control: Sublinear Regret Bounds for Unbounded State Spaces2603.08287v3 · Hamish Flynn, Joe Watson, Ingmar Posner et al.2026 · 0 citationsarXiv
Gradient Iterated Temporal-Difference Learning2603.07833v2 · Th'eo Vincent, Kevin Gerhardt, Yogesh Tripathi et al.2026 · 0 citationsarXiv
StructSAM: Structure- and Spectrum-Preserving Token Merging for Segment Anything Models2603.07307v2 · Duy M. H. Nguyen, Tuan A. Tran, Duong Nguyen et al.2026 · 0 citationsarXiv
GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins2603.05108v1 · Yichen Cai, Paul Jansonnie, Cristiana de Farias et al.2026 · 0 citationsarXiv
Mathematical Foundations of Modeling ETL Process Chains2603.29877v1 · Levin Maier, Lucas Schulze, Robert Lilow et al.2026 · 0 citationsarXiv
The Earlier You Know, the Smoother You Act10.1101/2025.11.08.687371v1 · Chowdhury, A., Maurer, H., Kshirsagar, A. et al.2025 · 0 citationsbioRxiv
Floating-Base Deep Lagrangian Networks2510.17270v2 · Lucas Schulze, Juliano Decico Negri, Victor Barasuol et al.2025 · 0 citationsarXiv
Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation2510.13324v1 · Erik Helmut, Niklas Funk, Tim Schneider et al.2025 · 0 citationsarXiv
Discrete Variational Autoencoding via Policy Search2509.24716v3 · Michael Drolet, Firas Al-Hafez, Aditya Bhatt et al.2025 · 0 citationsarXiv
Investigating the Effect of LED Signals and Emotional Displays in Human-Robot Shared Workspaces2509.14748v1 · Maria Ibrahim, Alap Kshirsagar, Dorothea Koert et al.2025 · 0 citationsarXiv
The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation2509.03222v1 · Sophia Bianchi Moyen, Rickmer Krohn, Sophie Lueth et al.2025 · 1 citationarXiv
Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization2509.02815v1 · Nico Bohlinger, Jan Peters2025 · 0 citationsarXiv
DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion2506.12095v1 · Khang Nguyen, An T. Le, Jan Peters et al.2025 · 1 citationarXiv
Scaling CrossQ with Weight Normalization2506.03758v1 · Daniel Palenicek, Florian Vogt, Jan Peters2025 · 0 citationsarXiv
Bridging the Performance Gap Between Target-Free and Target-Based Reinforcement Learning2506.04398v3 · Th'eo Vincent, Yogesh Tripathi, Tim Faust et al.2025 · 0 citationsarXiv
Maximum Total Correlation Reinforcement Learning2505.16734v1 · Bang You, Puze Liu, Huaping Liu et al.2025 · 0 citationsarXiv
Learning Hierarchical Domain Models Through Environment-Grounded Interaction2505.13497v3 · Claudius Kienle, Benjamin Alt, Oleg Arenz et al.2025 · 0 citationsarXiv
On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting2504.13618v4 · Niklas Funk, Changqi Chen, Tim Schneider et al.2025 · 1 citationarXiv
Constrained Gaussian Process Motion Planning via Stein Variational Newton Inference2504.04936v1 · Jiayun Li, Kay Pompetzki, An Thai Le et al.2025 · 0 citationsarXiv
Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition2503.15290v1 · Felix Wiebe, Niccolo Turcato, Alberto Dalla Libera et al.2025 · 0 citationsarXiv
Career total: at least 814 works. 274 are in this corpus.Showing the 50 most recent.
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