Publications

[119]	Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev, "Model learning with backlash compensation for a tendon-driven surgical Robot", In IEEE Robotics and Automation Letters, IEEE, vol. 7, pp. 7958-7965, 2022.
[118]	Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev, "Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution", In IEEE Transactions on Robotics, IEEE, 2022.
[117]	Digby Chappell, Honn Wee Son, Angus Benedict Clark, Zeyu Yang, Fernando Bello, Petar Kormushev, Nicolas Rojas, "Virtual Reality Pre-Prosthetic Hand Training with Physics Simulation and Robotic Force Interaction", In IEEE Robotics and Automation Letters (RA-L), IEEE, 2022.
[116]	Ke Wang, Hengyi Fei, Petar Kormushev, "Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model", In Frontiers in Robotics and AI, 2022.
[115]	Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev, "GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design", In IEEE Access, IEEE, 2022.
[114]	Ahmad AlAttar, Digby Chappell, Petar Kormushev, "Kinematic-Model-Free Predictive Control for Robotic Manipulator Target Reaching with Obstacle Avoidance", In Frontiers in Robotics and AI, 2022.

[113]	Francesco Cursi, Digby Chappell, Petar Kormushev, "Augmenting Loss Functions of Feedforward Neural Networks with Differential Relationships for Robot Kinematic Modelling", In Proc. IEEE Intl Conf. on Advanced Robotics (ICAR 2021), Ljubljana, Slovenia, 2021.
[112]	Vittorio La Barbera, Fabio Pardo, Yuval Tassa, Monica Daley, Christopher Richards, Petar Kormushev, John Hutchinson, "OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion", In NeurIPS 2021 Deep Reinforcement Learning Workshop, 35th Conference on Neural Information Processing Systems (NeurIPS 2021), 2021.
[111]	Francesco Cursi, Petar Kormushev, "Pre-operative Offline Optimization of Insertion Point Location for Safe and Accurate Surgical Task Execution", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, 2021.
[110]	Francesco Cursi, Weibang Bai, Petar Kormushev, "Kalibrot: A Simple-To-Use Matlab Package for Robot Kinematic Calibration", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, 2021.
[109]	Ke Wang, Roni Permana Saputra, James Paul Foster, Petar Kormushev, "Improved Energy Efficiency via Parallel Elastic Elements for the Straight-legged Vertically-compliant Robot SLIDER", In Proc. 24th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2021), Japan, 2021. (Best Paper Award)
[108]	Nemanja Rakicevic, Antoine Cully, Petar Kormushev, "Policy Manifold Search: Exploring the Manifold Hypothesis for Diversity-based Neuroevolution", In Proc. Genetic and Evolutionary Computation Conference (GECCO 2021), Lille, France, 2021.
[107]	Roni Permana Saputra, Nemanja Rakicevic, Isabelle Kuder, Joel Bilsdorfer, Alexander Gough, Alexandra Dakin, Emma de Cocker, Shaun Rock, Richard Harpin, Petar Kormushev, "ResQbot 2.0: An Improved Design of a Mobile Rescue Robot with an Inflatable Neck Securing Device for Safe Casualty Extraction", In Applied Sciences, vol. 11, no. 12, 2021.
[106]	Ahmad AlAttar, Francesco Cursi, Petar Kormushev, "Kinematic-Model-Free Redundancy Resolution Using Multi-Point Tracking and Control for Robot Manipulation", In Applied Sciences, vol. 11, no. 11, 2021.
[105]	Chase Frazelle, Ian Walker, Ahmad AlAttar, Petar Kormushev, "Kinematic-Model-Free Control for Space Operations with Continuum Manipulators", In Proc. 2021 IEEE Conference on Aerospace, USA, pp. 1-13, 2021.
[104]	Roni Permana Saputra, Nemanja Rakicevic, Digby Chappell, Ke Wang, Petar Kormushev, "Hierarchical Decomposed-Objective Model Predictive Control for Autonomous Casualty Extraction", In IEEE Access, IEEE, 2021.
[103]	Felix Russell, Yukio Takeda, Petar Kormushev, Ravi Vaidyanathan, Peter Ellison, "Stiffness Modulation in a Humanoid Robotic Leg and Knee", In IEEE Robotics and Automation Letters (RA-L), IEEE, 2021.
[102]	Francesco Cursi, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Petar Kormushev, "Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization", In IEEE Robotics and Automation Letters (RA-L), IEEE, 2021.
[101]	Arash Tavakoli, Mehdi Fatemi, Petar Kormushev, "Learning to Represent Action Values as a Hypergraph on the Action Vertices", In International Conference on Learning Representations (ICLR 2021), Vienna, Austria, 2021.

[100]	Nemanja Rakicevic, Antoine Cully, Petar Kormushev, "Policy Manifold Search for Improving Diversity-based Neuroevolution", In NeurIPS 2020 Beyond Backpropagation: Novel Ideas for Training Neural Architectures, 34th Conference on Neural Information Processing Systems (NeurIPS), Vancouver, Canada, 2020. (oral 8% acceptance rate)
[99]	Ke Wang, David Michael Marsh, Roni Permana Saputra, Digby Chappell, Zhonghe Jiang, Akshay Raut, Bethany Kon, Petar Kormushev, "Design and Control of SLIDER: An Ultra-lightweight, Knee-less, Low-cost Bipedal Walking Robot", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA, pp. 3488-3495, 2020.
[98]	Francesco Cursi, Valerio Modugno, Petar Kormushev, "Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA, 2020.
[97]	Ahmad AlAttar, Petar Kormushev, "Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions", In Robotics, vol. 9, no. 4, pp. 1-13, 2020.
[96]	Francesco Cursi, George P Mylonas, Petar Kormushev, "Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool", In Robotics, vol. 9, no. 3, pp. 1-16, 2020.
[95]	Fabian Falck, Sagar Doshi, Marion Tormento, Gor Nersisyan, Nico Smuts, John Lingi, Kim Rants, Roni Permana Saputra, Ke Wang, Petar Kormushev, "Robot DE NIRO: A Human-Centered, Autonomous, Mobile Research Platform for Cognitively-Enhanced Manipulation", In Frontiers in Robotics and AI, Frontiers Media, 2020.
[94]	Fabio Pardo, Vitaly Levdik, Petar Kormushev, "Scaling All-Goals Updates in Reinforcement Learning Using Convolutional Neural Networks", In Proc. 34th AAAI Conference on Artificial Intelligence (AAAI 2020), New York, USA, 2020.
[93]	Felix Russell, Petar Kormushev, Ravi Vaidyanathan, Peter Ellison, "The Impact of ACL Laxity on a Bicondylar Robotic Knee and Implications in Human Joint Biomechanics", In IEEE Transactions on Biomedical Engineering, IEEE, 2020.

[92]	Roni Permana Saputra, Nemanja Rakicevic, Petar Kormushev, "Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud Data", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2019), Macau, China, 2019.
[91]	Arash Tavakoli, Vitaly Levdik, Riashat Islam, Christopher M. Smith, Petar Kormushev, "Exploring Restart Distributions", In 4th Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM 2019), Montréal, Canada, 2019.
[90]	Fabian Falck, Kawin Larppichet, Petar Kormushev, "DE VITO: A Dual-arm, High Degree-of-freedom, Lightweight, Inexpensive, Passive Upper-limb Exoskeleton for Robot Teleoperation", In Proc. 20th International Conference Towards Autonomous Robotic Systems (TAROS 2019), London, UK, 2019. (Best Paper Award)
[89]	Ahmad AlAttar, Louis Rouillard, Petar Kormushev, "Autonomous Air-Hockey Playing Cobot using Optimal Control and Vision-Based Bayesian Tracking", In Proc. 20th International Conference Towards Autonomous Robotic Systems (TAROS 2019), London, UK, 2019.
[88]	Nemanja Rakicevic, Petar Kormushev, "Active Learning via Informed Search in Movement Parameter Space for Efficient Robot Task Learning and Transfer", In Autonomous Robots, Springer, 2019.
[87]	Petar Kormushev, Barkan Ugurlu, Darwin G Caldwell, Nikos G Tsagarakis, "Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid", In Autonomous Robots, Springer, vol. 43, pp. 79-95, 2019.

