Structure–function relationships in the processing of regret in the orbitofrontal cortex (2009)
Sommer, Tobias, Peters, Jan, Gläscher, Jan, Büchel, Christian
The influence of counterfactual thinking and regret on choice behavior has been widely acknowledged in economic science (Bell in Oper Res 30:961–981, 1982; Kahneman and Tversky in Judgment under...
Using Bayesian Dynamical Systems for Motion Template Libraries (2009)
Motor primitives or motion templates have become an important concept for both modeling human motor control as well as generating robot behaviors using imitation learning. Recent impressive results...
Policy Learning for Motor Skills (2009)
Abstract. Policy learning which allows autonomous robots to adapt to novel situations has been a long standing vision of robotics, artificial intelligence, and cognitive sciences. However, to date,...
Operational Space Control: A Theoretical and Empirical Comparison (2009)
Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, Stefan Schaal, Rick Cory, ...
Citations (this article cites 33 articles hosted on the
DOI 10.1007/s10514-007-9051-x A unifying framework for robot control with redundant DOFs (2009)
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, Stefan Schaal, J. Peters, ...
2003:1783–1800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-offreedom (DOFs) using a generalization of Gauss ’ principle of least constraint. This...
Fitness Expectation Maximization (2009)
Daan Wierstra, Tom Schaul, Jan Peters, Jürgen Schmidhuber
Abstract. We present Fitness Expectation Maximization (FEM), a novel method for performing ‘black box ’ function optimization. FEM searches the fitness landscape of an objective function using an...
Policy Gradients with Parameter-Based Exploration for Control (2009)
Frank Sehnke, Christian Osendorfer, Thomas Rückstieß, Alex Graves, Jan Peters, Jürgen Schmidhuber
Abstract. We present a model-free reinforcement learning method for partially observable Markov decision problems. Our method estimates a likelihood gradient by sampling directly in parameter space,...
Natural Evolution Strategies (2009)
Daan Wierstra, Tom Schaul, Jan Peters, Juergen Schmidhuber
Abstract — This paper presents Natural Evolution Strategies (NES), a novel algorithm for performing real-valued ‘black box ’ function optimization: optimizing an unknown objective function...
Episodic Reinforcement Learning by Logistic Reward-Weighted Regression (2009)
Daan Wierstra, Tom Schaul, Jan Peters, Juergen Schmidhuber
Abstract. It has been a long-standing goal in the adaptive control community to reduce the generically difficult, general reinforcement learning (RL) problem to simpler problems solvable by...
Learning Inverse Dynamics: a Comparison (2009)
Duy Nguyen-tuong, Jan Peters, Matthias Seeger, Bernhard Schölkopf
Abstract. While it is well-known that model can enhance the control performance in terms of precision or energy efficiency, the practical application has often been limited by the complexities of...
Jan Peters, Stefan Schaal, Stefan Schaal
One of the most general frameworks for phrasing control problems for complex, redundant robots is operational-space control. However, while this framework is of essential importance for robotics and...
Gaussian Process Dynamic Programming (2009)
Deisenroth, Marc, Rasmussen, Carl Edward, Peters, Jan
Reinforcement learning (RL) and optimal control of systems with continuous states and actions require approximation techniques in most interesting cases. In this article, we introduce Gaussian...
Fitted Q-iteration by Advantage Weighted Regression (2009)
Recently, fitted Q-iteration (FQI) based methods have become more popular due to their increased sample efficiency, a more stable learning process and the higher quality of the resulting policy....
Learning Complex Motions by Sequencing Simpler Motion Templates (2009)
Abstraction of complex, longer motor tasks into simpler elemental movements enables humans and animals to exhibit motor skills which have not yet been matched by robots. We intuitively decompose...
Using Bayesian dynamical systems for motion template libraries (2009)
Chiappa, Silvia, Kober, Jens, Peters, Jan
Motor primitives or motion templates have become an important concept for both modeling human motor control as well as generating robot behaviors using imitation learning. Recent impressive results...
Using Bayesian Dynamical Systems for Motion Template Libraries (2009)
Chiappa, Silvia, Kober, Jens, Peters, Jan
Motor primitives or motion templates have become an important concept for both modeling human motor control as well as generating robot behaviors using imitation learning. Recent impressive results...
Uncertainty propagation in vegetation distribution models based on ensemble classifiers (2009)
Peters, Jan, Verhoest, Niko, Samson, Roeland, Van Meirvenne, Marc, Cockx, Liesbet, De Baets, Bernard
Ensemble learning techniques are increasingly applied for species and vegetation distribution modelling, often resulting in more accurate predictions. At the same time, uncertainty assessment of...
