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Prof. Dr. (USC, USA) Jan Peters

Address:	Spemannstr. 38 72076 Tübingen
Room number:	239
Phone:	+49 7071 601 585
Fax:	+49 7071 601 552
E-Mail:	jan.peters

Picture of Peters, Jan, Prof. Dr. (USC, USA)

Jan Peters

Position: Senior Research Scientist Unit: Schölkopf

Overview
Projects
Curriculum Vitae
Publications

While I remain affliated with MPI as an adjunct scientist, I am now a full professor at Technische Universität Darmstadt (TU Darmstadt).

My research centers around the goal of bringing advanced motor skills to robotics using techniques from machine learning. You can check out my research interests and my publications for further information on my private homepage at private homepage.

I am interested in many topics. Among them are

For more information see my private homepage and on my group's homepage.

Jan Peters is a full professor at Technische Universität Darmstadt (TU Darmstadt) heading the intelligent systems group while still being affliated with the MPI heading the robot learning lab as an adjunct scientist.

Jan Peters joined the Max-Planck Institute for Biological Cybernetics in April 2007 as a research scientist. Before joining MPI, Jan Peters studied Electrical Engineering, Computer Science and Mechanical Engineering. He graduated from the University of Hagen in 2000 with a Diplom-Informatiker (German M.Sc. in Computer Science) and from Munich University of Technology in 2001 with a Diplom-Ingenieur in Electrical Engineering (German M.Sc. in Electrical Engineering). In 2000-2001, he spent two semesters as visiting student at National University of Singapore. In 2002, he completed a M.Sc. in Computer Science and, in 2005, a M.S. in Mechanical Engineering both from USC. He joined USC's Computer Science Ph.D. program and the CLMC Lab in Fall 2001. Jan Peters has been a visiting research student at the Department of Robotics at the German Aerospace Research Center in Germany, at Siemens Advanced Engineering in Singapore and at the Department of Humanoid Robotics and Computational Neuroscience at the Advanded Telecommunication Research (ATR) Center in Japan. Jan Peters graduated from University of Southern California with a Ph.D. in Computer Science in March 2007. He remains affiliated with the CLMC Lab as an adjunct researcher.

More information on Jan Peters can be found on his private homepage.

