Joseph J. Lim

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All published works

Action	Title	Year	Authors
+ PDF Chat	EXTRACT: Efficient Policy Learning by Extracting Transferrable Robot Skills from Offline Data	2024	Jesse Zhang Minho Heo Zuxin Liu Erdem Bıyık Joseph J. Lim Yao Liu Rasool Fakoor
+ PDF Chat	SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling	2024	Jesse Zhang Karl Pertsch Jiahui Zhang Joseph J. Lim
+ PDF Chat	DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset	2024	Alexander Khazatsky Karl Pertsch Suraj Nair Ashwin Balakrishna Sudeep Dasari Siddharth Karamcheti Soroush Nasiriany Mohan Kumar Srirama Lawrence Yunliang Chen Kirsty Ellis
+	PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection	2023	Shivin Dass Karl Pertsch Hejia Zhang Youngwoon Lee Joseph J. Lim Stefanos Nikolaidis
+	FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation	2023	Minho Heo Youngwoon Lee Doohyun Lee Joseph J. Lim
+	Efficient Multi-Task Reinforcement Learning via Selective Behavior Sharing	2023	Grace Zhang Ayush Jain In‐June Hwang Shao-Hua Sun Joseph J. Lim
+	Hierarchical Neural Program Synthesis	2023	Linghan Zhong Ryan Lindeborg Jesse Zhang Joseph J. Lim Shao-Hua Sun
+	FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation	2023	Minho Heo Youngwoon Lee Doohyun Lee Joseph J. Lim
+	SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling	2023	Jesse Zhang Karl Pertsch Jiahui Zhang Joseph J. Lim
+	Open X-Embodiment: Robotic Learning Datasets and RT-X Models	2023	Open X-Embodiment Collaboration Abhishek Padalkar Acorn Pooley Ajinkya Jain Alex Bewley Alex Herzog Alex Irpan Alexander Khazatsky Anant Rai Anikait Singh
+	Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model Guidance	2023	Jesse Zhang Jiahui Zhang Karl Pertsch Ziyi Liu Xiang Ren Minsuk Chang Shao-Hua Sun Joseph J. Lim
+	Establishing Performance Baselines in Fine-Tuning, Retrieval-Augmented Generation and Soft-Prompting for Non-Specialist LLM Users	2023	Jennifer Dodgson Lin Nanzheng Julian Peh Akira Rafhael Janson Pattirane Alfath Daryl Alhajir Eko Ridho Dinarto Joseph J. Lim Syed Danyal Ahmad
+	LiFT: Unsupervised Reinforcement Learning with Foundation Models as Teachers	2023	Taewook Nam Juyong Lee Jesse Zhang Sung Ju Hwang Joseph J. Lim Karl Pertsch
+	Task-Induced Representation Learning	2022	Jun Yamada Karl Pertsch Anisha Gunjal Joseph J. Lim
+	Skill-based Meta-Reinforcement Learning	2022	Taewook Nam Shao-Hua Sun Karl Pertsch Sung Ju Hwang Joseph J. Lim
+	PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection	2022	Shivin Dass Karl Pertsch Hejia Zhang Youngwoon Lee Joseph J. Lim Stefanos Nikolaidis
+	Cross-Domain Transfer via Semantic Skill Imitation	2022	Karl Pertsch Ruta Desai Vikash Kumar Franziska Meier Joseph J. Lim Dhruv Batra Akshara Rai
+	Skill-based Model-based Reinforcement Learning	2022	Lucy Xiaoyang Shi Joseph J. Lim Youngwoon Lee
+ PDF Chat	Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization	2021	Youngwoon Lee Joseph J. Lim Anima Anandkumar Yuke Zhu
+	Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation.	2021	I-Chun Arthur Liu Shagun Uppal Gaurav S. Sukhatme Joseph J. Lim Péter Englert Youngwoon Lee
+	Number System	2021	Kuo Chuen LEE David Joseph J. Lim Kok Fai Phoon Yu Wang
+	Learning to Synthesize Programs as Interpretable and Generalizable Policies	2021	Dweep Trivedi Jesse Zhang Shaohua Sun Joseph J. Lim
+	Learning to Synthesize Programs as Interpretable and Generalizable Policies	2021	Dweep Trivedi Jesse Zhang Shaohua Sun Joseph J. Lim
+	Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding	2021	Grace Zhang Linghan Zhong Youngwoon Lee Joseph J. Lim