Coping with career breaks (2009)
In these tough economic times, how can women cope with a career break? Jan Peters, manager of the BCS Women's Forum, discusses.
Reasons to be cheerful 1, 2, 3 (2009)
Jan Peters, BCS Women's Forum manager, is setting up a women in IT programme for the BCS to build a profession that is good for women and better for all.
Approximate Dynamic Programming with Gaussian Processes (2008)
Deisenroth, Marc, Peters, Jan, Rasmussen, Carl Edward
In general, it is difficult to determine an optimal closed-loop policy in nonlinear control problems with continuous-valued state and control domains. Hence, approximations are often inevitable. The...
Applying the Episodic Natural Actor-Critic Architecture to Motor Primitive Learning (2008)
Abstract. In this paper, we investigate motor primitive learning with the Natural Actor-Critic approach. The Natural Actor-Critic consists out of actor updates which are achieved using natural...
Integration of Mobile Agents and Web Services (2008)
Abstract. The web service specification represents an open standard for distributed service oriented architectures, already impacting a broad range of commerce and industry. Web services are widely...
Model-based Reinforcement Learning with Continuous States and Actions (2008)
Deisenroth, Marc, Rasmussen, Carl Edward, Peters, Jan
Finding an optimal policy in a reinforcement learning (RL) framework with continuous state and action spaces is challenging. Approximate solutions are often inevitable. GPDP is an approximate dynamic...
Jun Nakanishi, Michael Mistry, Jan Peters, Stefan Schaal
Abstract — Compliant control will be a prerequisite for humanoid robotics if these robots are supposed to work safely and robustly in human and/or dynamic environments. One view of compliant...
Towards Machine Learning of Motor Skills (2008)
Jan Peters, Stefan Schaal, Bernhard Schölkopf
Abstract. Autonomous robots that can adapt to novel situations has been a long standing vision of robotics, artificial intelligence, and cognitive sciences. Early approaches to this goal during the...
Applying the Episodic Natural Actor-Critic Architecture to Motor Primitive Learning (2008)
Abstract. In this paper, we investigate motor primitive learning with the Natural Actor-Critic approach. The Natural Actor-Critic consists out of actor updates which are achieved using natural...
A Unifying Framework for Robot Control with Redundant DOFs (2008)
Peters, Jan, Mistry, Michael, Udwadia, Firdaus, Nakanishi, Jun, Schaal, Stefan
Recently, (Udwadia, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss’ principle of least constraint....
Reinforcement Learning by Advantage Weighted Regression (2008)
Recently, batch mode reinforcement learning (BMRL) methods have become more popular due to their higher learning speed, more stable learning processes and the higher quality of the resulting policy....
An international perspective on successful programs to attract women to ICT (2008)
Lang, Catherine, Egan, Mary Ann, Peters, Jan, Ayfer, Reyyan, Ara, Jehan
An international snapshot of women in IT in ACM-W Ambassador countries will be provided. There will be a particular focus on political initiatives to address the lack of diversity in the ICT...
Natural Evolution Strategies (2008)
Daan Wierstra, Tom Schaul, Jan Peters, Juergen Schmidhuber, Daan Wierstra, Tom Schaul, ...
This paper presents Natural Evolution Strategies (NES), a novel algorithm for performing real-valued ‘black box ’ function optimization: optimizing an unknown objective function where...
Wetlands are land areas that are periodically or permanently wet due to their location in the landscape. The periodical or permanent presence of wet conditions trigger chemical, physical and...
An international perspective on successful programs to attract women to ICT (2008)
Lang, Catherine, Egan, Mary Ann, Peters, Jan, Ayfer, Reyyan, Ara, Jehan
An international snapshot of women in IT in ACM-W Ambassador countries will be provided. There will be a particular focus on political initiatives to address the lack of diversity in the ICT...
Multilateral Security in Mobile Applications and Location Based Services (2007)
Mario Hoffmann, Jan Peters, Ulrich Pinsdorf
Abstract. Due to the many current weaknesses of security mechanisms in mobile technology, location based services essentially depend on security aware middleware and reliable multilateral security...
Machine Learning of Motor Skills for Robotics (2007)
Autonomous robots that can assist humans in situations of daily life have been a long standing vision of robotics, artificial intelligence, and cognitive sciences. A first step towards this goal is...
Policy Learning for Motor Skills (2007)
Policy learning which allows autonomous robots to adapt to novel situations has been a long standing vision of robotics, artificial intelligence, and cognitive sciences. However, to date, learning...
Solving Deep Memory POMDPs with Recurrent Policy Gradients (2007)
Wierstra, Daan, Foerster, Alex, Peters, Jan, Schmidthuber, Juergen
This paper presents Recurrent Policy Gradients, a model- free reinforcement learning (RL) method creating limited-memory stochastic policies for partially observable Markov decision problems (POMDPs)...