[86]	Fabian Falck, Sagar Doshi, Nico Smuts, John Lingi, Kim Rants, Petar Kormushev, "Human-centered manipulation and navigation with Robot DE NIRO", In IROS 2018 Workshop: Towards Robots that Exhibit Manipulation Intelligence, IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
[85]	Ke Wang, Aksat Shah, Petar Kormushev, "SLIDER: A Bipedal Robot with Knee-less Legs and Vertical Hip Sliding Motion", In Proc. 21st International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018), Panama, 2018.
[84]	Roni Permana Saputra, Petar Kormushev, "Casualty Detection from 3D Point Cloud Data for Autonomous Ground Mobile Rescue Robots", In Proc. 2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2018), Philadelphia, USA, 2018.
[83]	Roni Permana Saputra, Petar Kormushev, "ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction", In Proc. 19th International Conference Towards Autonomous Robotic Systems (TAROS 2018), Bristol, UK, 2018.
[82]	Fabio Pardo, Arash Tavakoli, Vitaly Levdik, Petar Kormushev, "Time Limits in Reinforcement Learning", In Proc. 35th International Conference on Machine Learning (ICML 2018), Stockholm, Sweden, 2018.
[81]	Roni Permana Saputra, Petar Kormushev, "Casualty Detection for Mobile Rescue Robots via Ground-Projected Point Clouds", In Proc. 19th International Conference Towards Autonomous Robotic Systems (TAROS 2018), Bristol, UK, 2018.
[80]	Ke Wang, Aksat Shah, Petar Kormushev, "SLIDER: A Novel Bipedal Walking Robot without Knees", In Proc. 19th International Conference Towards Autonomous Robotic Systems (TAROS 2018), Bristol, UK, 2018. (Best Poster Award)
[79]	Roni Permana Saputra, Petar Kormushev, "ResQbot: A Mobile Rescue Robot for Casualty Extraction", In Proc. 2018 ACM/IEEE International Conference on Human-Robot Interaction (HRI 2018), Chicago, USA, pp. 239-240, 2018.
[78]	Arash Tavakoli, Fabio Pardo, Petar Kormushev, "Action Branching Architectures for Deep Reinforcement Learning", In Proc. 32nd AAAI Conference on Artificial Intelligence (AAAI 2018), New Orleans, USA, 2018.

[77]	Arash Tavakoli, Fabio Pardo, Petar Kormushev, "Action Branching Architectures for Deep Reinforcement Learning", In Deep Reinforcement Learning Symposium (DRLS), 31st Conference on Neural Information Processing Systems (NIPS 2017), California, USA, 2017.
[76]	Fabio Pardo, Arash Tavakoli, Vitaly Levdik, Petar Kormushev, "Time Limits in Reinforcement Learning", In Deep Reinforcement Learning Symposium (DRLS), 31st Conference on Neural Information Processing Systems (NIPS 2017), California, USA, 2017.
[75]	Nemanja Rakicevic, Petar Kormushev, "Efficient Robot Task Learning and Transfer via Informed Search in Movement Parameter Space", In NIPS 2017 Workshop on Acting and Interacting in the Real World: Challenges in Robot Learning, 31st Conference on Neural Information Processing Systems (NIPS), California, USA, 2017.
[74]	Pavan Kanajar, Darwin G. Caldwell, Petar Kormushev, "Climbing over Large Obstacles with a Humanoid Robot via Multi-Contact Motion Planning", In Proc. IEEE Intl Conf. on Robot and Human Interactive Communication (RO-MAN 2017), Lisbon, Portugal, 2017.

[73]	Francesco Maurelli, Marc Carreras, Joaquim Salvi, David Lane, Kostas Kyriakopoulos, George Karras, Maria Fox, Derek Long, Petar Kormushev, Darwin Caldwell, "The PANDORA project: A success story in AUV autonomy", In Proc. MTS/IEEE OCEANS 2016, Shanghai, China, 2016.
[72]	Seyed Reza Ahmadzadeh, Petar Kormushev, "Visuospatial Skill Learning", Chapter in Handling Uncertainty and Networked Structure in Robot Control (Lucian Busoniu, Levente Tamás, eds.), Springer International Publishing, pp. 75-99, 2016.
[71]	Petar Kormushev, Seyed Reza Ahmadzadeh, "Robot Learning for Persistent Autonomy", Chapter in Handling Uncertainty and Networked Structure in Robot Control (Lucian Busoniu, Levente Tamás, eds.), Springer International Publishing, pp. 3-28, 2016.
[70]	Narcís Palomeras, Arnau Carrera, Natàlia Hurtós, George C. Karras, Charalampos P. Bechlioulis, Michael Cashmore, Daniele Magazzeni, Derek Long, Maria Fox, Kostas J. Kyriakopoulos, Petar Kormushev, Joaquim Salvi, Marc Carreras, "Toward persistent autonomous intervention in a subsea panel", In Autonomous Robots, Springer, vol. 40, no. 7, pp. 1279-1306, 2016.
[69]	Rodrigo S. Jamisola, Petar Kormushev, Rodney G. Roberts, Darwin G. Caldwell, "Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian", In Journal of Intelligent & Robotic Systems, pp. 1-14, 2016.

[68]	Przemyslaw Kryczka, Petar Kormushev, Nikos Tsagarakis, Darwin G. Caldwell, "Online Regeneration of Bipedal Walking Gait Optimizing Footstep Placement and Timing", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
[67]	Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell, "Kinematic-free Position Control of a 2-DOF Planar Robot Arm", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
[66]	Arnau Carrera, Narcís Palomeras, Natàlia Hurtós, Petar Kormushev, Marc Carreras, "Cognitive System for Autonomous Underwater Intervention", In Pattern Recognition Letters, 2015.
[65]	Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell, "Encoderless Position Control of a Two-Link Robot Manipulator", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2015), Seattle, USA, 2015. (Best Paper Award finalist)
[64]	Seyed Reza Ahmadzadeh, Ali Paikan, Fulvio Mastrogiovanni, Lorenzo Natale, Petar Kormushev, Darwin G. Caldwell, "Learning Symbolic Representations of Actions from Human Demonstrations", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2015), Seattle, USA, 2015.
[63]	Nawid Jamali, Petar Kormushev, Arnau Carrera, Marc Carreras, Darwin G. Caldwell, "Underwater Robot-Object Contact Perception using Machine Learning on Force/Torque Sensor Feedback", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2015), Seattle, USA, 2015.
[62]	Arnau Carrera, Narcis Palomeras, Natalia Hurtos, Petar Kormushev, Marc Carreras, "Learning multiple strategies to perform a valve turning with underwater currents using an I-AUV", In Proc. MTS/IEEE OCEANS 2015, Genoa, Italy, 2015.
[61]	Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Caldwell, Frank Ibikunle, "Modular Relative Jacobian for Dual-Arms and the Wrench Transformation Matrix", In Proc. IEEE Intl Conf. on Cybernetics and Intelligent Systems (CIS) Robotics, Automation and Mechatronics (RAM)(CIS-RAM 2015), Cambodia, 2015.
[60]	David M Lane, Francesco Maurelli, Petar Kormushev, Marc Carreras, Maria Fox, Konstantinos Kyriakopoulos, "PANDORA - Persistent Autonomy through Learning, Adaptation, Observation and Replanning", In Proceedings of IFAC NGCUV 2015 - Navigation, Guidance and Control of Underwater Vehicles, 2015.
[59]	Joao Bimbo, Petar Kormushev, Kaspar Althoefer, Hongbin Liu, "Global Estimation of an Object's Pose Using Tactile Sensing", In Advanced Robotics, The Robotics Society of Japan, vol. 29, no. 5, Tokyo, Japan, 2015.
[58]	Wataru Takano, Tamim Asfour, Petar Kormushev, "Special Issue on Humanoid Robotics", In Advanced Robotics, vol. 29, no. 5, 2015.

