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ORCIDTuomas Haarnoja
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Books and Theses
- 2018
[b1]Tuomas Haarnoja:
Acquiring Diverse Robot Skills via Maximum Entropy Deep Reinforcement Learning. University of California, Berkeley, USA, 2018
Journal Articles
- 2024
- [j4]Tuomas Haarnoja
, Ben Moran, Guy Lever, Sandy H. Huang, Dhruva Tirumala, Jan Humplik, Markus Wulfmeier, Saran Tunyasuvunakool, Noah Y. Siegel, Roland Hafner, Michael Bloesch, Kristian Hartikainen, Arunkumar Byravan, Leonard Hasenclever, Yuval Tassa, Fereshteh Sadeghi, Nathan Batchelor, Federico Casarini, Stefano Saliceti, Charles Game, Neil Sreendra, Kushal Patel, Marlon Gwira, Andrea Huber, Nicole Hurley, Francesco Nori, Raia Hadsell, Nicolas Heess:
Learning agile soccer skills for a bipedal robot with deep reinforcement learning. Sci. Robotics 9(89) (2024) - 2023
- [j3]Giulia Vezzani, Dhruva Tirumala, Markus Wulfmeier, Dushyant Rao, Abbas Abdolmaleki, Ben Moran, Tuomas Haarnoja, Jan Humplik, Roland Hafner, Michael Neunert, Claudio Fantacci, Tim Hertweck, Thomas Lampe, Fereshteh Sadeghi, Nicolas Heess, Martin A. Riedmiller:
SkillS: Adaptive Skill Sequencing for Efficient Temporally-Extended Exploration. Trans. Mach. Learn. Res. 2023 (2023) - 2022
- [j2]Siqi Liu, Guy Lever, Zhe Wang, Josh Merel, S. M. Ali Eslami, Daniel Hennes, Wojciech M. Czarnecki, Yuval Tassa, Shayegan Omidshafiei, Abbas Abdolmaleki, Noah Y. Siegel, Leonard Hasenclever, Luke Marris, Saran Tunyasuvunakool, H. Francis Song, Markus Wulfmeier, Paul Muller, Tuomas Haarnoja, Brendan D. Tracey, Karl Tuyls, Thore Graepel, Nicolas Heess:
From motor control to team play in simulated humanoid football. Sci. Robotics 7(69) (2022) - 2014
- [j1]Tuomas Haarnoja, Kari Tammi, Kai Zenger:
Exact LTP Representation of the Generalized Periodic-Reference FxLMS Algorithm. IEEE Trans. Signal Process. 62(1): 121-130 (2014)
Conference and Workshop Papers
- 2024
- [c14]Dhruva Tirumala, Thomas Lampe, José Enrique Chen, Tuomas Haarnoja, Sandy H. Huang, Guy Lever, Ben Moran, Tim Hertweck, Leonard Hasenclever, Martin A. Riedmiller, Nicolas Heess, Markus Wulfmeier:
Replay across Experiments: A Natural Extension of Off-Policy RL. ICLR 2024 - 2023
- [c13]Arunkumar Byravan, Jan Humplik, Leonard Hasenclever, Arthur Brussee, Francesco Nori, Tuomas Haarnoja, Ben Moran, Steven Bohez, Fereshteh Sadeghi, Bojan Vujatovic, Nicolas Heess:
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields. ICRA 2023: 9362-9369 - 2022
- [c12]Wenxuan Zhou, Steven Bohez, Jan Humplik, Nicolas Heess, Abbas Abdolmaleki, Dushyant Rao, Markus Wulfmeier, Tuomas Haarnoja:
Forgetting and Imbalance in Robot Lifelong Learning with Off-policy Data. CoLLAs 2022: 294-309 - 2021
- [c11]Michael Bloesch, Jan Humplik, Viorica Patraucean, Roland Hafner, Tuomas Haarnoja, Arunkumar Byravan, Noah Yamamoto Siegel, Saran Tunyasuvunakool, Federico Casarini, Nathan Batchelor, Francesco Romano, Stefano Saliceti, Martin A. Riedmiller, S. M. Ali Eslami, Nicolas Heess:
Towards Real Robot Learning in the Wild: A Case Study in Bipedal Locomotion. CoRL 2021: 1502-1511 - 2020
- [c10]Kristian Hartikainen, Xinyang Geng, Tuomas Haarnoja, Sergey Levine:
