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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 |
While I remain affliated with MPI, I am now also a full professor at Darmstadt University of Technology (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 have recently completed my Ph.D. at the Department of Computer Science at the University of Southern California in sunny Los Angeles. There, I have been working with Stefan Schaal, Sethu Vijayakumar (now at U. Edinburgh, UK), and Firdaus Udwadia (from the Department of Mechanical Engineering). My fabulous committee also included Chris Atkeson and Gaurav Sukhatme. Before joining USC, I studied computer science (with a focus on artificial intelligence), and electrical engineering (majoring in automation & control) in Germany and Singapore, worked in Germany, Japan, and Singapore. Furthermore, I obtained a Dipl.-Ing. (German MSEE) from Munich University of Technology and a Dipl.-Inform. (German MSCS) from Hagen University. At University of Southern California, I have obtained the obligatory, redundant MS in Computer Science and, recently, completed a Masters in Mechanical Engineering. Check out my curriculum vitae for more information. More information on Jan Peters can be found on his private homepage and on his group's homepage. For a reasonably formatted version of my publications see here.
I am interested in many topics. Among them are
- learning models for control
- learning operational space control
- reinforcement learning
- learning motor primitives
- learning complex tasks
- learning to grasp
- learning to play ping-pong
- motor primitives for hitting
- brain-robot interfaces
For more information see my private homepage and on my group's homepage.
Jan Peters is a full professor at Darmstadt University of Technology (TU Darmstadt) heading the intelligent systems group while still being affliated with the MPI heading the robot learning lab.
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.
Books (2): | |
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and Peters J
 : From Motor Learning to Interaction Learning in Robots, 538, Springer, Berlin, Germany, (2010).
ISBN: 978-3-642-05180-7
 
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Peters J
: Machine Learning for Robotics: Learning Methods for Robot Motor Skills, 107, VDM-Verlag, Saarbrücken, Germany, (2008).
ISBN: 978-3-639-02110-3
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Proceedings (2): | |
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Deisenroth MP , and Peters J : Proceedings of the 10th European Workshop on Reinforcement Learning, Volume 24, European Workshop On Reinforcement Learning, EWRL 2012, 173 pages, JMLR, (2013).
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, , Peters J and : CogRob 2008: The 6th International Cognitive Robotics Workshop, 6th International Cognitive Robotics Workshop (CogRob 2008), 35, Patras University Press, Patras, Greece, (2008). 978-960-6843-09-9
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Articles (38): | |
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Nguyen-Tuong D and Peters J (2012) Online Kernel-based Learning for Task-Space Tracking Robot Control
IEEE Transactions on Neural Networks and Learning Systems 23(9) 1417-1425.
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Lampert CH and Peters J (2012) Real-time detection of colored objects in multiple camera streams with off-the-shelf hardware components
Journal of Real-Time Image Processing 7(1) 31-41.
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Kober J , , and Peters J (2012) Reinforcement learning to adjust parametrized motor primitives to new situations
Autonomous Robots 33(4) 361-379.
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Mülling K , Kober J , Kroemer O and Peters J (2012) Learning to Select and Generalize Striking Movements in Robot Table Tennis
International Journal of Robotics Research . accepted
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Wang Z , Mülling K , Deisenroth M , , , Schölkopf B and Peters J (2012) Probabilistic movement modeling for intention inference in human-robot interaction
International Journal of Robotics Research . accepted
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Hachiya H , Peters J and (2011) Reward-Weighted Regression with Sample Reuse for Direct Policy Search in Reinforcement Learning
Neural Computation 23(11) 2798-2832.
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Mülling K , Kober J and Peters J (2011) A biomimetic approach to robot table tennis
Adaptive Behavior 19(5) 359-376.
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Kober J and Peters J (2011) Policy Search for Motor Primitives in Robotics
Machine Learning 84(1-2) 171-203.
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Gomez Rodriguez M , Peters J , Hill J , Schölkopf B , and Grosse-Wentrup M (2011) Closing the sensorimotor loop: haptic feedback facilitates decoding of motor imagery
Journal of Neural Engineering 8(3) 1-12.
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Kroemer O , Lampert CH and Peters J (2011) Learning Dynamic Tactile Sensing with Robust Vision-based Training
IEEE Transactions on Robotics 27(3) 545-557.
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Nguyen-Tuong D and Peters J (2011) Incremental online sparsification for model learning in real-time robot control
Neurocomputing 74(11) 1859-1867.
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Nguyen-Tuong D and Peters J (2011) Model learning for robot control: a survey
Cognitive Processing 12(4) 319-340.
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, , Kroemer O , Peters J , and Piater J (2011) Learning grasp affordance densities
Paladyn: Journal of Behavioral Robotics 2(1) 1-17.
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Piater J , , , , , Kroemer O and Peters J (2011) Learning Visual Representations for Perception-Action Systems
International Journal of Robotics Research 30(3) 294-307.
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Peters J , Mülling K and Altun Y (2011) Reinforcement Learning with Bounded Information Loss
AIP Conference Proceedings 1305(1) 365-372.