[57]	Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell, "Multi-Objective Reinforcement Learning for AUV Thruster Failure Recovery", In IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL 2014), Proc. IEEE Symposium Series on Computational Intelligence (SSCI 2014), Florida, USA, 2014.
[56]	Seyed Reza Ahmadzadeh, Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Caldwell, "Learning Reactive Robot Behavior for Autonomous Valve Turning", In Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids 2014), Madrid, Spain, 2014.
[55]	Houman Dallali, Petar Kormushev, Nikolaos Tsagarakis, Darwin G. Caldwell, "Can Active Impedance Protect Robots from Landing Impact?", In Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids 2014), Madrid, Spain, 2014.
[54]	Rodrigo S. Jamisola, Petar Kormushev, Antonio Bicchi, Darwin G. Caldwell, "Haptic Exploration of Unknown Surfaces with Discontinuities", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014), Chicago, USA, 2014.
[53]	Seyed Reza Ahmadzadeh, Arnau Carrera, Matteo Leonetti, Petar Kormushev, Darwin G. Caldwell, "Online Discovery of AUV Control Policies to Overcome Thruster Failures", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.
[52]	Nawid Jamali, Petar Kormushev, Darwin G. Caldwell, "Robot-Object Contact Perception using Symbolic Temporal Pattern Learning", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.
[51]	Arnau Carrera, George Karras, Charalampos Bechlioulis, Narcis Palomeras, Natalia Hurtos, Kostas Kyriakopoulos, Petar Kormushev, Marc Carreras, "Improving a Learning by Demonstration framework for Intervention AUVs by means of an UVMS controller", In ICRA 2014 Workshop on Persistent Autonomy for Marine Robotics, Hong Kong, China, 2014.
[50]	Arnau Carrera, Narcis Palomeras, David Ribas, Petar Kormushev, Marc Carreras, "An Intervention-AUV learns how to perform an underwater valve turning", In Proc. MTS/IEEE OCEANS 2014 - Taipei, Taipei, Taiwan, 2014.
[49]	Nawid Jamali, Petar Kormushev, Seyed Reza Ahmadzadeh, Darwin G. Caldwell, "Covariance Analysis as a Measure of Policy Robustness in Reinforcement Learning", In Proc. MTS/IEEE Intl Conf. OCEANS 2014, Taipei, Taiwan, 2014.
[48]	Arnau Carrera, Narcis Palomeras, Natalia Hurtos, Petar Kormushev, Marc Carreras, "Learning by demonstration applied to underwater intervention", In Proc. International Conference of the Catalan Association for Artificial Intelligence, 2014.

[47]	Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell, "Visuospatial Skill Learning for Object Reconfiguration Tasks", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
[46]	Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell, "Interactive Robot Learning of Visuospatial Skills", In Proc. IEEE Intl Conf. on Advanced Robotics (ICAR 2013), Montevideo, Uruguay, 2013.
[45]	Petar Kormushev, Darwin G. Caldwell, "Improving the Energy Efficiency of Autonomous Underwater Vehicles by Learning to Model Disturbances", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013.
[44]	George C. Karras, Charalampos P. Bechlioulis, Matteo Leonetti, Narcis Palomeras, Petar Kormushev, Kostas J. Kyriakopoulos, Darwin G. Caldwell, "On-Line Identification of Autonomous Underwater Vehicles through Global Derivative-Free Optimization", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
[43]	Nawid Jamali, Petar Kormushev, Darwin G. Caldwell, "Contact State Estimation using Machine Learning", In Proc. MTS/IEEE Intl Conf. OCEANS 2013, San Diego, USA, 2013.
[42]	Seyed Reza Ahmadzadeh, Matteo Leonetti, Petar Kormushev, "Online Direct Policy Search for Thruster Failure Recovery in Autonomous Underwater Vehicles", In 6th International workshop on Evolutionary and Reinforcement Learning for Autonomous Robot System (ERLARS 2013), in conjunction with the 12th European Conference on Artificial Life (ECAL 2013), Taormina, Italy, 2013.
[41]	Petar Kormushev, Darwin G. Caldwell, "Comparative Evaluation of Reinforcement Learning with Scalar Rewards and Linear Regression with Multidimensional Feedback", In ECML/PKDD 2013 Workshop on Reinforcement Learning from Generalized Feedback: Beyond numeric rewards, Prague, Czech Republic, 2013.
[40]	Petar Kormushev, Darwin G. Caldwell, "Towards Improved AUV Control Through Learning of Periodic Signals", In Proc. MTS/IEEE Intl Conf. OCEANS 2013, San Diego, USA, 2013.
[39]	Matteo Leonetti, Seyed Reza Ahmadzadeh, Petar Kormushev, "On-line Learning to Recover from Thruster Failures on Autonomous Underwater Vehicles", In Proc. MTS/IEEE Intl Conf. OCEANS 2013, San Diego, USA, 2013.
[38]	Petar Kormushev, Darwin G. Caldwell, "Reinforcement Learning with Heterogeneous Policy Representations", In The 11th European Workshop on Reinforcement Learning (EWRL 2013) held as a Dagstuhl Seminar, Dagstuhl, Germany, 2013.
[37]	Przemyslaw Kryczka, Kenji Hashimoto, A Takanishi, Petar Kormushev, Nikolaos Tsagarakis, Darwin G. Caldwell, "Walking Despite the Passive Compliance: Techniques for Using Conventional Pattern Generators to Control Instrinsically Compliant Humanoid Robots", In Proc. Intl Conf. on Climbing and Walking Robots CLAWAR 2013, Sydney, Australia, 2013.
[36]	Arnau Carrera, Marc Carreras, Petar Kormushev, Narcis Palomeras, Sharad Nagappa, "Towards valve turning with an AUV using Learning by Demonstration", In Proc. MTS/IEEE OCEANS 2013 - Bergen: The Challenges of the Northern Dimension, Bergen, Norway, 2013.
[35]	Houman Dallali, Mohamad Mosadeghzad, Gustavo A Medrano-Cerda, Nicolas Docquier, Petar Kormushev, Nikos Tsagarakis, Zhibin Li, Darwin Caldwell, "Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach", In Mechatronics (ICM), 2013 IEEE International Conference on, pp. 598-603, 2013.
[34]	Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell, "Autonomous Robotic Valve Turning: A Hierarchical Learning Approach", In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp. 4614-4619, 2013.
[33]	Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi, "Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration", In URAI 2013, IEEE, pp. 475-480, 2013.
[32]	Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi, "Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots", In ROBIO 2013, 2013.
[31]	Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell, "Reinforcement Learning in Robotics: Applications and Real-World Challenges", In Robotics, vol. 2, no. 3, pp. 122-148, 2013.

[30]	Petar Kormushev, Darwin G. Caldwell, "Direct policy search reinforcement learning based on particle filtering", In The 10th European Workshop on Reinforcement Learning (EWRL 2012), part of the Intl Conf. on Machine Learning (ICML 2012), Edinburgh, UK, 2012.
[29]	H. Shen, J. Yosinski, Petar Kormushev, D.G. Caldwell, H. Lipson, "Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization", In International Journal of Cybernetics and Information Technologies, vol. 12, no. 3, 2012.
[28]	Matteo Leonetti, Petar Kormushev, Simone Sagratella, "Combining Local and Global Direct Derivative-free Optimization for Reinforcement Learning", In International Journal of Cybernetics and Information Technologies, vol. 12, no. 3, 2012.
[27]	David M Lane, Francesco Maurelli, Petar Kormushev, Marc Carreras, Maria Fox, Konstantinos Kyriakopoulos, "Persistent Autonomy: the Challenges of the PANDORA Project", In Proceedings of IFAC MCMC 2012 - Manoeuvring and Control of Marine Craft, 2012.
[26]	Petar Kormushev, Sylvain Calinon, Barkan Ugurlu, Darwin G. Caldwell, "Challenges for the policy representation when applying reinforcement learning in robotics", In Neural Networks (IJCNN), The 2012 International Joint Conference on, pp. 1-8, 2012.
[25]	Petar Kormushev, Barkan Ugurlu, Luca Colasanto, Nikolaos G. Tsagarakis, Darwin G. Caldwell, "The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans", In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp. 3706-3713, 2012.
[24]	Houman Dallali, Petar Kormushev, Zhibin Li, Darwin G. Caldwell, "On Global Optimization of Walking Gaits for the Compliant Humanoid Robot COMAN Using Reinforcement Learning", In International Journal of Cybernetics and Information Technologies, vol. 12, no. 3, 2012.
[23]	Luca Colasanto, Petar Kormushev, Nikos Tsagarakis, Darwin G. Caldwell, "Optimization of a compact model for the compliant humanoid robot COMAN using reinforcement learning", In International Journal of Cybernetics and Information Technologies, vol. 12, no. 3, 2012.
[22]	A Carrera, Seyed Reza Ahmadzadeh, Arash Ajoudani, Petar Kormushev, Marc Carreras, Darwin G. Caldwell, "Towards Autonomous Robotic Valve Turning", In Cybernetics and Information Technologies, vol. 12, no. 3, pp. 17-26, 2012.
[21]	Sylvain Calinon, Petar Kormushev, Darwin G. Caldwell, "Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning", In Robotics and Autonomous Systems, Elsevier, 2012.
[20]	Petar Kormushev, Darwin G. Caldwell, "Simultaneous discovery of multiple alternative optimal policies by reinforcement learning", In Intelligent Systems (IS), 2012 6th IEEE International Conference, pp. 202-207, 2012. (Best Paper Award finalist)

