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Journal papers

Vassil Atanassov, Jiatao Ding, Jens Kober, Ioannis Havoutis, and Cosimo Della Santina. Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design. IEEE Robotics & Automation Magazine, 2024. Accepted. [bibtex] [pdf] [code] [video] green open access

Rodrigo Pérez-Dattari, Cosimo Della Santina, and Jens Kober. PUMA: Deep Metric Imitation Learning for Stable Motion Primitives. Advanced Intelligent Systems, 6(11):2400144, 2024. [bibtex] [file] [doi] [code] [video] gold open access

Linda F. van der Spaa, Jens Kober, and Michael Gienger. Simultaneously Learning Intentions and Preferences during Physical Human-Robot Cooperation. Autonomous Robots, 48(4):11, 2024. [bibtex] [pdf] [doi] [code] [video] gold open access

Khaled A. Mustafa, Daniel Jarne Ornia, Jens Kober, and Javier Alonso-Mora. RACP: Risk-Aware Contingency Planning with Multi-Modal Predictions. IEEE Transactions on Intelligent Vehicles, :1-16, 2024. Early Access. [bibtex] [pdf] [doi] green open access

Jihong Zhu, Michael Gienger, Giovanni Franzese, and Jens Kober. Do You Need a Hand? - A Bimanual Robotic Dressing Assistance Scheme. IEEE Transactions on Robotics, 40:1906–1919, 2024. [bibtex] [pdf] [webpage] [doi] [video] green open access

Jiatao Ding, Vassil Atanassov, Edoardo Panichi, Jens Kober, and Cosimo Della Santina. Robust Quadrupedal Jumping with Impact-Aware Landing: Exploiting Parallel Elasticity. IEEE Transactions on Robotics, 40:3212-3231, 2024. [bibtex] [pdf] [doi] [video] green open access

Jiatao Ding, Perry Posthoorn, Vassil Atanassov, Fabio Boekel, Jens Kober, and Cosimo Della Santina. Quadrupedal Locomotion with Parallel Compliance: E-Go Design, Modelling and Control. IEEE/ASME Transactions on Mechatronics, 29(4):2839–2848, 2024. [bibtex] [pdf] [doi] [video] green open access

Jiatao Ding, Mees Alexander van Löben Sels, Franco Angelini, Jens Kober, and Cosimo Della Santina. Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative Learning. IEEE Robotics and Automation Letters, 9(1):255–262, 2024. [bibtex] [pdf] [doi] [video] green open access

Jari van Steen, Gijs van den Brandt, Nathan van de Wouw, Jens Kober, and Alessandro Saccon. Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts. IEEE Transactions on Robotics, 40:3341–3355, 2024. [bibtex] [pdf] [doi] [video] green open access

Giovanni Franzese, Leandro de Souza Rosa, Tim Verburg, Luka Peternel, and Jens Kober. Interactive Imitation Learning of Bimanual Movement Primitives. IEEE/ASME Transactions on Mechatronics, 29(5):4006 – 4018, 2024. [bibtex] [file] [doi] [code] [video] gold open access

Di Wu, Renchi Zhang, Ameya Pore, Diego Dall’Alba, Xuan Thao Ha, Zhen Li, Yao Zhang, Fernando Herrera, Mouloud Ourak, Wojtek Kowalczyk, Elena De Momi, Alícia Casals, Jenny Dankelman, Jens Kober, Arianna Menciassi, Paolo Fiorini, and Emmanuel Vander Poorten. A review on machine learning in flexible surgical and interventional robots: Where we are and where we are going. Biomedical Signal Processing and Control, 93:106179, 2024. [bibtex] [url] [doi] gold open access

Bas van der Heijden, Laura Ferranti, Jens Kober, and Robert Babuška. Efficient Parallelized Simulation of Cyber-Physical Systems. Transactions on Machine Learning Research, 2024. Reproducibility Certification. [bibtex] [pdf] [url] [code] [video] gold open access

Bas van der Heijden, Jelle Douwe Luijkx, Laura Ferranti, Jens Kober, and Robert Babuška. Engine Agnostic Graph Environments for Robotics (EAGERx): A Graph-Based Framework for Sim2real Robot Learning. IEEE Robotics & Automation Magazine, :2-15, 2024. Early Access. [bibtex] [pdf] [webpage] [doi] [code] [video] green open access

Antonin Raffin, Olivier Sigaud, Jens Kober, Alin Albu-Schäffer, João Silvério, and Freek Stulp. An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks. Reinforcement Learning Journal, 1(1), 2024. Reinforcement Learning Conference (RLC). [bibtex] [pdf] [html] [code] [video] gold open access

Tom Cornelis Theodorus van Riet, Willem Mathys de Graaf, Jens Kober, and Jan de Lange. Using Robot Technology to Analyze Forces and Torques in Tooth Removal. Advances in Oral and Maxillofacial Surgery, 9:100400, 2023. [bibtex] [url] [doi] gold open access

Tom Cornelis Theodorus van Riet, Willem Mathys de Graaf, Jan de Lange, and Jens Kober. Analysis of Movements in Tooth Removal Procedures Using Robot Technology. PLOS ONE, 18:1–12, 2023. [bibtex] [file] [doi] gold open access

Rodrigo Pérez-Dattari and Jens Kober. Stable Motion Primitives via Imitation and Contrastive Learning. IEEE Transactions on Robotics, 39(5):3909–3928, 2023. [bibtex] [pdf] [doi] [code] [video] green open access

Maaike Geertruida Beuling, Pien C.G. Agterbos, Tom Cornelis Theodorus van Riet, Jean-Pierre T.F. Ho, Ralph de Vries, Jens Kober, and Jan de Lange. Forces and Movements During Tooth Extraction: A Scoping Review. Advances in Oral and Maxillofacial Surgery, 9:100391, 2023. [bibtex] [url] [doi] gold open access