Conference papers (93):
•	Nguyen-Tuong D and Peters J (August-2008) Learning Robot Dynamics for Computed Torque Control Using Local Gaussian Processes Regression In: LAB-RS 2008, 2008 ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems, IEEE Computer Society, Los Alamitos, CA, USA, 59-64.
•	Hachiya H , Akiyama T , Sugiyama M and Peters J (July-2008) Adaptive Importance Sampling with Automatic Model Selection in Value Function Approximation In: AAAI 2008, Twenty-Third Conference on Artificial Intelligence, AAAI Press, Menlo Park, CA, USA, 1351-1356.
•	Deisenroth MP , Peters J and Rasmussen CE (June-2008) Approximate Dynamic Programming with Gaussian Processes In: ACC 2008, 2008 American Control Conference, IEEE Service Center, Piscataway, NJ, USA, 4480-4485.
•	Nguyen-Tuong D , Seeger M and Peters J (June-2008) Computed Torque Control with Nonparametric Regression Models In: ACC 2008, 2008 American Control Conference, IEEE Service Center, Piscataway, NJ, USA, 212-217.
•	Wierstra D , Schaul T , Peters J and Schmidhuber J (June-2008) Natural Evolution Strategies In: CEC 2008, IEEE Congress on Evolutionary Computation, IEEE, Piscataway, NJ, USA, 3381-3387.
•	Peters J and Schaal S (June-2008) Policy Learning for Motor Skills In: ICONIP 2007, 14th International Conference on Neural Information Processing, Springer, Berlin, Germany, 233-242.
•	Peters J and Nguyen-Tuong D (May-2008) Real-time Learning of Resolved Velocity Control on a Mitsubishi PA-10 In: ICRA 2008, 2008 IEEE International Conference on Robotics and Automation, IEEE Service Center, Piscataway, NJ, USA, 2872-2877.
•	Nguyen-Tuong D , Peters J , Seeger M and Schölkopf B (April-2008) Learning Inverse Dynamics: A Comparison 16th European Symposium on Artificial Neural Networks (ESANN 2008), d-side, Evere, Belgium, 13-18.
•	Deisenroth MP , Rasmussen CE and Peters J (April-2008) Model-Based Reinforcement Learning with Continuous States and Actions In: ESANN 2008, European Symposium on Artificial Neural Networks, d-side, Evere, Belgium, 19-24.
•	Nakanishi J , Mistry M , Peters J and Schaal S (November-2007) Towards compliant humanoids: an experimental assessment of suitable task space position/orientation controllers In: IROS 2007, IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE Service Center, Piscataway, NJ, USA, 2007, 2520-2527.
•	Peters J , Schaal S and Schölkopf B (October-2007) Towards Machine Learning of Motor Skills In: Autonome Mobile Systeme 2007, 20. Fachgespräch Autonome Mobile Systeme, Springer, Berlin, Germany, 138-144.
•	Wierstra D , Förster A , Peters J and Schmidhuber J (September-2007) Solving Deep Memory POMDPs with Recurrent Policy Gradients In: ICANN‘07, International Conference on Artificial Neural Networks, Springer, Berlin, Germany, 697-706.
•	Peters J and Schaal S (June-2007) Reinforcement learning by reward-weighted regression for operational space control 24th Annual International Conference on Machine Learning (ICML 2007), ACM Press, New York, NY, USA, 745-750.
•	Ting J-A , Mistry M , Peters J , Schaal S and Nakanishi J (April-2007) A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics In: RSS 2006, Robotics: Science and Systems II (RSS 2006), MIT Press, Cambridge, MA, USA, 247-254.
•	Peters J and Schaal S (April-2007) Applying the Episodic Natural Actor-Critic Architecture to Motor Primitive Learning 15th European Symposium on Artificial Neural Networks (ESANN 2007), D-Side, Evere, Belgium, 295-300.
•	Riedmiller M , Peters J and Schaal S (April-2007) Evaluation of Policy Gradient Methods and Variants on the Cart-Pole Benchmark In: ADPRL 2007, 2007 IEEE Internatinal Symposium on Approximate Dynamic Programming and Reinforcement Learning, IEEE Computer Society, Los Alamitos, CA, USA, 254-261.
•	Peters J and Schaal S (April-2007) Learning Operational Space Control Robotics: Science and Systems II (RSS 2006), MIT Press, Cambridge, MA, USA, 255-262.
•	Peters J and Schaal S (April-2007) Reinforcement Learning for Operational Space Control 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), IEEE Computer Society, Los Alamitos, CA, USA, 2111-2116.
•	Peters J and Schaal S (April-2007) Using Reward-weighted Regression for Reinforcement Learning of Task Space Control IEEE Symposium on Approximate Dynamic Programming and Reinforcement Learning (ADPRL 2007), IEEE Computer Society, Los Alamitos, CA, USA, 262-267.
•	Peters J and Schaal S (October-2006) Policy Gradient Methods for Robotics 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE Computer Society, Los Alamitos, CA, USA, 2219-2225.
•	Peters J and Schaal S (July-2006) Reinforcement Learning for Parameterized Motor Primitives In: IJCNN 2006, International Joint Conference on Neural Networks, IEEE Service Center, Piscataway, NJ, USA, 73-80.
•	Peters J , Vijayakumar S and Schaal S (November-2005) Natural Actor-Critic 16th European Conference on Machine Learning (ECML 2005), Springer, Berlin, Germany, 280-291.
•	Peters J , Mistry M and Udwadia F (September-2005) A new methodology for robot controller design 5th ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC-MSNDC 2005), ASME, New York, NY, USA, 5, 1067-1076.
•	Peters J , Mistry M , Udwadia FE , Cory R , Nakanishi J and Schaal S (August-2005) A unifying methodology for the control of robotic systems 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), IEEE Operations Center, Piscataway, NJ, USA, 1824-1831.