[19]	Petar Kormushev, B. Ugurlu, S. Calinon, N. Tsagarakis, D. G. Caldwell, "Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), San Francisco, USA, pp. 318-324, 2011.
[18]	Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota, "Time Hopping Technique for Faster Reinforcement Learning in Simulations", In International Journal of Cybernetics and Information Technologies, vol. 11, no. 3, pp. 42-59, 2011.
[17]	Petar Kormushev, D. N. Nenchev, S. Calinon, D. G. Caldwell, "Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), Shanghai, China, pp. 3970-3975, 2011.
[16]	Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell, "Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input", In Advanced Robotics, The Robotics Society of Japan, vol. 25, no. 5, Tokyo, Japan, pp. 581-603, 2011.

[15]	Petar Kormushev, S. Calinon, R. Saegusa, G. Metta, "Learning the skill of archery by a humanoid robot iCub", In Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), Nashville, USA, pp. 417-423, 2010.
[14]	Petar Kormushev, S. Calinon, D. G. Caldwell, "Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution", In IEEE Intl Conf. on Humanoid Robots (Humanoids), Workshop on Humanoid Robots Learning from Human Interaction, Nashville, USA, 2010.
[13]	Petar Kormushev, S. Calinon, D. G. Caldwell, "Robot Motor Skill Coordination with EM-based Reinforcement Learning", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 3232-3237, 2010. (Top-5 most cited paper from IROS 2010)
[12]	F. Sato, T. Nishii, J. Takahashi, Y. Yoshida, M. Mitsuhashi, Petar Kormushev, Y. Kanamiya, "Whiteboard Cleaning Task Realization with HOAP-2", In Proc. SICE System Integration (SI-2010), Sendai, Japan, pp. 426-429, 2010.

[11]	Petar Kormushev, "Time Hopping Technique for Reinforcement Learning and its Application to Robot Control", PhD thesis, Tokyo Institute of Technology (TiTech), Japan, 2009.
[10]	Petar Kormushev, Fangyan Dong, Kaoru Hirota, "Probability redistribution using time hopping for reinforcement learning", In Proc. 10th International Symposium on Advanced Intelligent Systems, ISIS 2009, Busan, Korea, 2009.
[9]	Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota, "Eligibility Propagation to Speed up Time Hopping for Reinforcement Learning", In Journal of Advanced Computational Intelligence and Intelligent Informatics, vol. 13, No. 6, 2009.

[8]

Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota, "Time manipulation technique for speeding up reinforcement learning in simulations", In International Journal of Cybernetics and Information Technologies, vol. 8, No. 1, pp. 12-24, 2008.

[7]	Yoichi Yamazaki, Fangyan Dong, Yuta Masuda, Yukiko Uehara, Petar Kormushev, Hai An Vu, Phuc Quang Le, Kaoru Hirota, "Intent expression using eye robot for mascot robot system", In 8th International Symposium on Advanced Intelligent Systems (ISIS-2007), 2007.
[6]	Yoichi Yamazaki, Fangyan Dong, Yuta Masuda, Yukiko Uehara, Petar Kormushev, Hai An Vu, Phuc Quang Le, Kaoru Hirota, "Fuzzy inference based mentality estimation for eye robot agent", In Proc. 23rd Fuzzy System Symposium FSS-2007, 2007.

[5]	Gennady Agre, Petar Kormushev, Ivan Dilov, "INFRAWEBS Axiom Editor - A graphical ontology-driven tool for creating complex logical expressions", In International Journal of Information Theories and Applications, vol. 13, no. 2, pp. 169-178, 2006.
[4]	Petar Kormushev, "Visual approach for data mining on medical information databases using Fastmap algorithm", Master's thesis, Faculty of Mathematics and Informatics, Sofia University, 2006.
[3]	Gennady Agre, Petar Kormushev, Ivan Dilov, "INFRAWEBS Axiom Editor User's Guide", Technical report, Institute of Information Technologies, Bulgarian Academy of Sciences, 2006.

[2]	Petar Kormushev, "Design, development and implementation of a tool for construction of declarative functional descriptions of semantic web services based on WSMO methodology", Master's thesis, Faculty of Mathematics and Informatics, Sofia University, 2005.
[1]	Gennady Agre, Petar Kormushev, Ivan Dilov, "INFRAWEBS Capability Editor - A graphical ontology-driven tool for creating capabilities of Semantic Web Services", In Third International Conference on Information Research, Applications and Education i.TECH-2005, pp. 228, 2005.

[1]	Seyed Reza Ahmadzadeh, Petar Kormushev, "Visuospatial Skill Learning", Chapter in Handling Uncertainty and Networked Structure in Robot Control (Lucian Busoniu, Levente Tamás, eds.), Springer International Publishing, pp. 75-99, 2016.
[2]	Petar Kormushev, Seyed Reza Ahmadzadeh, "Robot Learning for Persistent Autonomy", Chapter in Handling Uncertainty and Networked Structure in Robot Control (Lucian Busoniu, Levente Tamás, eds.), Springer International Publishing, pp. 3-28, 2016.