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Peters J , Kober J and (2010) Algorithmen zum Automatischen Erlernen von Motorfähigkeiten
at - Automatisierungstechnik 58(12) 688-694.
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Peters J (2010) Policy gradient methods
Scholarpedia 5(11) 3698.
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, , Peters J and (2010) Recurrent Policy Gradients
Logic Journal of the IGPL 18(5) 620-634.
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Kroemer O , , Piater J and Peters J (2010) Combining active learning and reactive control for robot grasping
Robotics and Autonomous Systems 58(9) 1105-1116.
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Kober J and Peters J (2010) Imitation and Reinforcement Learning
IEEE Robotics and Automation Magazine 17(2) 55-62.
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, , , , Peters J and (2010) Parameter-exploring policy gradients
Neural Networks 21(4) 551-559.
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, , , Peters J and (2010) Derivatives of Logarithmic Stationary Distributions for Policy Gradient Reinforcement Learning
Neural Computation 22(2) 342-376.
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Hachiya H , , and Peters J (2009) Adaptive Importance Sampling for Value Function Approximation in Off-policy Reinforcement Learning
Neural Networks 22(10) 1399-1410.
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Nguyen-Tuong D , Seeger M and Peters J (2009) Model Learning with Local Gaussian Process Regression
Advanced Robotics 23(15) 2015-2034.
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Peters J , , and (2009) Robot Learning
IEEE Robotics and Automation Magazine 16(3) 19-20.
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Peters J and (2009) Guest editorial: Special issue on robot learning, Part B
Autonomous Robots 27(2) 91-92.
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Peters J and Kober J (2009) Policy Search for Motor Primitives
KI - Zeitschrift Künstliche Intelligenz 23(3) 38-40.
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Peters J and (2009) Guest editorial: Special issue on robot learning, Part A
Autonomous Robots 27(1) 1-2.
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Deisenroth MP , Rasmussen CE and Peters J (2009) Gaussian Process Dynamic Programming
Neurocomputing 72(7-9) 1508-1524.
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Peters J (2008) Machine Learning for Motor Skills in Robotics
Künstliche Intelligenz 2008(4) 41-43.
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, , , Peters J and (2008) Operational Space Control: A Theoretical and Empirical Comparison
International Journal of Robotics Research 27(6) 737-757.
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Peters J and (2008) Reinforcement Learning of Motor Skills with Policy Gradients
Neural Networks 21(4) 682-697.
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Steinke F , Hein M , Peters J and Schölkopf B (2008) Manifold-valued Thin-plate Splines
with Applications in Computer Graphics
Computer Graphics Forum 27(2) 437-448.
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Peters J and (2008) Natural Actor-Critic
Neurocomputing 71(7-9) 1180-1190.
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Peters J and (2008) Learning to Control in Operational Space
International Journal of Robotics Research 27(2) 197-212.
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Peters J , , , and (2007) A unifying framework for robot control with redundant DOFs
Autonomous Robots 24(1) 1-12.
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Peters J (2007) Book Review: Computational Intelligence: Principles, Techniques and Applications by Amit Konar
The Computer Journal 50(6) 758-758.
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Peters J (1998) Book Review: An Introduction to Fuzzy Logic for Practical Applications
Künstliche Intelligenz (KI) 98(4) 60-60. |
Conference papers (108): | |
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and Peters J (2013) Feedback Error Learning for Rhythmic Motor Primitives
In: Proceedings of 2013 IEEE International Conference on Robotics and Automation (ICRA), ICRA 2013.
accepted
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, and Peters J (2013) Learning Sequential Motor Tasks
In: Proceedings of 2013 IEEE International Conference on Robotics and Automation (ICRA), ICRA 2013.
accepted
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, , Peters J and Deisenroth MP (2013) Model-based Imitation Learning by Probabilistic Trajectory Matching
In: Proceedings of 2013 IEEE International Conference on Robotics and Automation (ICRA), ICRA 2013.
accepted
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Wang Z , Deisenroth M , , , Schölkopf B and Peters J (2012) Probabilistic Modeling of Human Movements for Intention Inference
Robotics: Science and Systems (R:SS 2012), 8 pages.
accepted
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Bócsi B , Hennig P , Csató L and Peters J (2012) Learning Tracking Control with Forward Models
IEEE International Conference on Robotics and Automation (ICRA 2012), 259 -264.
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Kroemer O , , and Peters J (2012) A Kernel-based Approach to Direct Action Perception
IEEE International Conference on Robotics and Automation (ICRA 2012), 1-6.
accepted
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, and Peters J (2012) Hierarchical Relative Entropy Policy Search
Fifteenth International Conference on Artificial Intelligence and Statistics (AISTATS 2012), 1-9.
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Meyer T , Peters J , , Zander TO , Schölkopf B , and Grosse-Wentrup M (2012) A Brain-Robot Interface for Studying Motor Learning after Stroke
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), IEEE, Piscataway, NJ, USA, 4078 - 4083.
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