Julian Frederik Schumann, Jens Kober, and Arkady Zgonnikov. Benchmarking Behavior Prediction Models in Gap Acceptance Scenarios. IEEE Transactions on Intelligent Vehicles, 8(3):2580–2591, 2023. [bibtex] [pdf] [doi] [code] green open access

Guido de Croon, Chiara Bartolozzi, Sawyer Fuller, Jens Kober, Yong-Lae Park, and Nitin Sanket. Editorial journal inauguration=npj Robotics. npj Robotics, Nature Publishing Group UK London, 1(1):5, 2023. [bibtex] [pdf] [doi] gold open access

Carlos E. Celemin and Jens Kober. Knowledge- and Ambiguity-Aware Robot Learning from Corrective and Evaluative Feedback. Neural Computing and Applications, 35(23):16821–16839, 2023. [bibtex] [pdf] [doi] [code] [video] gold open access

Armin Avaei, Linda van der Spaa, Luka Peternel, and Jens Kober. An Incremental Inverse Reinforcement Learning Approach for Motion Planning with Separated Path and Velocity Preferences. Robotics, 12(2):61, 2023. [bibtex] [pdf] [doi] [video] gold open access

Willem Mathys de Graaf, Tom Cornelis Theodorus van Riet, Jan de Lange, and Jens Kober. A Multiclass Classification Model for Tooth Removal Procedures. Journal of Dental Research, 101(11):1357–1362, 2022. [bibtex] [url] [doi] gold open access

Rodrigo Pérez-Dattari, Bruno Brito, Oscar de Groot, Jens Kober, and Javier Alonso-Mora. Visually-Guided Motion Planning for Autonomous Driving from Interactive Demonstrations. Engineering Applications of Artificial Intelligence, 116:105277, 2022. [bibtex] [url] [doi] [code] [video] gold open access

Padmaja Kulkarni, Jens Kober, Robert Babuška, and Cosimo Della Santina. Learning Assembly Tasks in a Few Minutes by Combining Impedance Control and Residual Recurrent Reinforcement Learning. Advanced Intelligent Systems, 4(1):2100095, 2022. [bibtex] [file] [doi] [video] gold open access

Jihong Zhu, Michael Gienger, and Jens Kober. Learning Task-Parameterized Skills from Few Demonstrations. IEEE Robotics and Automation Letters, 7(2):4063–4070, 2022. The contents of this paper were also selected by ICRA'22 Program Committee for presentation at the Conference. [bibtex] [pdf] [webpage] [doi] [code] [video] green open access

Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Jens Kober, Xiang Li, Jia Pan, Wenzhen Yuan, and Michael Gienger. Challenges and Outlook in Robotic Manipulation of Deformable Objects. IEEE Robotics & Automation Magazine, 29(3):67–77, 2022. [bibtex] [pdf] [url] [doi] green open access

Carlos Celemin, Rodrigo Pérez-Dattari, Eugenio Chisari, Giovanni Franzese, Leandro de Souza Rosa, Ravi Prakash, Zlatan Ajanović, Marta Ferraz, Abhinav Valada, and Jens Kober. Interactive Imitation Learning in Robotics: A Survey. Foundations and Trends® in Robotics, 10(1–2):1–197, 2022. [bibtex] [pdf] [url] [doi] green open access

Anna Mészáros, Giovanni Franzese, and Jens Kober. Learning to Pick at Non-Zero-Velocity From Interactive Demonstrations. IEEE Robotics and Automation Letters, 7(3):6052–6059, 2022. [bibtex] [pdf] [url] [doi] [code] [video] gold open access

Tom Cornelis Theodorus van Riet, Kevin T.H. Chin Jen Sem, Jean-Pierre T.F. Ho, René Spijker, Jens Kober, and Jan de Lange. Robot Technology in Dentistry, Part Two of a Systematic Review: An Overview of Initiatives. Dental Materials, 37(8):1227–1236, 2021. [bibtex] [url] [doi] gold open access

Tom Cornelis Theodorus van Riet, Kevin T.H. Chin Jen Sem, Jean-Pierre T.F. Ho, René Spijker, Jens Kober, and Jan de Lange. Robot Technology in Dentistry, Part One of a Systematic Review: Literature Characteristics. Dental Materials, 37(8):1217–1226, 2021. [bibtex] [url] [doi] gold open access

Osama Mazhar, Robert Babuška, and Jens Kober. GEM: Glare or Gloom, I Can Still See You – End-to-End Multimodal Object Detector. IEEE Robotics and Automation Letters, 6(4):6321–6328, 2021. The contents of this paper were also selected by IROS'21 Program Committee for presentation at the Conference. [bibtex] [pdf] [doi] green open access

X. Chen, X. Tan, G. Berselli, X. Chen, G. Clayton, S. Jeon, H. R. Karimi, S. Katsura, J. Kober, C.-C. Lan, A. Leonessa, Z. Li, G. Liu, D. Oetomo, K. Oldham, Y.-J. Pan, T. Shimono, T. Sun, M. Tavakoli, J. Ueda, H. Vallery, Q. Xu, J. Yi, L. Zhang, and L. Zuo. Guest Editorial: Focused Section on Inaugural Edition of TMECH/AIM Emerging Topics. IEEE/ASME Transactions on Mechatronics, 25(4):1695–1697, 2020. [bibtex] [file] [doi] bronze open access

Simon Manschitz, Michael Gienger, Jens Kober, and Jan Peters. Learning Sequential Force Interaction Skills. Robotics, 9(2):45, 2020. [bibtex] [pdf] [doi] gold open access

Rodrigo Pérez-Dattari, Carlos E. Celemin, Giovanni Franzese, Javier Ruiz-del-Solar, and Jens Kober. Interactive Learning of Temporal Features for Control: Shaping Policies and State Representations From Human Feedback. IEEE Robotics & Automation Magazine, 27(2):46–54, 2020. [bibtex] [pdf] [doi] [code] [video] green open access

Fabio Bonsignorio, David Hsu, Matthew Johnson-Roberson, and Jens Kober. Deep Learning and Machine Learning in Robotics [From the Guest Editors]. IEEE Robotics & Automation Magazine, 27(2):20–21, 2020. [bibtex] [file] [doi] bronze open access

