Tuomas Haarnoja

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All published works

Action	Title	Year	Authors
+ PDF Chat	Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning	2024	Dhruva Tirumala Markus Wulfmeier Ben Moran Sandy H. Huang Jan Humplik Guy Lever Tuomas Haarnoja Leonard Hasenclever Arunkumar Byravan Nathan Batchelor
+	Learning agile soccer skills for a bipedal robot with deep reinforcement learning	2024	Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala Jan Humplik Markus Wulfmeier Saran Tunyasuvunakool Noah Siegel Roland Hafner
+ PDF Chat	NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields	2023	Arunkumar Byravan Jan Humplik Leonard Hasenclever Arthur Brussee Francesco Nori Tuomas Haarnoja Ben Moran Steven Bohez Fereshteh Sadeghi Bojan Vujatovic
+	Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning	2023	Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala Markus Wulfmeier Jan Humplik Saran Tunyasuvunakool Noah Siegel Roland Hafner
+	Replay across Experiments: A Natural Extension of Off-Policy RL	2023	Dhruva Tirumala Thomas Lampe José Enrique Chen Tuomas Haarnoja Sandy H. Huang Guy Lever Ben Moran Tim Hertweck Leonard Hasenclever Martin Riedmiller
+ PDF Chat	From motor control to team play in simulated humanoid football	2022	Siqi Liu Guy Lever Zhe Wang Josh Merel S. M. Ali Eslami Daniel Hennes Wojciech Marian Czarnecki Yuval Tassa Shayegan Omidshafiei Abbas Abdolmaleki
+	Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors	2022	Steven Bohez Saran Tunyasuvunakool Philémon Brakel Fereshteh Sadeghi Leonard Hasenclever Yuval Tassa Emilio Parisotto Jan Humplik Tuomas Haarnoja Roland Hafner
+	Forgetting and Imbalance in Robot Lifelong Learning with Off-policy Data	2022	Wenxuan Zhou Steven Bohez Jan Humplik Abbas Abdolmaleki Dushyant Rao Markus Wulfmeier Tuomas Haarnoja Nicolas Heess
+	NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields	2022	Arunkumar Byravan Jan Humplik Leonard Hasenclever Arthur Brussee Francesco Nori Tuomas Haarnoja Ben Moran Steven Bohez Fereshteh Sadeghi Bojan Vujatovic
+	SkillS: Adaptive Skill Sequencing for Efficient Temporally-Extended Exploration	2022	Giulia Vezzani Dhruva Tirumala Markus Wulfmeier Dushyant Rao Abbas Abdolmaleki Ben Moran Tuomas Haarnoja Jan Humplik Roland Hafner Michael Neunert
+	From Motor Control to Team Play in Simulated Humanoid Football	2021	Siqi Liu Guy Lever Zhe Wang Josh Merel S. M. Ali Eslami Daniel Hennes Wojciech Marian Czarnecki Yuval Tassa Shayegan Omidshafiei Abbas Abdolmaleki
+	Dynamical Distance Learning for Unsupervised and Semi-Supervised Skill Discovery.	2019	Kristian Hartikainen Xinyang Geng Tuomas Haarnoja Sergey Levine
+	Dynamical Distance Learning for Semi-Supervised and Unsupervised Skill Discovery	2019	Kristian Hartikainen Xinyang Geng Tuomas Haarnoja Sergey Levine
+	Learning to Walk Via Deep Reinforcement Learning	2019	Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine
+	Dynamical Distance Learning for Semi-Supervised and Unsupervised Skill Discovery	2019	Kristian Hartikainen Xinyang Geng Tuomas Haarnoja Sergey Levine
+ PDF Chat	Composable Deep Reinforcement Learning for Robotic Manipulation	2018	Tuomas Haarnoja Vitchyr H. Pong Aurick Zhou Murtaza Dalal Pieter Abbeel Sergey Levine