[1]	Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev, "Model learning with backlash compensation for a tendon-driven surgical Robot", In IEEE Robotics and Automation Letters, IEEE, vol. 7, pp. 7958-7965, 2022.
[2]	Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev, "Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution", In IEEE Transactions on Robotics, IEEE, 2022.
[3]	Digby Chappell, Honn Wee Son, Angus Benedict Clark, Zeyu Yang, Fernando Bello, Petar Kormushev, Nicolas Rojas, "Virtual Reality Pre-Prosthetic Hand Training with Physics Simulation and Robotic Force Interaction", In IEEE Robotics and Automation Letters (RA-L), IEEE, 2022.
[4]	Ke Wang, Hengyi Fei, Petar Kormushev, "Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model", In Frontiers in Robotics and AI, 2022.
[5]	Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev, "GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design", In IEEE Access, IEEE, 2022.
[6]	Ahmad AlAttar, Digby Chappell, Petar Kormushev, "Kinematic-Model-Free Predictive Control for Robotic Manipulator Target Reaching with Obstacle Avoidance", In Frontiers in Robotics and AI, 2022.
[7]	Roni Permana Saputra, Nemanja Rakicevic, Isabelle Kuder, Joel Bilsdorfer, Alexander Gough, Alexandra Dakin, Emma de Cocker, Shaun Rock, Richard Harpin, Petar Kormushev, "ResQbot 2.0: An Improved Design of a Mobile Rescue Robot with an Inflatable Neck Securing Device for Safe Casualty Extraction", In Applied Sciences, vol. 11, no. 12, 2021.
[8]	Ahmad AlAttar, Francesco Cursi, Petar Kormushev, "Kinematic-Model-Free Redundancy Resolution Using Multi-Point Tracking and Control for Robot Manipulation", In Applied Sciences, vol. 11, no. 11, 2021.
[9]	Roni Permana Saputra, Nemanja Rakicevic, Digby Chappell, Ke Wang, Petar Kormushev, "Hierarchical Decomposed-Objective Model Predictive Control for Autonomous Casualty Extraction", In IEEE Access, IEEE, 2021.
[10]	Felix Russell, Yukio Takeda, Petar Kormushev, Ravi Vaidyanathan, Peter Ellison, "Stiffness Modulation in a Humanoid Robotic Leg and Knee", In IEEE Robotics and Automation Letters (RA-L), IEEE, 2021.
[11]	Francesco Cursi, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Petar Kormushev, "Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization", In IEEE Robotics and Automation Letters (RA-L), IEEE, 2021.
[12]	Ahmad AlAttar, Petar Kormushev, "Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions", In Robotics, vol. 9, no. 4, pp. 1-13, 2020.
[13]	Francesco Cursi, George P Mylonas, Petar Kormushev, "Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool", In Robotics, vol. 9, no. 3, pp. 1-16, 2020.
[14]	Fabian Falck, Sagar Doshi, Marion Tormento, Gor Nersisyan, Nico Smuts, John Lingi, Kim Rants, Roni Permana Saputra, Ke Wang, Petar Kormushev, "Robot DE NIRO: A Human-Centered, Autonomous, Mobile Research Platform for Cognitively-Enhanced Manipulation", In Frontiers in Robotics and AI, Frontiers Media, 2020.
[15]	Felix Russell, Petar Kormushev, Ravi Vaidyanathan, Peter Ellison, "The Impact of ACL Laxity on a Bicondylar Robotic Knee and Implications in Human Joint Biomechanics", In IEEE Transactions on Biomedical Engineering, IEEE, 2020.
[16]	Nemanja Rakicevic, Petar Kormushev, "Active Learning via Informed Search in Movement Parameter Space for Efficient Robot Task Learning and Transfer", In Autonomous Robots, Springer, 2019.
[17]	Petar Kormushev, Barkan Ugurlu, Darwin G Caldwell, Nikos G Tsagarakis, "Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid", In Autonomous Robots, Springer, vol. 43, pp. 79-95, 2019.
[18]	Narcís Palomeras, Arnau Carrera, Natàlia Hurtós, George C. Karras, Charalampos P. Bechlioulis, Michael Cashmore, Daniele Magazzeni, Derek Long, Maria Fox, Kostas J. Kyriakopoulos, Petar Kormushev, Joaquim Salvi, Marc Carreras, "Toward persistent autonomous intervention in a subsea panel", In Autonomous Robots, Springer, vol. 40, no. 7, pp. 1279-1306, 2016.
[19]	Rodrigo S. Jamisola, Petar Kormushev, Rodney G. Roberts, Darwin G. Caldwell, "Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian", In Journal of Intelligent & Robotic Systems, pp. 1-14, 2016.
[20]	Arnau Carrera, Narcís Palomeras, Natàlia Hurtós, Petar Kormushev, Marc Carreras, "Cognitive System for Autonomous Underwater Intervention", In Pattern Recognition Letters, 2015.
[21]	Joao Bimbo, Petar Kormushev, Kaspar Althoefer, Hongbin Liu, "Global Estimation of an Object's Pose Using Tactile Sensing", In Advanced Robotics, The Robotics Society of Japan, vol. 29, no. 5, Tokyo, Japan, 2015.
[22]	Wataru Takano, Tamim Asfour, Petar Kormushev, "Special Issue on Humanoid Robotics", In Advanced Robotics, vol. 29, no. 5, 2015.
[23]	Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell, "Reinforcement Learning in Robotics: Applications and Real-World Challenges", In Robotics, vol. 2, no. 3, pp. 122-148, 2013.
[24]	H. Shen, J. Yosinski, Petar Kormushev, D.G. Caldwell, H. Lipson, "Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization", In International Journal of Cybernetics and Information Technologies, vol. 12, no. 3, 2012.
[25]	Matteo Leonetti, Petar Kormushev, Simone Sagratella, "Combining Local and Global Direct Derivative-free Optimization for Reinforcement Learning", In International Journal of Cybernetics and Information Technologies, vol. 12, no. 3, 2012.
[26]	Houman Dallali, Petar Kormushev, Zhibin Li, Darwin G. Caldwell, "On Global Optimization of Walking Gaits for the Compliant Humanoid Robot COMAN Using Reinforcement Learning", In International Journal of Cybernetics and Information Technologies, vol. 12, no. 3, 2012.
[27]	Luca Colasanto, Petar Kormushev, Nikos Tsagarakis, Darwin G. Caldwell, "Optimization of a compact model for the compliant humanoid robot COMAN using reinforcement learning", In International Journal of Cybernetics and Information Technologies, vol. 12, no. 3, 2012.
[28]	A Carrera, Seyed Reza Ahmadzadeh, Arash Ajoudani, Petar Kormushev, Marc Carreras, Darwin G. Caldwell, "Towards Autonomous Robotic Valve Turning", In Cybernetics and Information Technologies, vol. 12, no. 3, pp. 17-26, 2012.
[29]	Sylvain Calinon, Petar Kormushev, Darwin G. Caldwell, "Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning", In Robotics and Autonomous Systems, Elsevier, 2012.
[30]	Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota, "Time Hopping Technique for Faster Reinforcement Learning in Simulations", In International Journal of Cybernetics and Information Technologies, vol. 11, no. 3, pp. 42-59, 2011.
[31]	Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell, "Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input", In Advanced Robotics, The Robotics Society of Japan, vol. 25, no. 5, Tokyo, Japan, pp. 581-603, 2011.
[32]	Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota, "Eligibility Propagation to Speed up Time Hopping for Reinforcement Learning", In Journal of Advanced Computational Intelligence and Intelligent Informatics, vol. 13, No. 6, 2009.
[33]	Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota, "Time manipulation technique for speeding up reinforcement learning in simulations", In International Journal of Cybernetics and Information Technologies, vol. 8, No. 1, pp. 12-24, 2008.
[34]	Gennady Agre, Petar Kormushev, Ivan Dilov, "INFRAWEBS Axiom Editor - A graphical ontology-driven tool for creating complex logical expressions", In International Journal of Information Theories and Applications, vol. 13, no. 2, pp. 169-178, 2006.