+ PDF Chat	IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks	2021	Youngwoon Lee Edward S. Hu Joseph J. Lim
+	Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding	2021	Grace Zhang Linghan Zhong Youngwoon Lee Joseph J. Lim
+	Demonstration-Guided Reinforcement Learning with Learned Skills	2021	Karl Pertsch Youngwoon Lee Yue Wu Joseph J. Lim
+	Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization	2021	Youngwoon Lee Joseph J. Lim Anima Anandkumar Yuke Zhu
+	Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation	2021	I-Chun Arthur Liu Shagun Uppal Gaurav S. Sukhatme Joseph J. Lim Péter Englert Youngwoon Lee
+	Learning to Synthesize Programs as Interpretable and Generalizable Policies	2021	Dweep Trivedi Jesse Zhang Shao-Hua Sun Joseph J. Lim
+	Message Passing Adaptive Resonance Theory for Online Active Semi-supervised Learning	2020	Taehyeong Kim In‐June Hwang Hyundo Lee Hyunseo Kim Wonseok Choi Joseph J. Lim Byoung‐Tak Zhang
+ PDF Chat	Message Passing Adaptive Resonance Theory for Online Active Semi-supervised Learning	2020	Taehyeong Kim In‐June Hwang Hyundo Lee Hyunseo Kim Wonseok Choi Joseph J. Lim Byoung‐Tak Zhang
+	Generalization to New Actions in Reinforcement Learning	2020	Ayush Jain Andrew Szot Joseph J. Lim
+	Accelerating Reinforcement Learning with Learned Skill Priors	2020	Karl Pertsch Youngwoon Lee Joseph J. Lim
+ PDF Chat	Scaling Simulation-to-Real Transfer by Learning Composable Robot Skills	2020	Ryan Julian Eric Heiden Zhanpeng He Hejia Zhang Stefan Schaal Joseph J. Lim Gaurav S. Sukhatme Karol Hausman
+	Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments	2020	Jun Yamada Youngwoon Lee Gautam Salhotra Karl Pertsch Max Pflueger Gaurav S. Sukhatme Joseph J. Lim Péter Englert
+	Message Passing Adaptive Resonance Theory for Online Active Semi-supervised Learning	2020	Taehyeong Kim In‐June Hwang Hyundo Lee Hyunseo Kim Wonseok Choi Joseph J. Lim Byoung‐Tak Zhang
+	Generalization to New Actions in Reinforcement Learning	2020	Ayush Jain Andrew Szot Joseph J. Lim
+	Accelerating Reinforcement Learning with Learned Skill Priors	2020	Karl Pertsch Youngwoon Lee Joseph J. Lim
+	IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks	2019	Youngwoon Lee Edward S. Hu Zhengyu Yang Alex Yin Joseph J. Lim
+	Multimodal Model-Agnostic Meta-Learning via Task-Aware Modulation	2019	Risto Vuorio Shaohua Sun Hexiang Hu Joseph J. Lim
+	Multimodal Model-Agnostic Meta-Learning via Task-Aware Modulation.	2019	Risto Vuorio Shaohua Sun Hexiang Hu Joseph J. Lim
+	KeyIn: Discovering Subgoal Structure with Keyframe-based Video Prediction.	2019	Karl Pertsch Oleh Rybkin Jingyun Yang Konstantinos G. Derpanis Joseph J. Lim Kostas Daniilidis Andrew Jaegle
+	To Follow or not to Follow: Selective Imitation Learning from Observations	2019	Youngwoon Lee Edward S. Hu Zhengyu Yang Joseph J. Lim
+	Keyframing the Future: Keyframe Discovery for Visual Prediction and Planning	2019	Karl Pertsch Oleh Rybkin Jingyun Yang Shenghao Zhou Konstantinos G. Derpanis Kostas Daniilidis Joseph J. Lim Andrew Jaegle
+	To Follow or not to Follow: Selective Imitation Learning from Observations.	2019	Youngwoon Lee Edward S. Hu Zhengyu Yang Joseph J. Lim
+	IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks	2019	Youngwoon Lee Edward S. Hu Zhengyu Yang Alex Yin Joseph J. Lim
+	Multimodal Model-Agnostic Meta-Learning via Task-Aware Modulation	2019	Risto Vuorio Shao-Hua Sun Hexiang Hu Joseph J. Lim
+	Toward Multimodal Model-Agnostic Meta-Learning.	2018	Risto Vuorio Shaohua Sun Hexiang Hu Joseph J. Lim