Towards Machine Learning of Motor Skills (2007)
Peters, Jan, Schoelkopf, Bernhard, Schaal, Stefan
Autonomous robots that can adapt to novel situations has been a long standing vision of robotics, artificial intelligence, and cognitive sciences. Early approaches to this goal during the heydays of...
Reinforcement Learning for Optimal Control of Arm Movements (2007)
Theodorou, Evangelos, Peters, Jan, Schaal, Stefan
Every day motor behavior consists of a plethora of challenging motor skills from discrete movements such as reaching and throwing to rhythmic movements such as walking, drumming and running. How this...
Nakanishi, Jun, Mistry, Michael, Peters, Jan, Schaal, Stefan
Compliant control will be a prerequisite for humanoid robotics if these robots are supposed to work safely and robustly in human and/or dynamic environments. One view of compliant control is that a...
Reinforcement learning for operational space control (2007)
While operational space control is of essential importance for robotics and well-understood from an analytical point of view, it can be prohibitively hard to achieve accurate control in face of...
Applying the episodic natural actor-critic architecture to motor primitive learning (2007)
In this paper, we investigate motor primitive learning with the Natural Actor-Critic approach. The Natural Actor-Critic consists out of actor updates which are achieved using natural stochastic...
Reinforcement learning by reward-weighted regression for operational space control (2007)
Many robot control problems of practical importance, including operational space control, can be reformulated as immediate reward reinforcement learning problems. However, few of the known...
Policy gradient methods for machine learning (2007)
Peters, Jan, Theodorou, Evangelos, Schaal, Stefan
We present an in-depth survey of policy gradient methods as they are used in the machine learning community for optimizing parameterized, stochastic control policies in Markovian systems with respect...
Evaluation of policy gradient methods and variants on the cart-pole benchmark (2007)
Riedmiller, Martin, Peters, Jan, Schaal, Stefan
In this paper, we evaluate different versions from the three main kinds of model-free policy gradient methods, i.e., finite difference gradients, `vanilla' policy gradients and natural policy...
Random forests as a tool for ecohydrological distribution modelling. (2007)
Peters, Jan, De Baets, Bernard, Verhoest, Niko, Samson, Roeland, Degroeve, Sven, DE BECKER, P, ...
Reinforcement learning by reward-weighted regression for operational space control (2007)
Many robot control problems of practical importance, including operational space control, can be reformulated as immediate reward reinforcement learning problems. However, few of the known...
Solving deep memory pomdps with recurrent policy gradients (2007)
Daan Wierstra, Er Foerster, Jan Peters, Juergen Schmidhuber
Abstract. This paper presents Recurrent Policy Gradients, a modelfree reinforcement learning (RL) method creating limited-memory stochastic policies for partially observable Markov decision problems...
Solving deep memory pomdps with recurrent policy gradients (2007)
Daan Wierstra, Er Foerster, Jan Peters, Juergen Schmidhuber
Abstract. This paper presents Recurrent Policy Gradients, a modelfree reinforcement learning (RL) method creating limited-memory stochastic policies for partially observable Markov decision problems...
Solving deep memory pomdps with recurrent policy gradients (2007)
Daan Wierstra, Er Foerster, Jan Peters, Juergen Schmidhuber
Abstract. This paper presents Recurrent Policy Gradients, a modelfree reinforcement learning (RL) method creating limited-memory stochastic policies for partially observable Markov decision problems...
Garcia-Quijano, Juan F, Peters, Jan, Cockx, Liesbet, Van Wyk, Gerrit, Rosanov, Andrei, Deckmyn, Gaby, ...
A three-step methodology to assess the carbon sequestration and the environmental impact of afforestation projects in the framework of the Flexible Mechanisms of the Kyoto Protocol (Joint...
A bayesian approach to nonlinear parameter identification for rigid body dynamics (2006)
Jo-anne Ting, Michael Mistry, Jan Peters, Stefan Schaal, Jun Nakanishi
Abstract — For robots of increasing complexity such as humanoid robots, conventional identification of rigid body dynamics models based on CAD data and actuator models becomes difficult and...
A Unifying Framework for Robot Control with Redundant DOFs (2006)
Jan Peters, Michael Mistry, Firdaus Udwadia
Recently, (Udwadia, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss ’ principle of least constraint....
Policy gradient methods for robotics (2006)
Abstract — The aquisition and improvement of motor skills and control policies for robotics from trial and error is of essential importance if robots should ever leave precisely pre-structured...