[1]	Francesco Cursi, Digby Chappell, Petar Kormushev, "Augmenting Loss Functions of Feedforward Neural Networks with Differential Relationships for Robot Kinematic Modelling", In Proc. IEEE Intl Conf. on Advanced Robotics (ICAR 2021), Ljubljana, Slovenia, 2021.
[2]	Francesco Cursi, Petar Kormushev, "Pre-operative Offline Optimization of Insertion Point Location for Safe and Accurate Surgical Task Execution", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, 2021.
[3]	Francesco Cursi, Weibang Bai, Petar Kormushev, "Kalibrot: A Simple-To-Use Matlab Package for Robot Kinematic Calibration", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, 2021.
[4]	Ke Wang, Roni Permana Saputra, James Paul Foster, Petar Kormushev, "Improved Energy Efficiency via Parallel Elastic Elements for the Straight-legged Vertically-compliant Robot SLIDER", In Proc. 24th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2021), Japan, 2021. (Best Paper Award)
[5]	Nemanja Rakicevic, Antoine Cully, Petar Kormushev, "Policy Manifold Search: Exploring the Manifold Hypothesis for Diversity-based Neuroevolution", In Proc. Genetic and Evolutionary Computation Conference (GECCO 2021), Lille, France, 2021.
[6]	Chase Frazelle, Ian Walker, Ahmad AlAttar, Petar Kormushev, "Kinematic-Model-Free Control for Space Operations with Continuum Manipulators", In Proc. 2021 IEEE Conference on Aerospace, USA, pp. 1-13, 2021.
[7]	Arash Tavakoli, Mehdi Fatemi, Petar Kormushev, "Learning to Represent Action Values as a Hypergraph on the Action Vertices", In International Conference on Learning Representations (ICLR 2021), Vienna, Austria, 2021.
[8]	Nemanja Rakicevic, Antoine Cully, Petar Kormushev, "Policy Manifold Search for Improving Diversity-based Neuroevolution", In NeurIPS 2020 Beyond Backpropagation: Novel Ideas for Training Neural Architectures, 34th Conference on Neural Information Processing Systems (NeurIPS), Vancouver, Canada, 2020. (oral 8% acceptance rate)
[9]	Ke Wang, David Michael Marsh, Roni Permana Saputra, Digby Chappell, Zhonghe Jiang, Akshay Raut, Bethany Kon, Petar Kormushev, "Design and Control of SLIDER: An Ultra-lightweight, Knee-less, Low-cost Bipedal Walking Robot", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA, pp. 3488-3495, 2020.
[10]	Francesco Cursi, Valerio Modugno, Petar Kormushev, "Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2020), Las Vegas, USA, 2020.
[11]	Fabio Pardo, Vitaly Levdik, Petar Kormushev, "Scaling All-Goals Updates in Reinforcement Learning Using Convolutional Neural Networks", In Proc. 34th AAAI Conference on Artificial Intelligence (AAAI 2020), New York, USA, 2020.
[12]	Roni Permana Saputra, Nemanja Rakicevic, Petar Kormushev, "Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud Data", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2019), Macau, China, 2019.
[13]	Arash Tavakoli, Vitaly Levdik, Riashat Islam, Christopher M. Smith, Petar Kormushev, "Exploring Restart Distributions", In 4th Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM 2019), Montréal, Canada, 2019.
[14]	Fabian Falck, Kawin Larppichet, Petar Kormushev, "DE VITO: A Dual-arm, High Degree-of-freedom, Lightweight, Inexpensive, Passive Upper-limb Exoskeleton for Robot Teleoperation", In Proc. 20th International Conference Towards Autonomous Robotic Systems (TAROS 2019), London, UK, 2019. (Best Paper Award)
[15]	Ahmad AlAttar, Louis Rouillard, Petar Kormushev, "Autonomous Air-Hockey Playing Cobot using Optimal Control and Vision-Based Bayesian Tracking", In Proc. 20th International Conference Towards Autonomous Robotic Systems (TAROS 2019), London, UK, 2019.
[16]	Ke Wang, Aksat Shah, Petar Kormushev, "SLIDER: A Bipedal Robot with Knee-less Legs and Vertical Hip Sliding Motion", In Proc. 21st International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018), Panama, 2018.
[17]	Roni Permana Saputra, Petar Kormushev, "Casualty Detection from 3D Point Cloud Data for Autonomous Ground Mobile Rescue Robots", In Proc. 2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2018), Philadelphia, USA, 2018.
[18]	Ke Wang, Aksat Shah, Petar Kormushev, "SLIDER: A Novel Bipedal Walking Robot without Knees", In Proc. 19th International Conference Towards Autonomous Robotic Systems (TAROS 2018), Bristol, UK, 2018. (Best Poster Award)
[19]	Roni Permana Saputra, Petar Kormushev, "ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction", In Proc. 19th International Conference Towards Autonomous Robotic Systems (TAROS 2018), Bristol, UK, 2018.
[20]	Roni Permana Saputra, Petar Kormushev, "Casualty Detection for Mobile Rescue Robots via Ground-Projected Point Clouds", In Proc. 19th International Conference Towards Autonomous Robotic Systems (TAROS 2018), Bristol, UK, 2018.
[21]	Fabio Pardo, Arash Tavakoli, Vitaly Levdik, Petar Kormushev, "Time Limits in Reinforcement Learning", In Proc. 35th International Conference on Machine Learning (ICML 2018), Stockholm, Sweden, 2018.
[22]	Roni Permana Saputra, Petar Kormushev, "ResQbot: A Mobile Rescue Robot for Casualty Extraction", In Proc. 2018 ACM/IEEE International Conference on Human-Robot Interaction (HRI 2018), Chicago, USA, pp. 239-240, 2018.
[23]	Arash Tavakoli, Fabio Pardo, Petar Kormushev, "Action Branching Architectures for Deep Reinforcement Learning", In Proc. 32nd AAAI Conference on Artificial Intelligence (AAAI 2018), New Orleans, USA, 2018.
[24]	Arash Tavakoli, Fabio Pardo, Petar Kormushev, "Action Branching Architectures for Deep Reinforcement Learning", In Deep Reinforcement Learning Symposium (DRLS), 31st Conference on Neural Information Processing Systems (NIPS 2017), California, USA, 2017.
[25]	Fabio Pardo, Arash Tavakoli, Vitaly Levdik, Petar Kormushev, "Time Limits in Reinforcement Learning", In Deep Reinforcement Learning Symposium (DRLS), 31st Conference on Neural Information Processing Systems (NIPS 2017), California, USA, 2017.
[26]	Pavan Kanajar, Darwin G. Caldwell, Petar Kormushev, "Climbing over Large Obstacles with a Humanoid Robot via Multi-Contact Motion Planning", In Proc. IEEE Intl Conf. on Robot and Human Interactive Communication (RO-MAN 2017), Lisbon, Portugal, 2017.
[27]	Francesco Maurelli, Marc Carreras, Joaquim Salvi, David Lane, Kostas Kyriakopoulos, George Karras, Maria Fox, Derek Long, Petar Kormushev, Darwin Caldwell, "The PANDORA project: A success story in AUV autonomy", In Proc. MTS/IEEE OCEANS 2016, Shanghai, China, 2016.
[28]	Przemyslaw Kryczka, Petar Kormushev, Nikos Tsagarakis, Darwin G. Caldwell, "Online Regeneration of Bipedal Walking Gait Optimizing Footstep Placement and Timing", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
[29]	Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell, "Kinematic-free Position Control of a 2-DOF Planar Robot Arm", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
[30]	Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell, "Encoderless Position Control of a Two-Link Robot Manipulator", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2015), Seattle, USA, 2015. (Best Paper Award finalist)
[31]	Seyed Reza Ahmadzadeh, Ali Paikan, Fulvio Mastrogiovanni, Lorenzo Natale, Petar Kormushev, Darwin G. Caldwell, "Learning Symbolic Representations of Actions from Human Demonstrations", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2015), Seattle, USA, 2015.
[32]	Nawid Jamali, Petar Kormushev, Arnau Carrera, Marc Carreras, Darwin G. Caldwell, "Underwater Robot-Object Contact Perception using Machine Learning on Force/Torque Sensor Feedback", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2015), Seattle, USA, 2015.
[33]	Arnau Carrera, Narcis Palomeras, Natalia Hurtos, Petar Kormushev, Marc Carreras, "Learning multiple strategies to perform a valve turning with underwater currents using an I-AUV", In Proc. MTS/IEEE OCEANS 2015, Genoa, Italy, 2015.
[34]	Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Caldwell, Frank Ibikunle, "Modular Relative Jacobian for Dual-Arms and the Wrench Transformation Matrix", In Proc. IEEE Intl Conf. on Cybernetics and Intelligent Systems (CIS) Robotics, Automation and Mechatronics (RAM)(CIS-RAM 2015), Cambodia, 2015.
[35]	David M Lane, Francesco Maurelli, Petar Kormushev, Marc Carreras, Maria Fox, Konstantinos Kyriakopoulos, "PANDORA - Persistent Autonomy through Learning, Adaptation, Observation and Replanning", In Proceedings of IFAC NGCUV 2015 - Navigation, Guidance and Control of Underwater Vehicles, 2015.
[36]	Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell, "Multi-Objective Reinforcement Learning for AUV Thruster Failure Recovery", In IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL 2014), Proc. IEEE Symposium Series on Computational Intelligence (SSCI 2014), Florida, USA, 2014.
[37]	Houman Dallali, Petar Kormushev, Nikolaos Tsagarakis, Darwin G. Caldwell, "Can Active Impedance Protect Robots from Landing Impact?", In Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids 2014), Madrid, Spain, 2014.
[38]	Seyed Reza Ahmadzadeh, Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Caldwell, "Learning Reactive Robot Behavior for Autonomous Valve Turning", In Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids 2014), Madrid, Spain, 2014.
[39]	Rodrigo S. Jamisola, Petar Kormushev, Antonio Bicchi, Darwin G. Caldwell, "Haptic Exploration of Unknown Surfaces with Discontinuities", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014), Chicago, USA, 2014.
[40]	Seyed Reza Ahmadzadeh, Arnau Carrera, Matteo Leonetti, Petar Kormushev, Darwin G. Caldwell, "Online Discovery of AUV Control Policies to Overcome Thruster Failures", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.
[41]	Nawid Jamali, Petar Kormushev, Darwin G. Caldwell, "Robot-Object Contact Perception using Symbolic Temporal Pattern Learning", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.
[42]	Arnau Carrera, Narcis Palomeras, David Ribas, Petar Kormushev, Marc Carreras, "An Intervention-AUV learns how to perform an underwater valve turning", In Proc. MTS/IEEE OCEANS 2014 - Taipei, Taipei, Taiwan, 2014.
[43]	Nawid Jamali, Petar Kormushev, Seyed Reza Ahmadzadeh, Darwin G. Caldwell, "Covariance Analysis as a Measure of Policy Robustness in Reinforcement Learning", In Proc. MTS/IEEE Intl Conf. OCEANS 2014, Taipei, Taiwan, 2014.
[44]	Arnau Carrera, Narcis Palomeras, Natalia Hurtos, Petar Kormushev, Marc Carreras, "Learning by demonstration applied to underwater intervention", In Proc. International Conference of the Catalan Association for Artificial Intelligence, 2014.
[45]	Petar Kormushev, Darwin G. Caldwell, "Improving the Energy Efficiency of Autonomous Underwater Vehicles by Learning to Model Disturbances", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013.
[46]	Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell, "Visuospatial Skill Learning for Object Reconfiguration Tasks", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
[47]	Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell, "Interactive Robot Learning of Visuospatial Skills", In Proc. IEEE Intl Conf. on Advanced Robotics (ICAR 2013), Montevideo, Uruguay, 2013.
[48]	George C. Karras, Charalampos P. Bechlioulis, Matteo Leonetti, Narcis Palomeras, Petar Kormushev, Kostas J. Kyriakopoulos, Darwin G. Caldwell, "On-Line Identification of Autonomous Underwater Vehicles through Global Derivative-Free Optimization", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
[49]	Matteo Leonetti, Seyed Reza Ahmadzadeh, Petar Kormushev, "On-line Learning to Recover from Thruster Failures on Autonomous Underwater Vehicles", In Proc. MTS/IEEE Intl Conf. OCEANS 2013, San Diego, USA, 2013.
[50]	Petar Kormushev, Darwin G. Caldwell, "Towards Improved AUV Control Through Learning of Periodic Signals", In Proc. MTS/IEEE Intl Conf. OCEANS 2013, San Diego, USA, 2013.
[51]	Nawid Jamali, Petar Kormushev, Darwin G. Caldwell, "Contact State Estimation using Machine Learning", In Proc. MTS/IEEE Intl Conf. OCEANS 2013, San Diego, USA, 2013.
[52]	Przemyslaw Kryczka, Kenji Hashimoto, A Takanishi, Petar Kormushev, Nikolaos Tsagarakis, Darwin G. Caldwell, "Walking Despite the Passive Compliance: Techniques for Using Conventional Pattern Generators to Control Instrinsically Compliant Humanoid Robots", In Proc. Intl Conf. on Climbing and Walking Robots CLAWAR 2013, Sydney, Australia, 2013.
[53]	Arnau Carrera, Marc Carreras, Petar Kormushev, Narcis Palomeras, Sharad Nagappa, "Towards valve turning with an AUV using Learning by Demonstration", In Proc. MTS/IEEE OCEANS 2013 - Bergen: The Challenges of the Northern Dimension, Bergen, Norway, 2013.
[54]	Houman Dallali, Mohamad Mosadeghzad, Gustavo A Medrano-Cerda, Nicolas Docquier, Petar Kormushev, Nikos Tsagarakis, Zhibin Li, Darwin Caldwell, "Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach", In Mechatronics (ICM), 2013 IEEE International Conference on, pp. 598-603, 2013.
[55]	Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell, "Autonomous Robotic Valve Turning: A Hierarchical Learning Approach", In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp. 4614-4619, 2013.
[56]	Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi, "Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration", In URAI 2013, IEEE, pp. 475-480, 2013.
[57]	Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi, "Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots", In ROBIO 2013, 2013.
[58]	David M Lane, Francesco Maurelli, Petar Kormushev, Marc Carreras, Maria Fox, Konstantinos Kyriakopoulos, "Persistent Autonomy: the Challenges of the PANDORA Project", In Proceedings of IFAC MCMC 2012 - Manoeuvring and Control of Marine Craft, 2012.
[59]	Petar Kormushev, Sylvain Calinon, Barkan Ugurlu, Darwin G. Caldwell, "Challenges for the policy representation when applying reinforcement learning in robotics", In Neural Networks (IJCNN), The 2012 International Joint Conference on, pp. 1-8, 2012.
[60]	Petar Kormushev, Barkan Ugurlu, Luca Colasanto, Nikolaos G. Tsagarakis, Darwin G. Caldwell, "The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans", In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp. 3706-3713, 2012.
[61]	Petar Kormushev, Darwin G. Caldwell, "Simultaneous discovery of multiple alternative optimal policies by reinforcement learning", In Intelligent Systems (IS), 2012 6th IEEE International Conference, pp. 202-207, 2012. (Best Paper Award finalist)
[62]	Petar Kormushev, B. Ugurlu, S. Calinon, N. Tsagarakis, D. G. Caldwell, "Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), San Francisco, USA, pp. 318-324, 2011.
[63]	Petar Kormushev, D. N. Nenchev, S. Calinon, D. G. Caldwell, "Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), Shanghai, China, pp. 3970-3975, 2011.
[64]	Petar Kormushev, S. Calinon, R. Saegusa, G. Metta, "Learning the skill of archery by a humanoid robot iCub", In Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), Nashville, USA, pp. 417-423, 2010.
[65]	Petar Kormushev, S. Calinon, D. G. Caldwell, "Robot Motor Skill Coordination with EM-based Reinforcement Learning", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 3232-3237, 2010. (Top-5 most cited paper from IROS 2010)
[66]	F. Sato, T. Nishii, J. Takahashi, Y. Yoshida, M. Mitsuhashi, Petar Kormushev, Y. Kanamiya, "Whiteboard Cleaning Task Realization with HOAP-2", In Proc. SICE System Integration (SI-2010), Sendai, Japan, pp. 426-429, 2010.
[67]	Petar Kormushev, Fangyan Dong, Kaoru Hirota, "Probability redistribution using time hopping for reinforcement learning", In Proc. 10th International Symposium on Advanced Intelligent Systems, ISIS 2009, Busan, Korea, 2009.
[68]	Yoichi Yamazaki, Fangyan Dong, Yuta Masuda, Yukiko Uehara, Petar Kormushev, Hai An Vu, Phuc Quang Le, Kaoru Hirota, "Intent expression using eye robot for mascot robot system", In 8th International Symposium on Advanced Intelligent Systems (ISIS-2007), 2007.
[69]	Yoichi Yamazaki, Fangyan Dong, Yuta Masuda, Yukiko Uehara, Petar Kormushev, Hai An Vu, Phuc Quang Le, Kaoru Hirota, "Fuzzy inference based mentality estimation for eye robot agent", In Proc. 23rd Fuzzy System Symposium FSS-2007, 2007.
[70]	Gennady Agre, Petar Kormushev, Ivan Dilov, "INFRAWEBS Capability Editor - A graphical ontology-driven tool for creating capabilities of Semantic Web Services", In Third International Conference on Information Research, Applications and Education i.TECH-2005, pp. 228, 2005.