+	Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations	2018	Zhanpeng He Ryan Julian Eric Heiden Hejia Zhang Stefan Schaal Joseph J. Lim Gaurav S. Sukhatme Karol Hausman
+	Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation.	2018	Hejia Zhang Eric Heiden Ryan Julian Zhangpeng He Joseph J. Lim Gaurav S. Sukhatme
+	Auto-conditioned Recurrent Mixture Density Networks for Learning Generalizable Robot Skills	2018	Hejia Zhang Eric Heiden Stefanos Nikolaidis Joseph J. Lim Gaurav S. Sukhatme
+	Scaling simulation-to-real transfer by learning composable robot skills	2018	Ryan Julian Eric Heiden Zhanpeng He Hejia Zhang Stefan Schaal Joseph J. Lim Gaurav S. Sukhatme Karol Hausman
+ PDF Chat	3D Interpreter Networks for Viewer-Centered Wireframe Modeling	2018	Jiajun Wu Tianfan Xue Joseph J. Lim Yuandong Tian Joshua B. Tenenbaum Antonio Torralba William T. Freeman
+	Auto-conditioned Recurrent Mixture Density Networks for Learning Generalizable Robot Skills	2018	Hejia Zhang Eric Heiden Stefanos Nikolaidis Joseph J. Lim Gaurav S. Sukhatme
+	Simulator Predictive Control: Using Learned Task Representations and MPC for Zero-Shot Generalization and Sequencing	2018	Zhanpeng He Ryan Julian Eric Heiden Hejia Zhang Stefan Schaal Joseph J. Lim Gaurav S. Sukhatme Karol Hausman
+	Toward Multimodal Model-Agnostic Meta-Learning	2018	Risto Vuorio Shao-Hua Sun Hexiang Hu Joseph J. Lim
+	Scaling simulation-to-real transfer by learning composable robot skills	2018	Ryan R. Julian Eric Heiden Zhanpeng He Hejia Zhang Stefan Schaal Joseph J. Lim Gaurav S. Sukhatme Karol Hausman
+ PDF Chat	Unsupervised Visual-Linguistic Reference Resolution in Instructional Videos	2017	De-An Huang Joseph J. Lim Li Fei-Fei Juan Carlos Niebles
+	Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets	2017	Karol Hausman Yevgen Chebotar Stefan Schaal Gaurav S. Sukhatme Joseph J. Lim
+ PDF Chat	Target-driven visual navigation in indoor scenes using deep reinforcement learning	2017	Yuke Zhu Roozbeh Mottaghi Eric Kolve Joseph J. Lim Abhinav Gupta Li Fei-Fei Ali Farhadi
+	Unsupervised Visual-Linguistic Reference Resolution in Instructional Videos	2017	De-An Huang Joseph J. Lim Li Fei-Fei Juan Carlos Niebles
+	Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learning	2016	Yuke Zhu Roozbeh Mottaghi Eric Kolve Joseph J. Lim Abhinav Gupta Li Fei-Fei Ali Farhadi
+ PDF Chat	Single Image 3D Interpreter Network	2016	Jiajun Wu Tianfan Xue Joseph J. Lim Yuandong Tian Joshua B. Tenenbaum Antonio Torralba William T. Freeman

Common Coauthors

Coauthor	Papers Together
Youngwoon Lee	22
Karl Pertsch	17
Gaurav S. Sukhatme	13
Hejia Zhang	10
Jesse Zhang	8
Eric Heiden	8
Karol Hausman	7
Shao-Hua Sun	7
Ryan Julian	6
Yuke Zhu	6
Hexiang Hu	5
Zhanpeng He	5
Shaohua Sun	5
Edward S. Hu	5
Risto Vuorio	5
Stefan Schaal	4
Minho Heo	4
Stefanos Nikolaidis	4
Li Fei-Fei	4
Shivin Dass	4
In‐June Hwang	4
Zhengyu Yang	3
Hyundo Lee	3
Byoung‐Tak Zhang	3
Stefan Schaal	3
Péter Englert	3
Ayush Jain	3
Jiahui Zhang	3
Dweep Trivedi	3
Linghan Zhong	3
Jiajun Wu	3
Grace Zhang	3
Wonseok Choi	3
Hyunseo Kim	3
Taehyeong Kim	3
Mohan Kumar Srirama	2
Sudeep Dasari	2
I-Chun Arthur Liu	2
Jitendra Malik	2
Sung Ju Hwang	2
Pannag Sanketi	2
Homer Walke	2
Roberto Martín-Martín	2
Andrew Szot	2
Juan Carlos Niebles	2
De-An Huang	2
Oleh Rybkin	2
Roozbeh Mottaghi	2
Stephen Tian	2
Ken Goldberg	2

Commonly Cited References

Action	Title	Year	Authors	# of times referenced
+	Proximal Policy Optimization Algorithms	2017	John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov	10
+	Adam: A Method for Stochastic Optimization	2014	Diederik P. Kingma Jimmy Ba	9