+	Latent Space Policies for Hierarchical Reinforcement Learning	2018	Tuomas Haarnoja Kristian Hartikainen Pieter Abbeel Sergey Levine
+	Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor	2018	Tuomas Haarnoja Aurick Zhou Pieter Abbeel Sergey Levine
+	Soft Actor-Critic Algorithms and Applications	2018	Tuomas Haarnoja Aurick Zhou Kristian Hartikainen George Tucker Sehoon Ha Jie Tan Vikash Kumar Henry Zhu Abhishek Gupta Pieter Abbeel
+	Latent Space Policies for Hierarchical Reinforcement Learning	2018	Tuomas Haarnoja Kristian Hartikainen Pieter Abbeel Sergey Levine
+	Learning to Walk via Deep Reinforcement Learning	2018	Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine
+	Composable Deep Reinforcement Learning for Robotic Manipulation	2018	Tuomas Haarnoja Vitchyr H. Pong Aurick Zhou Murtaza Dalal Pieter Abbeel Sergey Levine
+	Reinforcement Learning with Deep Energy-Based Policies	2017	Tuomas Haarnoja Haoran Tang Pieter Abbeel Sergey Levine
+	Reinforcement Learning with Deep Energy-Based Policies	2017	Tuomas Haarnoja Haoran Tang Pieter Abbeel Sergey Levine
+	Backprop KF: Learning Discriminative Deterministic State Estimators	2016	Tuomas Haarnoja Anurag Ajay Sergey Levine Pieter Abbeel

Common Coauthors

Coauthor	Papers Together
Sergey Levine	14
Nicolas Heess	11
Markus Wulfmeier	9
Leonard Hasenclever	9
Pieter Abbeel	9
Kristian Hartikainen	8
Jan Humplik	8
Guy Lever	6
Fereshteh Sadeghi	6
Aurick Zhou	6
Ben Moran	5
Noah Siegel	5
Dhruva Tirumala	5
Arunkumar Byravan	5
Saran Tunyasuvunakool	5
Francesco Nori	5
Yuval Tassa	5
Abbas Abdolmaleki	4
Steven Bohez	4
Nathan Batchelor	4
Sandy H. Huang	4
Roland Hafner	4
Kushal Patel	3
George Tucker	3
Andrea Huber	3
Marlon Gwira	3
Sehoon Ha	3
Federico Casarini	3
Xinyang Geng	3
Josh Merel	3
Martin Riedmiller	3
Ben Moran	3
Raia Hadsell	3
Neil Sreendra	3
Zhe Wang	2
Vitchyr H. Pong	2
Michael Bloesch	2
Karl Tuyls	2
Dushyant Rao	2
Tim Hertweck	2
S. M. Ali Eslami	2
Stefano Saliceti	2
Daniel Hennes	2
Luke Marris	2
Thore Graepel	2
Shayegan Omidshafiei	2
Brendan Tracey	2
Michael Neunert	2
Thomas Lampe	2
Arthur Brussee	2

Commonly Cited References

Action	Title	Year	Authors	# of times referenced
+	Continuous control with deep reinforcement learning	2015	Timothy Lillicrap Jonathan J. Hunt Alexander Pritzel Nicolas Heess Tom Erez Yuval Tassa David Silver Daan Wierstra	6
+	Asynchronous Methods for Deep Reinforcement Learning	2016	Volodymyr Mnih Adrià Puigdomènech Badia Mehdi Mirza Alex Graves Tim Harley Timothy Lillicrap David Silver Koray Kavukcuoglu	5
+	Trust Region Policy Optimization	2015	John Schulman Sergey Levine Philipp Moritz Michael I. Jordan Pieter Abbeel	5
+	Learning agile and dynamic motor skills for legged robots	2019	Jemin Hwangbo Joonho Lee Alexey Dosovitskiy C. Dario Bellicoso Vassilios Tsounis Vladlen Koltun Marco Hutter	5
+	Proximal Policy Optimization Algorithms	2017	John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov	5
+	Equivalence Between Policy Gradients and Soft Q-Learning	2017	John Schulman Xi Chen Pieter Abbeel	5
+ PDF Chat	Learning quadrupedal locomotion over challenging terrain	2020	Joonho Lee Jemin Hwangbo Lorenz Wellhausen Vladlen Koltun Marco Hutter	4