[1]	Vittorio La Barbera, Fabio Pardo, Yuval Tassa, Monica Daley, Christopher Richards, Petar Kormushev, John Hutchinson, "OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion", In NeurIPS 2021 Deep Reinforcement Learning Workshop, 35th Conference on Neural Information Processing Systems (NeurIPS 2021), 2021.
[2]	Fabian Falck, Sagar Doshi, Nico Smuts, John Lingi, Kim Rants, Petar Kormushev, "Human-centered manipulation and navigation with Robot DE NIRO", In IROS 2018 Workshop: Towards Robots that Exhibit Manipulation Intelligence, IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
[3]	Nemanja Rakicevic, Petar Kormushev, "Efficient Robot Task Learning and Transfer via Informed Search in Movement Parameter Space", In NIPS 2017 Workshop on Acting and Interacting in the Real World: Challenges in Robot Learning, 31st Conference on Neural Information Processing Systems (NIPS), California, USA, 2017.
[4]	Arnau Carrera, George Karras, Charalampos Bechlioulis, Narcis Palomeras, Natalia Hurtos, Kostas Kyriakopoulos, Petar Kormushev, Marc Carreras, "Improving a Learning by Demonstration framework for Intervention AUVs by means of an UVMS controller", In ICRA 2014 Workshop on Persistent Autonomy for Marine Robotics, Hong Kong, China, 2014.
[5]	Petar Kormushev, Darwin G. Caldwell, "Comparative Evaluation of Reinforcement Learning with Scalar Rewards and Linear Regression with Multidimensional Feedback", In ECML/PKDD 2013 Workshop on Reinforcement Learning from Generalized Feedback: Beyond numeric rewards, Prague, Czech Republic, 2013.
[6]	Seyed Reza Ahmadzadeh, Matteo Leonetti, Petar Kormushev, "Online Direct Policy Search for Thruster Failure Recovery in Autonomous Underwater Vehicles", In 6th International workshop on Evolutionary and Reinforcement Learning for Autonomous Robot System (ERLARS 2013), in conjunction with the 12th European Conference on Artificial Life (ECAL 2013), Taormina, Italy, 2013.
[7]	Petar Kormushev, Darwin G. Caldwell, "Reinforcement Learning with Heterogeneous Policy Representations", In The 11th European Workshop on Reinforcement Learning (EWRL 2013) held as a Dagstuhl Seminar, Dagstuhl, Germany, 2013.
[8]	Petar Kormushev, Darwin G. Caldwell, "Direct policy search reinforcement learning based on particle filtering", In The 10th European Workshop on Reinforcement Learning (EWRL 2012), part of the Intl Conf. on Machine Learning (ICML 2012), Edinburgh, UK, 2012.
[9]	Petar Kormushev, S. Calinon, D. G. Caldwell, "Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution", In IEEE Intl Conf. on Humanoid Robots (Humanoids), Workshop on Humanoid Robots Learning from Human Interaction, Nashville, USA, 2010.