Yudha Prawira Pane, Subramanya Prasad Nageshrao, Jens Kober, and Robert Babuška. Reinforcement Learning Based Compensation Methods for Robot Manipulators. Engineering Applications of Artificial Intelligence, 78:236–247, 2019. [bibtex] [pdf] [doi] [video] green open access

Carlos E. Celemin, Javier Ruiz-del-Solar, and Jens Kober. A Fast Hybrid Reinforcement Learning Framework with Human Corrective Feedback. Autonomous Robots, 43(5):1173–1186, 2019. [bibtex] [pdf] [doi] [video] gold open access

Carlos E. Celemin, Guilherme Maeda, Javier Ruiz-del-Solar, Jan Peters, and Jens Kober. Reinforcement Learning of Motor Skills using Policy Search and Human Corrective Advice. International Journal of Robotics Research, 38(14):1560–1580, 2019. [bibtex] [pdf] [doi] [video] green open access

Tim de Bruin, Jens Kober, Karl Tuyls, and Robert Babuška. Experience Selection in Deep Reinforcement Learning for Control. Journal of Machine Learning Research, 19(9):1–56, 2018. [bibtex] [pdf] [html] [code] [video] gold open access

Tim de Bruin, Jens Kober, Karl Tuyls, and Robert Babuška. Integrating State Representation Learning into Deep Reinforcement Learning. IEEE Robotics and Automation Letters, 3(3):1394–1401, 2018. The contents of this paper were also selected by ICRA'18 Program Committee for presentation at the Conference. [bibtex] [pdf] [doi] green open access

Simon Manschitz, Michael Gienger, Jens Kober, and Jan Peters. Mixture of Attractors: A Novel Movement Primitive Representation for Learning Motor Skills From Demonstrations. IEEE Robotics and Automation Letters, 3(2):926–933, 2018. [bibtex] [pdf] [doi] [video] green open access

Lucian Buşoniu, Tim de Bruin, Domagoj Tolić, Jens Kober, and Ivana Palunko. Reinforcement Learning for Control: Performance, Stability, and Deep Approximators. Annual Reviews in Control, 46:8–28, 2018. [bibtex] [pdf] [doi] green open access

Tom Cornelis Theodorus van Riet, Jens Kober, and Jan de Lange. Robottechnologie, is er een toekomst voor in de tandheelkunde? Quality Practice Tandheelkunde 12(5):30–35, 2017. [bibtex] [pdf] green open access

Simon Manschitz, Jens Kober, Michael Gienger, and Jan Peters. Learning Movement Primitive Attractor Goals and Sequential Skills from Kinesthetic Demonstrations. Robotics and Autonomous Systems, 74(Part A):97–107, 2015. [bibtex] [pdf] [doi] [video] green open access

Jens Kober. Learning Motor Skills: From Algorithms to Robot Experiments. it - Information Technology, 56(3):141–146, 2014. [bibtex] [doi]

Katharina Muelling, Jens Kober, Oliver Kroemer, and Jan Peters. Learning to Select and Generalize Striking Movements in Robot Table Tennis. International Journal of Robotics Research, 32(3):263–279, 2013. [bibtex] [pdf] [doi] [video] green open access

Jens Kober, J. Andrew Bagnell, and Jan Peters. Reinforcement Learning in Robotics: A Survey. International Journal of Robotics Research, 32(11):1238–1274, 2013. [bibtex] [pdf] [doi] green open access

Jens Kober, Andreas Wilhelm, Erhan Oztop, and Jan Peters. Reinforcement Learning to Adjust Parametrized Motor Primitives to New Situations. Autonomous Robots, 33(4):361–379, 2012. [bibtex] [pdf] [doi] [video] green open access

Katharina Muelling, Jens Kober, and Jan Peters. A Biomimetic Approach to Robot Table Tennis. Adaptive Behavior, 19(5):359–376, 2011. [bibtex] [pdf] [doi] [video] green open access

Jens Kober and Jan Peters. Policy Search for Motor Primitives in Robotics. Machine Learning, 84(1-2):171–203, 2011. [bibtex] [pdf] [doi] [code] [video] bronze open access

Jens Kober and Jan Peters. Imitation and Reinforcement Learning - Practical Algorithms for Motor Primitive Learning in Robotics. IEEE Robotics & Automation Magazine, 17(2):55–62, 2010. [bibtex] [pdf] [doi] [code] [video] green open access

Jan Peters, Jens Kober, and Stefan Schaal. Policy Learning Algorithmis for Motor Learning (Algorithmen zum automatischen Erlernen von Motorfähigkigkeiten). at - Automatisierungstechnik, 58(12):688–694, 2010. [bibtex] [pdf] [doi] green open access

Jens Kober and Jan Peters. Reinforcement Learning für Motor-Primitive. Künstliche Intelligenz, 9(3):38–40, 2009. [bibtex] [pdf] [html] green open access

Conference and workshop papers

Yulei Qiu, Jihong Zhu, Cosimo Della Santina, Michael Gienger, and Jens Kober. Robotic Fabric Flattening with Wrinkle Direction Detection. In Experimental Robotics: The 18th International Symposium (ISER 2023) (Marcelo H. Ang Jr, Oussama Khatib, eds.), pp. 339–350, 2024. [bibtex] [pdf] [webpage] [doi] [video] green open access

Tomás Coleman, Robert Babuška, Jens Kober, and Cosimo Della Santina. An Empirical Investigation on Variational Autoencoder-Based Dynamic Modeling of Deformable Objects from RGB Data. In 32nd Mediterranean Conference on Control and Automation (MED), pp. 921-928, 2024. [bibtex] [pdf] [doi] green open access

Max Spahn, Corrado Pezzato, Chadi Salmi, Rick Dekker, Cong Wang, Christian Pek, Jens Kober, Javier Alonso-Mora, Carlos Hernández Corbato, and Martijn Wisse. Demonstrating Adaptive Mobile Manipulation in Retail Environments. In Robotics: Science and Systems (R:SS), 2024. [bibtex] [pdf] [html] [doi] bronze open access