Dynamical Distance Learning for Semi-Supervised and Unsupervised Skill Discovery. ICLR 2020 - 2019
- [c9]Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker, Sergey Levine:
Learning to Walk Via Deep Reinforcement Learning. Robotics: Science and Systems 2019 - 2018
- [c8]Tuomas Haarnoja, Kristian Hartikainen, Pieter Abbeel, Sergey Levine:
Latent Space Policies for Hierarchical Reinforcement Learning. ICML 2018: 1846-1855 - [c7]Tuomas Haarnoja, Aurick Zhou, Pieter Abbeel, Sergey Levine:
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor. ICML 2018: 1856-1865 - [c6]Tuomas Haarnoja, Vitchyr Pong, Aurick Zhou, Murtaza Dalal, Pieter Abbeel, Sergey Levine:
Composable Deep Reinforcement Learning for Robotic Manipulation. ICRA 2018: 6244-6251 - 2017
- [c5]Tuomas Haarnoja, Haoran Tang, Pieter Abbeel, Sergey Levine:
Reinforcement Learning with Deep Energy-Based Policies. ICML 2017: 1352-1361 - 2016
- [c4]Tuomas Haarnoja, Anurag Ajay, Sergey Levine, Pieter Abbeel:
Backprop KF: Learning Discriminative Deterministic State Estimators. NIPS 2016: 4376-4384 - 2012
- [c3]Tuomas Haarnoja, Kari Tammi, Kai Zenger:
An estimator for the eigenvalues of the system matrix of a periodic-reference LMS algorithm. ICASSP 2012: 3777-3780 - 2011
- [c2]Jose-Luis Peralta-Cabezas, Tuomas Haarnoja, Tomi Ylikorpi, Aarne Halme:
Assessment of limit-cycle-based control on 2D kneed biped. ICRA 2011: 3988-3993 - [c1]Tuomas Haarnoja, Jose-Luis Peralta-Cabezas, Aarne Halme:
Model-based velocity control for Limit Cycle Walking. IROS 2011: 2255-2260
Data and Artifacts
- 2022
- [d1]Siqi Liu, Guy Lever, Zhe Wang, Josh Merel, S. M. Ali Eslami, Daniel Hennes, Wojciech Czarnecki, Yuval Tassa, Shayegan Omidshafiei, Abbas Abdolmaleki, Noah Y. Siegel, Leonard Hasenclever, Luke Marris, Saran Tunyasuvunakool, H. Francis Song, Markus Wulfmeier, Paul Muller, Tuomas Haarnoja, Brendan D. Tracey, Karl Tuyls, Thore Graepel, Nicolas Heess:
Figure Data for the paper "From Motor Control to Team Play in Simulated Humanoid Football". Zenodo, 2022
Informal and Other Publications
- 2024
- [i16]Dhruva Tirumala, Markus Wulfmeier, Ben Moran, Sandy H. Huang, Jan Humplik, Guy Lever, Tuomas Haarnoja, Leonard Hasenclever, Arunkumar Byravan, Nathan Batchelor, Neil Sreendra, Kushal Patel, Marlon Gwira, Francesco Nori, Martin A. Riedmiller, Nicolas Heess:
Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning. CoRR abs/2405.02425 (2024) - 2023
- [i15]Tuomas Haarnoja, Ben Moran, Guy Lever, Sandy H. Huang, Dhruva Tirumala, Markus Wulfmeier, Jan Humplik, Saran Tunyasuvunakool, Noah Y. Siegel, Roland Hafner, Michael Bloesch, Kristian Hartikainen, Arunkumar Byravan, Leonard Hasenclever, Yuval Tassa, Fereshteh Sadeghi, Nathan Batchelor, Federico Casarini, Stefano Saliceti, Charles Game, Neil Sreendra, Kushal Patel, Marlon Gwira, Andrea Huber, Nicole Hurley, Francesco Nori, Raia Hadsell, Nicolas Heess:
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning. CoRR abs/2304.13653 (2023) - [i14]Dhruva Tirumala, Thomas Lampe, José Enrique Chen, Tuomas Haarnoja, Sandy H. Huang, Guy Lever, Ben Moran, Tim Hertweck, Leonard Hasenclever, Martin A. Riedmiller, Nicolas Heess, Markus Wulfmeier:
Replay across Experiments: A Natural Extension of Off-Policy RL. CoRR abs/2311.15951 (2023) - 2022
