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Research Overview

Intrinsically Motivated Learning

Regularity as Intrinsic Reward for Free Play

SENSEI: Semantic Exploration Guided by Foundation Models to Learn Versatile World Models

Curious Exploration via Structured World Models Yields Zero-Shot Object Manipulation

Learning with Muscles

Natural and Robust Walking from Generic Rewards

The effect of muscles in Learning Behavior

Scaling RL to Large Musculoskeletal Systems

Reinforcement Learning for Diverse Solutions

Offline Diversity Under Imitation Constraints

Learning Diverse Skills for Local Navigation

Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Reinforcement Learning and Control

Model-based Reinforcement Learning and Planning

Causal Reasoning in RL

Intrinsically Motivated Hierarchical Learner

Regularity as Intrinsic Reward for Free Play

Curious Exploration via Structured World Models Yields Zero-Shot Object Manipulation

Natural and Robust Walking from Generic Rewards

Goal-conditioned Offline Planning

Offline Diversity Under Imitation Constraints

Learning Diverse Skills for Local Navigation

Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Deep Learning

Combinatorial Optimization as a Layer / Blackbox Differentiation

Symbolic Regression and Equation Learning

Representation Learning

Learning with 3D rotations: A hitchhiker’s guide to SO(3)

Haptic Sensing

Super-resolution Sensing for Haptics

Insight: a Haptic Sensor Powered by Vision and Machine Learning

Minsight: Learning-based tactile sensing for robotics

ML for Science

Symbolic Regression and Equation Learning

Learning to Control Emulated Muscles in Real Robots: A Software Test Bed for Bio-Inspired Actuators in Hardware

Combinatorial Optimization as a Layer / Blackbox Differentiation

Causal Action Influence Aware Counterfactual Data Augmentation

Dual-Force: Enhanced Offline Diversity Maximization under Imitation Constraints

Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions

On Imitation in Mean-field Games

Online Learning under Adversarial Nonlinear Constraints

Autonomous Learning

Previous Research Projects

Research conducted by members of the group prior to joining the Max-Planck-Institute for Intelligent Systems is presented in this category.

Projects

Autonomous robots may become our closest companions in the near future. While the technology for physically building such machines is already available today, a problem lies in the generation of the behavior for such complex machines....
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During the rapid development of robot technologies, actuators and sensors have become increasingly compact and powerful. Nevertheless, robots are still far from matching human capabilities especially when it comes to touch... Read more