Mariano Ramírez Montero, Giovanni Franzese, Jens Kober, and Cosimo Della Santina. Learning Multi-Reference Frame Skills from Demonstration with Task-Parameterized Gaussian Processes. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. Accepted. [bibtex] [pdf]

Jianyong Sun, Jens Kober, Michael Gienger, and Jihong Zhu. Learning from Few Demonstrations with Frame-Weighted Motion Generation. In Experimental Robotics: The 18th International Symposium (ISER 2023) (Marcelo H. Ang Jr, Oussama Khatib, eds.), pp. 339–350, 2024. [bibtex] [pdf] [doi] [video] green open access

Francecso Vezzi, Jiatao Ding, Antonin Raffin, Jens Kober, and Cosimo Della Santina. Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds. In IEEE International Conference on Robotics and Automation (ICRA), pp. 9720–9726, 2024. [bibtex] [pdf] [doi] [code] [video] green open access

Anna Mészáros, Julian F. Schumann, Javier Alonso-Mora, Arkady Zgonnikov, and Jens Kober. ROME: Robust Multi-Modal Density Estimation. In Thirty-Third International Joint Conference on Artificial Intelligence (IJCAI) (Kate Larson, ed.), International Joint Conferences on Artificial Intelligence Organization, pp. 4751–4759, 2024. Main Track. [bibtex] [pdf] [doi] [code] gold open access

Anna Mészáros, Julian F. Schumann, Javier Alonso-Mora, Arkady Zgonnikov, and Jens Kober. TrajFlow: Learning Distributions over Trajectories for Human Behavior Prediction. In IEEE Intelligent Vehicles Symposium (IV), pp. 184–191, 2024. [bibtex] [pdf] [doi] green open access

Zlatan Ajanović, Bakir Lačević, and Jens Kober. Value Function Learning via Prolonged Backward Heuristic Search. In ICAPS 2023 Workshop: PRL Workshop Series – Bridging the Gap Between AI Planning and Reinforcement Learning, 2023. [bibtex] [pdf] [url] bronze open access

Yurui Du, Flavia Sofia Acerbo, Jens Kober, and Tong Duy Son. Learning from Demonstrations of Critical Driving Behaviours Using Driver's Risk Field. In 22nd IFAC World Congress, pp. 2774–2779, 2023. [bibtex] [pdf] [doi] green open access

Khaled Alaaeldin Abdelfattah Mustafa, Oscar de Groot, Xinwei Wang, Jens Kober, and Javier Alonso-Mora. Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments. In IEEE International Conference on Robotics and Automation (ICRA), pp. 3628–3634, 2023. [bibtex] [pdf] [doi] green open access

Julian F. Schumann, Aravinda Ramakrishnan Srinivasan, Jens Kober, Gustav Markkula, and Arkady Zgonnikov. Using Models Based on Cognitive Theory to Predict Human Behavior in Traffic: A Case Study. In IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), pp. 5870–5875, 2023. [bibtex] [pdf] [doi] [code] green open access

Eveline Drijver, Rodrigo Pérez-Dattari, Jens Kober, Cosimo Della Santina, and Zlatan Ajanović. Robotic Packaging Optimization with Reinforcement Learning. In IEEE 19th International Conference on Automation Science and Engineering (CASE), pp. 1–7, 2023. [bibtex] [pdf] [doi] green open access

Alexander Keijzer, Bas van der Heijden, and Jens Kober. Prioritizing States with Action Sensitive Return in Experience Replay. In Sixteenth European Workshop on Reinforcement Learning (EWRL), 2023. [bibtex] [pdf] [url] bronze open access

Nikolaos Passalis, Stefania Pedrazzi, Robert Babuška, Wolfram Burgard, Daniel Dias, Francesco Ferro, Moncef Gabbouj, Green Ole, Alexandros Iosifidis, Erdal Kayacan, Jens Kober, Olivier Michel, Nikolaos Nikolaidis, Paraskevi Nousi, Roel S. Pieters, Maria Tzelepi, Abhinav Valada, and Anastasios Tefas. OpenDR: An Open Toolkit for Enabling High Performance, Low Footprint Deep Learning for Robotics. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 12479–12484, 2022. [bibtex] [pdf] [doi] green open access

Maaike Geertruida Beuling, Tom Cornelis Theodorus van Riet, Jan van Frankenhuyzen, Reinier van Antwerpen, Bas de Blocq van Scheltinga, Arnout Harm Hendrik Dourleijn, Dzan Ireiz, Sander Streefkerk, Jonathan C. van Zanten, Jan de Lange, Jens Kober, and Dimitra Dodou. Development and Testing of a Prototype of a Dental Extraction Trainer with Real-Time Feedback on Forces, Torques, and Angular Velocity. In 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 3285–3290, 2022. [bibtex] [pdf] [doi] gold open access

Linda van der Spaa, Giovanni Franzese, Jens Kober, and Michael Gienger. Disagreement-Aware Variable Impedance Control for Online Learning of Physical Human-Robot Cooperation Tasks. In ICRA 2022 full day workshop - Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust, 2022. [bibtex] [pdf] [url] [code] [video] bronze open access

Jelle Douwe Luijkx, Zlatan Ajanović, Laura Ferranti, and Jens Kober. PARTNR: Pick and place Ambiguity Resolving by Trustworthy iNteractive leaRning. In NeurIPS 2022 - 5th Robot Learning Workshop: Trustworthy Robotics, 2022. [bibtex] [pdf] [url] [webpage] [video] bronze open access

Evelyn D'Elia, Jean-Baptiste Mouret, Jens Kober, and Serena Ivaldi. Automatic Tuning and Selection of Whole-Body Controllers. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 12935–12941, 2022. [bibtex] [pdf] [doi] [video] green open access