+ PDF Chat	Sim-to-Real Transfer for Biped Locomotion	2019	Wenhao Yu Visak Kumar Greg Turk C. Karen Liu	4
+	Combining policy gradient and Q-learning	2016	Brendan O’Donoghue Rémi Munos Koray Kavukcuoglu Volodymyr Mnih	4
+ PDF Chat	Path integrals and symmetry breaking for optimal control theory	2005	Hilbert J. Kappen	4
+	Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor	2018	Tuomas Haarnoja Aurick Zhou Pieter Abbeel Sergey Levine	4
+	Adam: A Method for Stochastic Optimization	2014	Diederik P. Kingma Jimmy Ba	4
+	Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning	2021	Jonah Siekmann Kevin Green John Warila Alan Fern Jonathan Hurst	4
+	Maximum a Posteriori Policy Optimisation	2018	Abbas Abdolmaleki Jost Tobias Springenberg Yuval Tassa Rémi Munos Nicolas Heess Martin Riedmiller	4
+	Reinforcement Learning with Deep Energy-Based Policies	2017	Tuomas Haarnoja Haoran Tang Pieter Abbeel Sergey Levine	4
+ PDF Chat	Composable Deep Reinforcement Learning for Robotic Manipulation	2018	Tuomas Haarnoja Vitchyr H. Pong Aurick Zhou Murtaza Dalal Pieter Abbeel Sergey Levine	4
+	Learning Agile Robotic Locomotion Skills by Imitating Animals	2020	Xue Bin Peng Erwin Coumans Tingnan Zhang Tsang-Wei Lee Jie Tan Sergey Levine	3
+ PDF Chat	Deep reinforcement learning for robotic manipulation with asynchronous off-policy updates	2017	Shixiang Gu Ethan Holly Timothy Lillicrap Sergey Levine	3
+	Compositional Transfer in Hierarchical Reinforcement Learning	2020	Markus Wulfmeier Abbas Abdolmaleki Roland Hafner Jost Tobias Springenberg Michael Neunert Noah Siegel Tim Hertweck Thomas Lampe Nicolas Heess Martin Riedmiller	3
+ PDF Chat	Deep Reinforcement Learning That Matters	2018	Peter Henderson Riashat Islam Philip Bachman Joëlle Pineau Doina Precup David Meger	3
+	Continuous control with deep reinforcement learning	2016	Timothy Lillicrap Jonathan J. Hunt Alexander Pritzel Nicolas Heess Tom Erez Yuval Tassa David Silver Daan Wierstra	3
+	Q-Prop: Sample-Efficient Policy Gradient with An Off-Policy Critic	2016	Shixiang Gu Timothy Lillicrap Zoubin Ghahramani Richard E. Turner Sergey Levine	3
+	Learning and Transfer of Modulated Locomotor Controllers	2016	Nicolas Heess Gregory Wayne Yuval Tassa Timothy Lillicrap Martin Riedmiller David Silver	3
+	Emergence of Locomotion Behaviours in Rich Environments	2017	Nicolas Heess Dhruva Tb Sriram Srinivasan Jay Lemmon Josh Merel Greg Wayne Yuval Tassa Tom Erez Ziyu Wang S. M. Ali Eslami	3
+	Learning to Walk Via Deep Reinforcement Learning	2019	Tuomas Haarnoja Sehoon Ha Aurick Zhou Jie Tan George Tucker Sergey Levine	3
+ PDF Chat	dm_control: Software and tasks for continuous control	2020	Saran Tunyasuvunakool Alistair Muldal Yotam Doron Siqi Liu Steven Bohez Josh Merel Tom Erez Timothy Lillicrap Nicolas Heess Yuval Tassa	3
+ PDF Chat	Learning robust perceptive locomotion for quadrupedal robots in the wild	2022	Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen Vladlen Koltun Marco Hutter	3
+	How to train your robot with deep reinforcement learning: lessons we have learned	2021	Julian Ibarz Jie Tan Chelsea Finn Mrinal Kalakrishnan Peter Pástor Sergey Levine	2