•	Nakanishi J , Cory R , Mistry M , Peters J and Schaal S (August-2005) Comparative experiments on task space control with redundancy resolution In: IROS 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE Operations Center, Piscataway, NJ, USA, 3901-3908.
•	Schaal S , Peters J , Nakanishi J and Ijspeert A (August-2005) Learning Movement Primitives In: Robotics Research, 11th International Symposium on Robotics Research (ISRR 2003), Springer, Berlin, Germany, 561-572.
•	Schaal S , Peters J , Nakanishi J and Ijspeert A (October-2003) Control, Planning, Learning, and Imitation with Dynamic Movement Primitives In: IROS 2003, Workshop on Bilateral Paradigms on Humans and Humanoids, IEEE International Conference on Intelligent Robots and Systems, 1-21.
•	Peters J , Vijayakumar S and Schaal S (September-2003) Reinforcement Learning for Humanoid Robotics 3rd IEEE-RAS International Conference on Humanoid Robots (Humanoids2003), 1-20.
•	Peters J , Vijayakumar S and Schaal S (May-2003) Scaling Reinforcement Learning Paradigms for Motor Control In: JSNC 2003, 10th Joint Symposium on Neural Computation (JSNC 2003), 10, 1-7.
•	Burdet E , Teng KP , Chew CM , Peters J and BT (September-2001) Hybrid IDM/Impedance learning in human movements In: ISHF 2001, 1st International Symposium on Measurement, Analysis and Modeling of Human Functions (ISHF2001), 1, 1-9.
•	Peters J and Riener R (December-2000) A real-time model of the human knee for application in virtual orthopaedic trainer 10th International Conference on BioMedical Engineering (ICBME 2000), 10, 1-2.
Contributions to books (7):
•	Sigaud O and Peters J : Robot Learning, 2869-2871. In: Encyclopedia of the Sciences of Learning, (Ed) N.M. Seel, Springer, Berlin, Germany, (2012).
•	Peters J , Tedrake R , Roy N and Morimoto J : Robot Learning, 865-869. In: Encyclopedia of Machine Learning, (Ed) C. Sammut, Springer, New York, NY, USA, (January-2011).
•	Peters J and Bagnell JA : Policy Gradient Methods, 774-776. In: Encyclopedia of Machine Learning, (Ed) C. Sammut, Springer, Berlin, Germany, (December-2010).
•	Sigaud O and Peters J : From Motor Learning to Interaction Learning in Robots, 1-12. In: From Motor Learning to Interaction Learning in Robots, (Ed) O. Sigaud, Springer, Berlin, Germany, (January-2010).
•	Kober J , Mohler B and Peters J : Imitation and Reinforcement Learning for Motor Primitives with Perceptual Coupling, 209-225. In: From Motor Learning to Interaction Learning in Robots, (Ed) O. Sigaud, Springer, Berlin, Germany, (January-2010).
•	Detry R , Baseski E , Popovic M , Touati Y , Krüger N , Kroemer O , Peters J and Piater J : Learning Continuous Grasp Affordances by Sensorimotor Exploration, 451-465. In: From Motor Learning to Interaction Learning in Robots, (Ed) O. Sigaud, Springer, Berlin, Germany, (January-2010).
•	Nguyen-Tuong D , Seeger M and Peters J : Real-Time Local GP Model Learning, 193-207. In: From Motor Learning to Interaction Learning in Robots, (Ed) O. Sigaud, Springer, Berlin, Germany, (January-2010).
Technical reports (1):
•	Seldin Y , Laviolette F , Shaw-Taylor J , Peters J and Auer P : PAC-Bayesian Analysis of Martingales and Multiarmed Bandits, Max Planck Institute for Biological Cybernetics, Tübingen, Germany, (May-2011).
Posters (13):
•	Kroemer O , Detry R , Piater J and Peters J (October-2010): Generalizing Demonstrated Actions in Manipulation Tasks, IROS 2010 Workshop on Grasp Planning and Task Learning by Imitation, 2010 1.
•	Peters J , Mülling K and Altun Y (July-2010): Reinforcement Learning by Relative Entropy Policy Search, 30th International Workshop on Bayesian Inference and Maximum Entropy Methods in Science and Engineering (MaxEnt 2010), 30 69.
•	Lampert CH and Peters J (September-2009): A High-Speed Object Tracker from Off-the-Shelf Components, First IEEE Workshop on Computer Vision for Humanoid Robots in Real Environments at ICCV 2009, 1 1.
•	Peters J , Kober J and Nguyen-Tuong D (July-2008): Policy Learning: A Unified Perspective With Applications In Robotics, 8th European Workshop on Reinforcement Learning for Robotics (EWRL 2008), 8 10.
•	Kober J and Peters J (July-2008): Reinforcement Learning of Perceptual Coupling for Motor Primitives, 8th European Workshop on Reinforcement Learning for Robotics (EWRL 2008), 8 16.
•	Theodorou E , Peters J and Schaal S (November-2007): Reinforcement learning for optimal control of arm movements, 37th Annual Meeting of the Society for Neuroscience (Neuroscience 2007), San Diego, CA, USA.
•	Peters J , Theodoru E and Schaal S (July-2007): Policy gradient methods for machine learning, Proceedings of the 14th INFORMS Applied Probability Conference (INFORMS 2007), 14 97-98.
•	Peters J and Schaal S (October-2004): Learning Motor Primitives with Reinforcement Learning, AAAI Fall Symposium on Real-Life Reinforcement Learning 2004, 2004 1.
•	Peters J and Schaal S (May-2004): Learning Motor Primitives with Reinforcement Learning, 11th Joint Symposium on Neural Computation (JSNC 2004), 11 1.
•	Peters J , Vijayakumar S and Schaal S (December-2003): Natural Actor-Critic, NIPS 2003 Workshop " Planning for the Real World: The promises and challenges of dealing with uncertainty", Whistler, BC, Canada.
•	Mohajerian P , Peters J , Ijspeert A and Schaal S (May-2003): A unifying computational framework for optimization and dynamic systemsapproaches to motor control, 10th Joint Symposium on Neural Computation (JSNC 2003), 10 1.