Antonin Raffin, Jens Kober, and Freek Stulp. Smooth Exploration for Robotic Reinforcement Learning. In 5th Conference on Robot Learning (CoRL) (Aleksandra Faust, David Hsu, Gerhard Neumann, eds.), PMLR, vol. 164 of Proceedings of Machine Learning Research, pp. 1634–1644, 2022. [bibtex] [pdf] [html] [video] gold open access

Snehal Jauhri, Carlos E. Celemin, and Jens Kober. Interactive Imitation Learning in State-Space. In 2020 Conference on Robot Learning (CoRL) (Jens Kober, Fabio Ramos, Claire Tomlin, eds.), PMLR, vol. 155 of Proceedings of Machine Learning Research, pp. 682–692, 2021. [bibtex] [pdf] [html] [code] [video] gold open access

Peter Valletta, Rodrigo Pérez-Dattari, and Jens Kober. Imitation Learning with Inconsistent Demonstrations through Uncertainty-based Data Manipulation. In IEEE International Conference on Robotics and Automation (ICRA), pp. 3655–3661, 2021. [bibtex] [pdf] [doi] [video] green open access

Padmaja Kulkarni, Robert Babuška, and Jens Kober. Tactile-based Self-supervised Pose Estimation for Robust Grasping. In Experimental Robotics: 17th International Symposium (ISER 2020) (Bruno Siciliano, Cecilia Laschi, Oussama Khatib, eds.), Springer International Publishing, Cham, pp. 277–284, 2021. [bibtex] [pdf] [doi] green open access

Giovanni Franzese, Carlos E. Celemin, and Jens Kober. Learning Interactively to Resolve Ambiguity in Reference Frame Selection. In 2020 Conference on Robot Learning (CoRL) (Jens Kober, Fabio Ramos, Claire Tomlin, eds.), PMLR, vol. 155 of Proceedings of Machine Learning Research, pp. 1298–1311, 2021. [bibtex] [pdf] [html] [code] [video] gold open access

Giovanni Franzese, Anna Mészáros, Luka Peternel, and Jens Kober. ILoSA: Interactive Learning of Stiffness and Attractors. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7778–7785, 2021. [bibtex] [pdf] [doi] [code] [video] green open access

Evelyn D'Elia, Jean-Baptiste Mouret, Jens Kober, and Serena Ivaldi. Learning Task Controllers on a Humanoid Robot using Multi-objective Optimization. In ICRA 2021: 5th Full-Day Workshop on Legged Robots (Virtual), 2021. [bibtex] [file] [url] green open access

Carlos E. Celemin and Jens Kober. Uncertainties Based Queries for Interactive Policy Learning with Evaluations and Corrections. In Companion Publication of the 2021 International Conference on Multimodal Interaction, pp. 192–193, 2021. [bibtex] [pdf] [doi] green open access

Bas van der Heijden, Laura Ferranti, Jens Kober, and Robert Babuška. DeepKoCo: Efficient Latent Planning with an Invariant Koopman Representation. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 183–189, 2021. [bibtex] [pdf] [url] [doi] green open access

Bart Bootsma, Giovanni Franzese, and Jens Kober. Interactive Learning of Sensor Policy Fusion. In 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), pp. 665–670, 2021. [bibtex] [pdf] [doi] green open access

Tom Cornelis Theodorus van Riet, Willem Mathys de Graaf, Reinier van Antwerpen, Jan van Frankenhuyzen, Jan de Lange, and Jens Kober. Robot Technology in Analyzing Tooth Removal – a Proof of Concept. In 42nd Annual International Conferences of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 4721–4727, 2020. [bibtex] [pdf] [doi] green open access

Tim de Bruin, Jens Kober, Karl Tuyls, and Robert Babuška. Fine-tuning Deep RL with Gradient-Free Optimization. In 21th IFAC World Congress, pp. 8049–8056, 2020. [bibtex] [pdf] [doi] [code] gold open access

Rodrigo Pérez-Dattari, Carlos E. Celemin, Javier Ruiz-del-Solar, and Jens Kober. Interactive Learning with Corrective Feedback for Policies based on Deep Neural Networks. In Proceedings of the 2018 International Symposium on Experimental Robotics (ISER 2018) (Jing Xiao, Torsten Kröger, Oussama Khatib, eds.), Springer International Publishing, pp. 353–363, 2020. [bibtex] [pdf] [doi] [code] [video] green open access

Linda F. van der Spaa, Tamas Bates, Michael Gienger, and Jens Kober. Predicting and Optimizing Ergonomics in Physical Human-Robot Cooperation Tasks. In IEEE International Conference on Robotics and Automation (ICRA), pp. 1799–1805, 2020. [bibtex] [pdf] [doi] [video] green open access

Rodrigo Pérez-Dattari, Carlos E. Celemin, Javier Ruiz-del-Solar, and Jens Kober. Continuous Control for High-Dimensional State Spaces: An Interactive Learning Approach. In IEEE International Conference on Robotics and Automation (ICRA), pp. 7611–7617, 2019. [bibtex] [pdf] [doi] [code] [video] green open access

Nikolaos Moustakis, Sebastiaan Paul Mulders, Jens Kober, and Jan-Willem van Wingerden. A Practical Bayesian Optimization Approach for the Optimal Estimation of the Rotor Effective Wind Speed. In American Control Conference (ACC), pp. 4179–4185, 2019. [bibtex] [pdf] [doi] green open access

Jan Scholten, Daan Wout, Carlos E. Celemin, and Jens Kober. Deep Reinforcement Learning with Feedback-based Exploration. In IEEE Conference on Decision and Control (CDC), pp. 803–808, 2019. [bibtex] [pdf] [doi] [code] green open access

Carlos E. Celemin and Jens Kober. Simultaneous Learning of Objective Function and Policy from Interactive Teaching with Corrective Feedback. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 726–732, 2019. [bibtex] [pdf] [doi] [video] green open access

Tamas Bates, Jens Kober, and Michael Gienger. Head-tracked off-axis perspective projection improves gaze readability of 3D virtual avatars. In SIGGRAPH Asia Technical Briefs, pp. 1–4, 2018. [bibtex] [pdf] [doi] green open access