+	Stochastic Neural Networks for Hierarchical Reinforcement Learning	2017	Carlos Florensa Yan Duan Pieter Abbeel	2
+ PDF Chat	From motor control to team play in simulated humanoid football	2022	Siqi Liu Guy Lever Zhe Wang Josh Merel S. M. Ali Eslami Daniel Hennes Wojciech Marian Czarnecki Yuval Tassa Shayegan Omidshafiei Abbas Abdolmaleki	2
+ PDF Chat	Domain randomization for transferring deep neural networks from simulation to the real world	2017	Josh Tobin Rachel Fong Alex Ray Jonas Schneider Wojciech Zaremba Pieter Abbeel	2
+ PDF Chat	NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis	2020	Ben Mildenhall Pratul P. Srinivasan Matthew Tancik Jonathan T. Barron Ravi Ramamoorthi Ren Ng	2
+	RMA: Rapid Motor Adaptation for Legged Robots	2021	Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik	2
+	Catch & Carry: Reusable Neural Controllers for Vision-Guided Whole-Body Tasks	2019	Josh Merel Saran Tunyasuvunakool Arun Ahuja Yuval Tassa Leonard Hasenclever Vu Pham Tom Erez Greg Wayne Nicolas Heess	2
+	Addressing Function Approximation Error in Actor-Critic Methods	2018	Scott Fujimoto Herke van Hoof David Meger	2
+	Visual Reinforcement Learning with Imagined Goals	2018	Ashvin Nair Vitchyr H. Pong Murtaza Dalal Shikhar Bahl Steven Lin Sergey Levine	2
+	Latent Space Policies for Hierarchical Reinforcement Learning	2018	Tuomas Haarnoja Kristian Hartikainen Pieter Abbeel Sergey Levine	2
+	Diversity is All You Need: Learning Skills without a Reward Function	2018	Benjamin Eysenbach Abhishek Gupta Julian Ibarz Sergey Levine	2
+	Trust-PCL: An Off-Policy Trust Region Method for Continuous Control	2017	Ofir Nachum Mohammad Norouzi Kelvin Xu Dale Schuurmans	2
+	Bridging the Gap Between Value and Policy Based Reinforcement Learning	2017	Ofir Nachum Mohammad Norouzi Kelvin Xu Dale Schuurmans	2
+	Learning to Draw Samples: With Application to Amortized MLE for Generative Adversarial Learning	2016	Dilin Wang Qiang Liu	2
+	CAD2RL: Real Single-Image Flight Without a Single Real Image	2017	Fereshteh Sadeghi Sergey Levine	2
+	Trust-PCL: An Off-Policy Trust Region Method for Continuous Control.	2017	Ofir Nachum Mohammad Norouzi Kelvin Xu Dale Schuurmans	2
+	High-Dimensional Continuous Control Using Generalized Advantage Estimation	2015	John Schulman Philipp Moritz Sergey Levine Michael I. Jordan Pieter Abbeel	2
+	The Reactor: A fast and sample-efficient Actor-Critic agent for Reinforcement Learning	2017	Audrūnas Gruslys Will Dabney Mohammad Gheshlaghi Azar Bilal Piot Marc G. Bellemare Rémi Munos	2
+	Stein Variational Gradient Descent: A General Purpose Bayesian Inference Algorithm	2016	Qiang Liu Dilin Wang	2
+	Soft Actor-Critic Algorithms and Applications	2018	Tuomas Haarnoja Aurick Zhou Kristian Hartikainen George Tucker Sehoon Ha Jie Tan Vikash Kumar Henry Zhu Abhishek Gupta Pieter Abbeel	2
+	Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie	2019	Zhaoming Xie Patrick Clary Jeremy Dao Pedro Morais Jonathan Hurst Michiel van de Panne	2
+	Continuous Deep Q-Learning with Model-based Acceleration	2016	Shixiang Gu Timothy Lillicrap Ilya Sutskever Sergey Levine	2
+	Learning continuous control policies by stochastic value gradients	2015	Nicolas Heess Greg Wayne David Silver Timothy Lillicrap Yuval Tassa Tom Erez	2