+	Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations	2018	Aravind Rajeswaran Vikash Kumar Abhishek Gupta Giulia Vezzani John Schulman Emanuel Todorov Sergey Levine	8
+ PDF Chat	Deep reinforcement learning for robotic manipulation with asynchronous off-policy updates	2017	Shixiang Gu Ethan Holly Timothy Lillicrap Sergey Levine	6
+	A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning	2010	Stéphane Ross Geoffrey J. Gordon J. Andrew Bagnell	6
+ PDF Chat	IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks	2021	Youngwoon Lee Edward S. Hu Joseph J. Lim	5
+	Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning	2019	Abhishek Gupta Vikash Kumar Corey Lynch Sergey Levine Karol Hausman	5
+ PDF Chat	The Arcade Learning Environment: An Evaluation Platform for General Agents	2013	Marc G. Bellemare Yavar Naddaf Joel Veness Michael Bowling	5
+	Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning	2019	Tianhe Yu Deirdre Quillen Zhanpeng He Ryan Julian Avnish Narayan Hayden Shively Adithya Bellathur Karol Hausman Chelsea Finn Sergey Levine	4
+ PDF Chat	Sim-to-Real Transfer of Robotic Control with Dynamics Randomization	2018	Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel	4
+ PDF Chat	Neural Task Programming: Learning to Generalize Across Hierarchical Tasks	2018	Danfei Xu Suraj Nair Yuke Zhu Julian Gao Animesh Garg Li Fei-Fei Silvio Savarese	4
+	Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks	2017	Chelsea Finn Pieter Abbeel Sergey Levine	4
+ PDF Chat	Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience	2019	Yevgen Chebotar Ankur Handa Viktor Makoviychuk Miles Macklin Jan Issac Nathan Ratliff Dieter Fox	4
+	Gradient-Based Meta-Learning with Learned Layerwise Metric and Subspace	2018	Yoonho Lee Seungjin Choi	3
+	Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets	2017	Karol Hausman Yevgen Chebotar Stefan Schaal Gaurav S. Sukhatme Joseph J. Lim	3
+	Diversity is All You Need: Learning Skills without a Reward Function	2018	Benjamin Eysenbach Abhishek Gupta Julian Ibarz Sergey Levine	3
+ PDF Chat	Sampling-based algorithms for optimal motion planning	2011	Sertaç Karaman Emilio Frazzoli	3
+	RT-1: Robotics Transformer for Real-World Control at Scale	2023	Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Joseph Dabis Chelsea Finn Keerthana Gopalakrishnan Karol Hausman Alexander Herzog Jasmine Hsu	3
+	One-Shot Imitation Learning	2017	Yan Duan Marcin Andrychowicz Bradly C. Stadie Jonathan Ho Jonas Schneider Ilya Sutskever Pieter Abbeel Wojciech Zaremba	3
+	RL$^2$: Fast Reinforcement Learning via Slow Reinforcement Learning	2016	Yan Duan John Schulman Xi Chen Peter L. Bartlett Ilya Sutskever Pieter Abbeel	3
+ PDF Chat	Learning dexterous in-hand manipulation	2019	OpenAI Marcin Andrychowicz Bowen Baker Maciek Chociej Rafał Józefowicz Bob McGrew Jakub Pachocki Arthur J Petron Matthias Plappert Glenn Powell Alex Ray	3
+	Learning Latent Plans from Play	2019	Corey Lynch Mohi Khansari Ted Xiao Vikash Kumar Jonathan Tompson Sergey Levine Pierre Sermanet	3
+	RLBench: The Robot Learning Benchmark & Learning Environment	2019	Stephen James Zicong Ma David Rovick Arrojo Andrew J. Davison	3
+	To Follow or not to Follow: Selective Imitation Learning from Observations	2019	Youngwoon Lee Edward S. Hu Zhengyu Yang Joseph J. Lim	3
+	R3M: A Universal Visual Representation for Robot Manipulation	2022	Suraj Nair Aravind Rajeswaran Vikash Kumar Chelsea Finn Abhinav Gupta	3
+ PDF Chat	ViZDoom: A Doom-based AI research platform for visual reinforcement learning	2016	Michał Kempka Marek Wydmuch Grzegorz Runc Jakub Toczek Wojciech Jaśkowski	3