Michael Gienger, Dirk Ruiken, Tamas Bates, Mohamed Regaieg, Michael Meißner, Jens Kober, Philipp Seiwald, and Arne-Christoph Hildebrandt. Human-Robot Cooperative Object Manipulation with Contact Changes. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1354–1360, 2018. [bibtex] [pdf] [doi] [video] green open access

Divyam Rastogi, Ivan Koryakovskiy, and Jens Kober. Sample-efficient Reinforcement Learning via Difference Models. In Third Machine Learning in Planning and Control of Robot Motion Workshop at IEEE International Conference on Robotics and Automation (ICRA), 2018. [bibtex] [pdf] [html] [video] bronze open access

Carlos E. Celemin, Guilherme Maeda, Jens Kober, and Javier Ruiz-del-Solar. Human Corrective Advice in the Policy Search Loop. In Workshop Human-in-the-loop Robotic Manipulation: On the Influence of the Human Role, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. [bibtex] [pdf] [url] bronze open access

Tom Cornelis Theodorus van Riet, Jens Kober, Maarten Griffioen, Xiang Zhang, Piet-Hein van Twisk, Robert Babuška, and Jan de Lange. Op zoek naar toepassingen van robottechnologie in de MKA-chirurgie. In Annual Scientific Meeting of the Dutch Association of Oral and Maxillofacial Surgery, 2016. [bibtex]

Tim de Bruin, Jens Kober, Karl Tuyls, and Robert Babuška. Off Policy Experience Retention for Deep Actor Critic Learning. In Deep Reinforcement Learning Workshop, Advances in Neural Information Processing Systems (NIPS), 2016. [bibtex] [pdf] [url] bronze open access

Tim de Bruin, Jens Kober, Karl Tuyls, and Robert Babuška. Improved Deep Reinforcement Learning for Robotics Through Distribution-based Experience Retention. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3947–3952, 2016. [bibtex] [pdf] [doi] [video] green open access

Simon Manschitz, Michael Gienger, Jens Kober, and Jan Peters. Probabilistic Decomposition of Sequential Force Interaction Tasks into Movement Primitives. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3920–3927, 2016. [bibtex] [pdf] [doi] green open access

Jelle Munk, Jens Kober, and Robert Babuška. Learning State Representation for Deep Actor-Critic Control. In IEEE Conference on Decision and Control (CDC), pp. 4667–4673, 2016. [bibtex] [pdf] [doi] green open access

Denise S. Feirstein, Ivan Koryakovskiy, Jens Kober, and Heike Vallery. Reinforcement Learning of Potential Fields to achieve Limit-Cycle Walking. In IFAC International Workshop on Periodic Control Systems (PSYCO), pp. 113–118, 2016. IFAC-PapersOnLine. [bibtex] [pdf] [doi] bronze open access

Tim de Bruin, Jens Kober, Karl Tuyls, and Robert Babuška. The Importance of Experience Replay Database Composition in Deep Reinforcement Learning. In Deep Reinforcement Learning Workshop, Advances in Neural Information Processing Systems (NIPS), 2015. [bibtex] [pdf] [url] [video] bronze open access

Simon Manschitz, Jens Kober, Michael Gienger, and Jan Peters. Probabilistic Progress Prediction and Sequencing of Concurrent Movement Primitives. In IEEE/RSJ International Conference on Robot Systems (IROS), pp. 449–455, 2015. [bibtex] [pdf] [doi] green open access

Jens Kober, Michael Gienger, and Jochen J. Steil. Learning Movement Primitives for Force Interaction Tasks. In IEEE International Conference on Robotics and Automation (ICRA), pp. 3192–3199, 2015. [bibtex] [pdf] [doi] [video] green open access

Simon Manschitz, Jens Kober, Michael Gienger, and Jan Peters. Learning to Sequence Movement Primitives from Demonstrations. In IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), pp. 4414–4421, 2014. [bibtex] [pdf] [doi] [video] green open access

Simon Manschitz, Jens Kober, Michael Gienger, and Jan Peters. Learning to Unscrew a Light Bulb from Demonstrations. In 41st International Symposium on Robotics (ISR/ROBOTIK), pp. 264–270, 2014. [bibtex] [pdf] [url] green open access

Jan Peters, Katharina Muelling, and Jens Kober. Experiments with Motor Primitives in Table Tennis. In Experimental Robotics: The 12th International Symposium on Experimental Robotics (ISER 2010) (Oussama Khatib, Vijay Kumar, Gaurav Sukhatme, eds.), pp. 347–359, 2014. [bibtex] [doi] [video]

Jens Kober. Lernen Motorischer Fähigkeiten: Von Algorithmen zu Roboter-Experimenten. In Ausgezeichnete Informatikdissertationen 2012 (Steffen Hölldobler, et al., eds.), Gesellschaft für Informatik e.V. (GI), pp. 181–190, 2013. [bibtex] [url] bronze open access

Jan Peters, Jens Kober, Katharina Muelling, Oliver Kroemer, and Gerhard Neumann. Towards Robot Skill Learning: From Simple Skills to Table Tennis. In European Conference on Machine Learning (ECML), Nectar Track, pp. 627–631, 2013. [bibtex] [pdf] [doi] bronze open access

Jan Peters, Jens Kober, Katharina Muelling, Duy Nguyen-Tuong, and Oliver Kroemer. Learning Skills with Motor Primitives. In 16th Yale Learning Workshop, 2013. [bibtex]

Katharina Muelling, Jens Kober, Oliver Kroemer, and Jan Peters. Learning to Select and Generalize Striking Movements in Robot Table Tennis. In AAAI Fall Symposium on Robots that Learn Interactively from Human Teachers, pp. 263–279, 2012. [bibtex] [pdf] [url] [video] bronze open access

Jens Kober, Matthew Glisson, and Michael Mistry. Playing Catch and Juggling with a Humanoid Robot. In IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), pp. 875–881, 2012. [bibtex] [pdf] [doi] [video] green open access

