Learning Individual Motor Skills


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, 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


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


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


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


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


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


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


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



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

Learning to Generalize Motor Skills


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, 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, 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, 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

Learning to Sequence Motor Skills


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


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, 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