A Holistic Approach to Security Policies – Policy Distribution with XACML over COPS (2006)
Jan Peters, Roland Rieke, Taufiq Rochaeli, Björn Steinemann, Ruben Wolf
The potentials of modern information technology can only be exploited, if the underlying infrastructure and the applied applications sufficiently take into account all aspects of IT security. This...
Policy gradient methods for robotics (2006)
Abstract — The aquisition and improvement of motor skills and control policies for robotics from trial and error is of essential importance if robots should ever leave precisely pre-structured...
Ecohydrological monitoring in natural and managed ecosystems in southern Chile (2005)
Peters, Jan, Wieme, Vanessa, Boeckx, Pascal, Samson, Roeland, OYARZUN, C, Verhoest, Niko
Abstract. This paper investigates a novel model-free reinforcement learning architecture, the Natural Actor-Critic. The actor updates are based on stochastic policy gradients employing Amari’s...
A unifying methodology for the control of robotic systems (2005)
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, Stefan Schaal
Abstract — Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of Gauss’ principle of least constraint. This method allows us to reformulate...
Abstract. This paper investigates a novel model-free reinforcement learning architecture, the Natural Actor-Critic. The actor updates are based on stochastic policy gradients employing Amari’s...
Bj"orn Steinemann, Fraunhofer SIT (2005)
Work Package Pe, Jan Peters, Fraunhofer Igd, Fraunhofer Sit, Ruben Wolf, ...
Learning Motor Primitives with Reinforcement Learning (2004)
One of the major challenges in action generation for robotics and in the understanding of human motor control is to learn the "building blocks of move- ment generation," or more precisely, motor...
Hannover, Univ., Diss., 2004.
Hannover, Univ., Diss., 2004 (Nicht für den Austausch).
Learning movement primitives (2004)
Stefan Schaal, Jan Peters, Jun Nakanishi, Auke Ijspeert
Abstract. This paper discusses a comprehensive framework for modular motor control based on a recently developed theory of dynamic movement primitives (DMP). DMPs are a formulation of movement...
Reinforcement Learning for Humanoid Robotics (2003)
Jan Peters, Sethu Vijayakumar, Stefan Schaal
Reinforcement learning o#ers one of the most general framework to take traditional robotics towards true autonomy and versatility.
Scaling Reinforcement Learning Paradigms for Motor Control (2003)
Jan Peters, Sethu Vijayakumar, Stefan Schaal
Reinforcement learning o#ers a general framework to explain reward related learning in artificial and biological motor control. However, current reinforcement learning methods rarely scale to high...
Jan Peters, Sethu Vijayakumar, Stefan Schaal
Reinforcement learning offers a promising framework to take planning for real-world systems towards true autonomy and versatility. However, applying reinforcement learning to high dimensional...
Context-Aware Services based on Secure Mobile Agents (2002)
Ulrich Pinsdorf, Jan Peters, Mario Hoffmann, Piklu Gupta
Abstract: In this paper we introduce the concept of context-aware services as an extended form of locationbased services. We describe a new architecture for realizing context-aware services which has...
Searching a Scalable Approach to Cerebellar Based Control (2002)
Jan Peters Computational, Jan Peters, Patrick Van, Der Smagt
Decades of research into the structure and function of the cerebellum have led to a clear understanding of many of its cells, as well as how learning might take place. Furthermore, there are many...
A Scalable and Secure Global Tracking Service for Mobile Agents (2001)
Abstract. In this paper, we propose a global tracking service for mobile agents, which is scalable to the Internet and accounts for security issues as well as the particularities of mobile agents...
A Scalable and Secure Global Tracking Service for (2001)
Mobile Agents Volker, Volker Roth, Jan Peters
In this paper, we propose a global tracking service for mobile agents, which is scalable to the Internet and accounts for security issues as well as the particularities of mobile agents (frequent...
A Scalable and Secure Global Tracking Service for Mobile Agents (2001)
Abstract. In this paper, we propose a global tracking service for mobile agents, which is scalable to the Internet and accounts for security issues as well as the particularities of mobile agents...
Thesis (doctoral)--Universität, Kiel, 2000.
The treatment of cooperative joint ventures under EC competition law / (1993)
Thesis (LL.M.) European Community Law, Dept. of Law -- University of Essex, 1993.
Community, commitment, and conservatism (1991)
EISINGA, ROB, LAMMERS, JAN, PETERS, JAN
Roof's localism theory implies that the associations observed frequently between religiosity and social conservatism are primarily an artefact of localism. Lehman, however, has argued that localism...
Berlin, Freie Univ., Diss., 1983.
Greifswald, Phil. F., Diss. v. 17. Mai 1961 (Nicht f. d. Aust.).