Jens Kober, Katharina Muelling, and Jan Peters. Learning Throwing and Catching Skills. In IEEE/RSJ International Conference on Robot Systems (IROS), Video Track, pp. 5167–5168, 2012. [bibtex] [pdf] [doi] [video] green open access

Jan Peters, Jens Kober, Katharina Muelling, Duy Nguyen-Tuong, and Oliver Kroemer. Robot Skill Learning. In European Conference on Artificial Intelligence (ECAI), pp. 40–45, 2012. [bibtex] [pdf] [doi] gold open access

Jens Kober, Erhan Oztop, and Jan Peters. Reinforcement Learning to adjust Robot Movements to New Situations. In International Joint Conference on Artificial Intelligence (IJCAI), pp. 2650–2655, 2011. Best Paper Track. [bibtex] [pdf] [doi] bronze open access

Jens Kober and Jan Peters. Learning Elementary Movements Jointly with a Higher Level Task. In IEEE/RSJ International Conference on Intelligent Robot Systems (IROS), pp. 338–343, 2011. [bibtex] [pdf] [doi] [video] green open access

Jan Peters, Jens Kober, Katharina Muelling, Duy Nguyen-Tuong, and Oliver Kroemer. Towards Motor Skill Learning for Robotics. In Robotics Research: The 14th International Symposium (ISRR 2009) (Cédric Pradalier, Roland Siegwart, Gerhard Hirzinger, eds.), pp. 469–482, 2011. Invited Paper. [bibtex] [pdf] [doi] green open access

Abdeslam Boularias, Jens Kober, and Jan Peters. Relative Entropy Inverse Reinforcement Learning. In 14th International Conference on Artificial Intelligence and Statistics (AISTATS) (Geoffrey Gordon, David Dunson, Miroslav Dudík, eds.), PMLR, vol. 15 of Proceedings of Machine Learning Research, Fort Lauderdale, FL, USA, pp. 182–189, 2011. [bibtex] [pdf] [url] gold open access

Katharina Muelling, Jens Kober, and Jan Peters. Learning Table Tennis with a Mixture of Motor Primitives. In 10th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), pp. 411–416, 2010. [bibtex] [pdf] [doi] [video] green open access

Katharina Muelling, Jens Kober, and Jan Peters. A Biomimetic Approach to Robot Table Tennis. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1921–1926, 2010. [bibtex] [pdf] [doi] [video] green open access

Katharina Muelling, Jens Kober, and Jan Peters. Simulating Human Table Tennis with a Biomimetic Robot Setup. In From Animals to Animats 11, International Conference on the Simulation of Adaptive Behavior (SAB), pp. 273–282, 2010. [bibtex] [pdf] [doi] green open access

Jens Kober, Katharina Muelling, Oliver Kroemer, Christoph H. Lampert, Bernhard Schölkopf, and Jan Peters. Movement Templates for Learning of Hitting and Batting. In IEEE International Conference on Robotics and Automation (ICRA), pp. 69–82, 2010. [bibtex] [pdf] [doi] [code] [video] green open access

Jens Kober, Erhan Oztop, and Jan Peters. Reinforcement Learning to adjust Robot Movements to New Situations. In Robotics: Science and Systems (R:SS), 2010. [bibtex] [pdf] [html] [doi] bronze open access

Manuel Gomez-Rodriguez, Jens Kober, and Bernhard Schölkopf. Denoising Photographs Using Dark Frames Optimized by Quadratic Programming. In 1st IEEE International Conference on Computational Photography (ICCP), pp. 1–9, 2009. [bibtex] [pdf] [doi] green open access

Jens Kober and Jan Peters. Learning Motor Primitives for Robotics. In IEEE International Conference on Robotics and Automation (ICRA), pp. 2112–2118, 2009. [bibtex] [pdf] [doi] [code] [video] green open access

Jens Kober and Jan Peters. Learning new basic Movements for Robotics. In Autonome Mobile Systeme (AMS) (Rüdiger Dillmann, Jürgen Beyerer, Christoph Stiller, J. Marius Zöllner, Tobias Gindele, eds.), Springer Berlin Heidelberg, pp. 105–112, 2009. [bibtex] [pdf] [doi] green open access

Jan Peters and Jens Kober. Using Reward-Weighted Imitation for Robot Reinforcement Learning. In IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning (ADPRL), pp. 226–232, 2009. [bibtex] [pdf] [doi] green open access

Silvia Chiappa, Jens Kober, and Jan Peters. Using Bayesian Dynamical Systems for Motion Template Libraries. In Advances in Neural Information Processing Systems 21 (NIPS) (D. Koller, D. Schuurmans, Y. Bengio, L. Bottou, eds.), Curran Associates, Inc., pp. 297–304, 2008. [bibtex] [pdf] [url] [video] bronze open access

Jens Kober, Betty Mohler, and Jan Peters. Learning Perceptual Coupling for Motor Primitives. In IEEE/RSJ International Conference on Intelligent Robot Systems (IROS), pp. 834–839, 2008. [bibtex] [pdf] [doi] [video] green open access

Jens Kober and Jan Peters. Policy Search for Motor Primitives in Robotics. In Advances in Neural Information Processing Systems 21 (NIPS) (D. Koller, D. Schuurmans, Y. Bengio, L. Bottou, eds.), Curran Associates, Inc., pp. 849–856, 2008. [bibtex] [pdf] [url] [code] [video] bronze open access

Jens Kober and Jan Peters. Reinforcement Learning of Perceptual Coupling for Motor Primitives. In European Workshop on Reinforcement Learning (EWRL), 2008. [bibtex]

Jan Peters, Jens Kober, and Duy Nguyen-Tuong. Policy Learning - A Unified Perspective with Applications in Robotics. In European Workshop on Reinforcement Learning (EWRL), pp. 220–228, 2008. [bibtex] [pdf] [doi] green open access

Preprints etc.