- [i13]Steven Bohez, Saran Tunyasuvunakool, Philemon Brakel, Fereshteh Sadeghi, Leonard Hasenclever, Yuval Tassa, Emilio Parisotto, Jan Humplik, Tuomas Haarnoja, Roland Hafner, Markus Wulfmeier, Michael Neunert, Ben Moran, Noah Y. Siegel, Andrea Huber, Francesco Romano, Nathan Batchelor, Federico Casarini, Josh Merel, Raia Hadsell, Nicolas Heess:
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors. CoRR abs/2203.17138 (2022) - [i12]Wenxuan Zhou, Steven Bohez, Jan Humplik, Abbas Abdolmaleki, Dushyant Rao, Markus Wulfmeier, Tuomas Haarnoja, Nicolas Heess:
Offline Distillation for Robot Lifelong Learning with Imbalanced Experience. CoRR abs/2204.05893 (2022) - [i11]Arunkumar Byravan, Jan Humplik, Leonard Hasenclever, Arthur Brussee, Francesco Nori, Tuomas Haarnoja, Ben Moran, Steven Bohez, Fereshteh Sadeghi, Bojan Vujatovic, Nicolas Heess:
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields. CoRR abs/2210.04932 (2022) - [i10]Giulia Vezzani, Dhruva Tirumala, Markus Wulfmeier, Dushyant Rao, Abbas Abdolmaleki, Ben Moran, Tuomas Haarnoja, Jan Humplik, Roland Hafner, Michael Neunert, Claudio Fantacci, Tim Hertweck, Thomas Lampe, Fereshteh Sadeghi, Nicolas Heess, Martin A. Riedmiller:
SkillS: Adaptive Skill Sequencing for Efficient Temporally-Extended Exploration. CoRR abs/2211.13743 (2022) - 2021
- [i9]Siqi Liu, Guy Lever, Zhe Wang, Josh Merel, S. M. Ali Eslami, Daniel Hennes, Wojciech M. Czarnecki, Yuval Tassa, Shayegan Omidshafiei, Abbas Abdolmaleki, Noah Y. Siegel, Leonard Hasenclever, Luke Marris, Saran Tunyasuvunakool, H. Francis Song, Markus Wulfmeier, Paul Muller, Tuomas Haarnoja, Brendan D. Tracey, Karl Tuyls, Thore Graepel, Nicolas Heess:
From Motor Control to Team Play in Simulated Humanoid Football. CoRR abs/2105.12196 (2021) - 2019
- [i8]Kristian Hartikainen, Xinyang Geng, Tuomas Haarnoja, Sergey Levine:
Dynamical Distance Learning for Unsupervised and Semi-Supervised Skill Discovery. CoRR abs/1907.08225 (2019) - 2018
- [i7]Tuomas Haarnoja, Aurick Zhou, Pieter Abbeel, Sergey Levine:
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor. CoRR abs/1801.01290 (2018) - [i6]Tuomas Haarnoja, Vitchyr Pong, Aurick Zhou, Murtaza Dalal, Pieter Abbeel, Sergey Levine:
Composable Deep Reinforcement Learning for Robotic Manipulation. CoRR abs/1803.06773 (2018) - [i5]Tuomas Haarnoja, Kristian Hartikainen, Pieter Abbeel, Sergey Levine:
Latent Space Policies for Hierarchical Reinforcement Learning. CoRR abs/1804.02808 (2018) - [i4]Tuomas Haarnoja, Aurick Zhou, Kristian Hartikainen, George Tucker, Sehoon Ha, Jie Tan, Vikash Kumar, Henry Zhu, Abhishek Gupta, Pieter Abbeel, Sergey Levine:
Soft Actor-Critic Algorithms and Applications. CoRR abs/1812.05905 (2018) - [i3]Tuomas Haarnoja, Aurick Zhou, Sehoon Ha, Jie Tan, George Tucker, Sergey Levine:
Learning to Walk via Deep Reinforcement Learning. CoRR abs/1812.11103 (2018) - 2017
- [i2]Tuomas Haarnoja, Haoran Tang, Pieter Abbeel, Sergey Levine:
Reinforcement Learning with Deep Energy-Based Policies. CoRR abs/1702.08165 (2017) - 2016
- [i1]Tuomas Haarnoja, Anurag Ajay, Sergey Levine, Pieter Abbeel:
Backprop KF: Learning Discriminative Deterministic State Estimators. CoRR abs/1605.07148 (2016)
Coauthor Index
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