+ PDF Chat	Scaling Simulation-to-Real Transfer by Learning Composable Robot Skills	2020	Ryan Julian Eric Heiden Zhanpeng He Hejia Zhang Stefan Schaal Joseph J. Lim Gaurav S. Sukhatme Karol Hausman	3
+ PDF Chat	Deep Residual Learning for Image Recognition	2016	Kaiming He Xiangyu Zhang Shaoqing Ren Jian Sun	3
+	Trust Region Policy Optimization	2015	John Schulman Sergey Levine Philipp Moritz Michael I. Jordan Pieter Abbeel	3
+	Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor	2018	Tuomas Haarnoja Aurick Zhou Pieter Abbeel Sergey Levine	3
+	Reinforcement and Imitation Learning for Diverse Visuomotor Skills	2018	Yuke Zhu Ziyu Wang Josh Merel Andrei A. Rusu Tom Erez Serkan Cabi Saran Tunyasuvunakool János Kramár Raia Hadsell Nando de Freitas	3
+	RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation	2018	Ajay Mandlekar Yuke Zhu Animesh Garg Jonathan Booher Max Spero Albert Tung Julian Gao John Emmons Anchit Gupta Emre Orbay	3
+	Self-Consistent Trajectory Autoencoder: Hierarchical Reinforcement Learning with Trajectory Embeddings	2018	John D. Co-Reyes YuXuan Liu Abhishek Gupta Benjamin Eysenbach Pieter Abbeel Sergey Levine	3
+	RecoGym: A Reinforcement Learning Environment for the problem of Product Recommendation in Online Advertising	2018	David Rohde Stephen Bonner Travis Dunlop Flavian Vasile Alexandros Karatzoglou	3
+	Accelerating Reinforcement Learning with Learned Skill Priors	2020	Karl Pertsch Youngwoon Lee Joseph J. Lim	3
+	Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task	2017	Stephen James Andrew J. Davison Edward Johns	2
+ PDF Chat	Effective Approaches to Attention-based Neural Machine Translation	2015	Thang Luong Hieu Pham Christopher D. Manning	2
+	Practical kernel-based reinforcement learning	2016	André M. S. Barreto Doina Precup Joëlle Pineau	2
+ PDF Chat	Show and tell: A neural image caption generator	2015	Oriol Vinyals Alexander Toshev Samy Bengio Dumitru Erhan	2
+	Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewards	2017	Matej Vecerík Todd Hester Jonathan Scholz Fumin Wang Olivier Pietquin Bilal Piot Nicolas Heess Thomas Rothörl Thomas Lampe Martin Riedmiller	2
+ PDF Chat	Category-specific object reconstruction from a single image	2015	Abhishek Kar Shubham Tulsiani João Carreira Jitendra Malik	2
+	Equivalence Between Policy Gradients and Soft Q-Learning	2017	John Schulman Xi Chen Pieter Abbeel	2
+ PDF Chat	Render for CNN: Viewpoint Estimation in Images Using CNNs Trained with Rendered 3D Model Views	2015	Hao Su Charles R. Qi Yangyan Li Leonidas Guibas	2
+	TensorFlow: Large-Scale Machine Learning on Heterogeneous Distributed Systems	2016	Martı́n Abadi Ashish Agarwal Paul Barham Eugene Brevdo Zhifeng Chen Craig Citro Gregory S. Corrado Andy Davis Jay B. Dean Matthieu Devin	2
+ PDF Chat	3D shape estimation from 2D landmarks: A convex relaxation approach	2015	Xiaowei Zhou Spyridon Leonardos Xiaoyan Hu Kostas Daniilidis	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	AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles	2017	Shital Shah Debadeepta Dey Chris Lovett Ashish Kapoor	2
+ PDF Chat	Fast, robust, continuous monocular egomotion computation	2016	Andrew Jaegle Stephen Phillips Kostas Daniilidis	2
+ PDF Chat	Learning to generate chairs with convolutional neural networks	2015	Alexey Dosovitskiy Jost Tobias Springenberg Thomas Brox	2
+	StarCraft II: A New Challenge for Reinforcement Learning	2017	Oriol Vinyals Timo Ewalds Sergey Bartunov Petko Georgiev Alexander Sasha Vezhnevets Michelle Yeo Alireza Makhzani Heinrich Küttler John Agapiou Julian Schrittwieser	2