Runyu Ma, Jelle Douwe Luijkx, Zlatan Ajanović, and Jens Kober. ExploRLLM: Guiding Exploration in Reinforcement Learning with Large Language Models. arXiv:2403.09583 [cs.RO], 2024. [bibtex] [pdf] [webpage] [doi] bronze open access

Rodrigo Pérez-Dattari, Zhaoting Li, Robert Babuška, Jens Kober, and Cosimo Della Santina. Leveraging LLMs, Graphs and Object Hierarchies for Task Planning in Large-Scale Environments. arXiv:2409.04775 [cs.RO], 2024. [bibtex] [pdf] [doi] [video] bronze open access

Petr Vanc, Giovanni Franzese, Jan Kristof Behrens, Cosimo Della Santina, Karla Stepanova, and Jens Kober. ILeSiA: Interactive Learning of Situational Awareness from Camera Input. arXiv:2409.20173 [cs.RO], 2024. [bibtex] [pdf] [webpage] [doi] [code] [video] bronze open access

Mariano Ramírez Montero, Ebrahim Shahabi, Giovanni Franzese, Jens Kober, Barbara Mazzolai, and Cosimo Della Santina. Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning. arXiv:2410.07787 [cs.RO], 2024. [bibtex] [pdf] [doi] bronze open access

Giovanni Franzese, Ravi Prakash, and Jens Kober. Generalization of Task Parameterized Dynamical Systems using Gaussian Process Transportation. arXiv:2404.13458 [cs.RO], 2024. [bibtex] [pdf] [doi] [code] [video] bronze open access

Daniel Jarne Ornia, Giannis Delimpaltadakis, Jens Kober, and Javier Alonso-Mora. Predictable Reinforcement Learning Dynamics through Entropy Rate Minimization. arXiv:2311.18703 [cs.LG], 2023. [bibtex] [pdf] [doi] bronze open access

Antonin Raffin, Daniel Seidel, Jens Kober, Alin Albu-Schäffer, João Silvério, and Freek Stulp. Learning to Exploit Elastic Actuators for Quadruped Locomotion. arXiv:2209.07171 [cs.RO], 2023. [bibtex] [pdf] [doi] [video] bronze open access

Mariano Ramírez Montero, Giovanni Franzese, Jeroen Zwanepol, and Jens Kober. Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration. arXiv:2209.11530 [cs.RO], 2022. [bibtex] [pdf] [doi] [code] [video] bronze open access

Tom Cornelis Theodorus van Riet, Willem Mathys de Graaf, Reinier van Antwerpen, Jan van Frankenhuyzen, Jan de Lange, and Jens Kober. Robot Technology in Analyzing Tooth Removal - A Proof of Concept. Abstract: 25th Congress of the European Association for Cranio Maxillo Facial Surgery, 2021. [bibtex]

Osama Mazhar and Jens Kober. Random Shadows and Highlights: A New Data Augmentation Method for Extreme Lighting Conditions. arXiv:2101.05361 [cs.CV], 2021. [bibtex] [pdf] [doi] [code] bronze open access

Daan Wout, Jan Scholten, Carlos E. Celemin, and Jens Kober. Learning Gaussian Policies from Corrective Human Feedback. arXiv:1903.05216 [cs.LG], 2019. [bibtex] [pdf] [doi] [code] bronze open access

Pengzhi Yang, Xinyu Wang, Ruipeng Zhang, Cong Wang, Frans A. Oliehoek, and Jens Kober. Task-unaware Lifelong Robot Learning with Retrieval-based Weighted Local Adaptation. arXiv:2410.02995 [cs.RO], 2014. [bibtex] [pdf] [doi] bronze open access

Cong Wang, Aoming Liang, Fei Han, Xinyu Zeng, Zhibin Li, Dixia Fan, and Jens Kober. Learning Adaptive Hydrodynamic Models Using Neural ODEs in Complex Conditions. arXiv:2410.00490 [cs.RO], 2014. [bibtex] [pdf] [doi] bronze open access

Jens Kober and Jan Peters. Learning Prioritized Control of Motor Primitives. arXiv:1209.0488 [cs.RO], 2012. [bibtex] [pdf] [doi] bronze open access

Books, book chapters, and theses

Jens Kober. Encyclopedia of Systems and Control (John Baillieul, Tariq Samad, eds.), chapter Robot Learning, Springer London, pp. 1–9, 2019. [bibtex] [doi]

Jan Peters, Daniel D. Lee, Jens Kober, Duy Nguyen-Tuong, Drew Bagnell, and Stefan Schaal. Springer Handbook of Robotics, 2nd Edition (Bruno Siciliano, Oussama Khatib, eds.), chapter Robot Learning, Springer International Publishing, pp. 357–394, 2016. [bibtex] [url] [doi]

Jens Kober and Jan Peters. Learning Motor Skills - From Algorithms to Robot Experiments. Springer, vol. 97 of Springer Tracts in Advanced Robotics (STAR Series), 2014. [bibtex] [url] [doi]

Jens Kober and Jan Peters. Reinforcement Learning - State-of-the-Art (Marco Wiering, Martijn van Otterlo, eds.), chapter Reinforcement Learning in Robotics: A Survey, Springer, vol. 12 of Adaptation, Learning, and Optimization, pp. 579–610, 2012. [bibtex] [url] [doi]

Jens Kober. Learning Motor Skills: From Algorithms to Robot Experiments. PhD thesis, Technische Universität Darmstadt, 2012. [bibtex] [pdf] [url] bronze open access

Jens Kober, Betty Mohler, and Jan Peters. From Motor Learning to Interaction Learning in Robots (Olivier Sigaud, Jan Peters, eds.), chapter Imitation and Reinforcement Learning for Motor Primitives with Perceptual Coupling, Springer Verlag, vol. 264 of Studies in Computational Intelligence, pp. 209–225, 2010. [bibtex] [pdf] [doi] [video] green open access

Jens Kober. Reinforcement Learning for Motor Primitives. Master's thesis, University of Stuttgart, 2008. [bibtex] [file] [code] [video] bronze open access

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