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]


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]


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]

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]


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]


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]


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]

Learning Individual Motor Skills


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]

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]


Silvia Chiappa, Jens Kober, and Jan Peters. Using Bayesian Dynamical Systems for Motion Template Libraries. In Advances in Neural Information Processing Systems 21 (NIPS 2008) (D. Koller, D. Schuurmans, Y. Bengio, L. Bottou, eds.), Curran Associates, Inc., pp. 297–304, 2009. [bibtex] [pdf] [url] [video]


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]