[1]	Petar Kormushev, "Time Hopping Technique for Reinforcement Learning and its Application to Robot Control", PhD thesis, Tokyo Institute of Technology (TiTech), Japan, 2009.
[2]	Petar Kormushev, "Visual approach for data mining on medical information databases using Fastmap algorithm", Master's thesis, Faculty of Mathematics and Informatics, Sofia University, 2006.
[3]	Petar Kormushev, "Design, development and implementation of a tool for construction of declarative functional descriptions of semantic web services based on WSMO methodology", Master's thesis, Faculty of Mathematics and Informatics, Sofia University, 2005.

[1]

Gennady Agre, Petar Kormushev, Ivan Dilov, "INFRAWEBS Axiom Editor User's Guide", Technical report, Institute of Information Technologies, Bulgarian Academy of Sciences, 2006.

 

Robot-Object Contact Perception using Symbolic Temporal Pattern Learning. Nawid Jamali, Petar Kormushev and Darwin G. Caldwell, IEEE Intl. Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.
[pdf] [bibtex]

Online Discovery of AUV Control Policies to Overcome Thruster Failures. Seyed Reza Ahmadzadeh, Arnau Carrera, Matteo Leonetti, Petar Kormushev and Darwin G. Caldwell, IEEE Intl. Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.
[pdf] [bibtex]

Covariance Analysis as a Measure of Policy Robustness in Reinforcement Learning. Nawid Jamali, Petar Kormushev, Seyed Reza Ahmadzadeh, and Darwin G. Caldwell, OCEANS 2014 MTS/IEEE, Taipei, Taiwan, 2014.
[pdf] [bibtex]

Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots. Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi. Proc. ROBIO 2013.
[pdf] [bibtex]

Reinforcement Learning in Robotics: Applications and Real-World Challenges. Petar Kormushev, Sylvain Calinon and Darwin G. Caldwell. MDPI Journal of Robotics (ISSN 2218-6581), Special Issue on Intelligent Robots, vol.2, pp.122-148, 2013.
[pdf] [bibtex]

Improving the Energy Efficiency of Autonomous Underwater Vehicles by Learning to Model Disturbances. Petar Kormushev and Darwin G. Caldwell. Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
[pdf] [bibtex]

Visuospatial Skill Learning for Object Reconfiguration Tasks. Seyed Reza Ahmadzadeh, Petar Kormushev and Darwin G. Caldwell. Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
[pdf] [bibtex]

On-line Identification of Autonomous Underwater Vehicles Through Global Derivative-free Optimization. George Karras, Charalampos Bechlioulis, Matteo Leonetti, Narcis Palomeras, Petar Kormushev, Kostas Kyriakopoulos and Darwin G. Caldwell. Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
[pdf] [bibtex]

Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Nikolaos Tsagarakis, Darwin G. Caldwell and Atsuo Takanishi. Proc. URAI 2013.
[pdf] [bibtex]

Interactive Robot Learning of Visuospatial Skills. Seyed Reza Ahmadzadeh, Petar Kormushev and Darwin G. Caldwell. Proc. IEEE Intl Conf. on Advanced Robotics (ICAR 2013), Montevideo, Uruguay, 2013.
[pdf] [bibtex]

Reinforcement Learning with Heterogeneous Policy Representations. Petar Kormushev and Darwin G. Caldwell. The 11th European Workshop on Reinforcement Learning (EWRL 2013) held as a Dagstuhl Seminar, Dagstuhl, Germany, 2013.
[pdf] [bibtex]

Comparative Evaluation of Reinforcement Learning with Scalar Rewards and Linear Regression with Multidimensional Feedback. Petar Kormushev and Darwin G. Caldwell. The 2013 ECML/PKDD Workshop on Reinforcement Learning from Generalized Feedback: Beyond numeric rewards, Prague, Czech Republic, 2013.
[pdf] [bibtex]

On-line Learning to Recover from Thruster Failures on Autonomous Underwater Vehicles. Matteo Leonetti, Reza Ahmadzadeh and Petar Kormushev, OCEANS 2013 MTS/IEEE, San Diego, USA, 2013.
[pdf] [bibtex]

Towards Improved AUV Control Through Learning of Periodic Signals. Petar Kormushev and Darwin G. Caldwell, OCEANS 2013 MTS/IEEE, San Diego, USA, 2013.
[pdf] [bibtex]

Contact State Estimation using Machine Learning. Nawid Jamali, Petar Kormushev and Darwin G. Caldwell, OCEANS 2013 MTS/IEEE, San Diego, USA, 2013.
[pdf] [bibtex]

Online Direct Policy Search for Thruster Failure Recovery in Autonomous Underwater Vehicles. Seyed Reza Ahmadzadeh, Matteo Leonetti and Petar Kormushev. Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS 2013), Taormina, Italy, 2013.
[pdf] [bibtex]

Autonomous Robotic Valve Turning: A Hierarchical Learning Approach. Seyed Reza Ahmadzadeh, Petar Kormushev and Darwin G. Caldwell, IEEE Intl. Conf. on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, 2013.
[pdf] [bibtex]

Towards valve turning with an AUV using learning by demonstration. Carrera, A., M. Carreras, P. Kormushev, N. Palomeras, and S. Nagappa. OCEANS 2013 MTS/IEEE, Bergen, Norway, 2013.
[pdf] [bibtex]

Walking despite the passive compliance: Techniques for using conventional pattern generators to control intrinsically compliant humanoid robots. Przemyslaw Kryczka, Petar Kormushev, H. O. Lim, K. Hashimoto, A. Takanishi, N. G. Tsagarakis, D. G. Caldwell, CLAWAR 2013.
[pdf] [bibtex]

Development of a Dynamic Simulator for a Compliant Humanoid Robot Based on a Symbolic Multibody Approach. H. Dallali, M. Mosadeghzad, G. Medrano-Cerda, N. Docquier, P. Kormushev, N. Tsagarakis, Z. Li, D. Caldwell, International Conference on Mechatronics (ICM 2013), Vicenza, Italy, February 27 – March 1, 2013.
[pdf] [bibtex]

Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning. Sylvain Calinon, Petar Kormushev, Darwin G. Caldwell. Robotics and Autonomous Systems, Volume 61, Issue 4, pp. 369-379, 2013.
[pdf] [bibtex]

The Anatomy of a Fall: Automated Real-time Analysis of Raw Force Sensor Data from Bipedal Walking Robots and Humans. Kormushev, P., Ugurlu, B., Colasanto, L., Tsagarakis, N., and Caldwell, D.G., Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2012), Portugal, 2012.
[pdf] [bibtex]

Simultaneous Discovery of Multiple Alternative Optimal Policies by Reinforcement Learning. Petar Kormushev and Darwin G. Caldwell. Proc. of the IEEE Intelligent Systems Conference (IS 2012), Sofia, Bulgaria, pp. 202-207, 2012.
[pdf] [bibtex] IS 2012 BEST PAPERS

Towards autonomous robotic valve turning. Arnau Carrera Vinas, Seyed Reza Ahmadzadeh, Arash Ajoudani, Petar Kormushev, Marc Carreras, Darwin G. Caldwell. International Journal of Cybernetics and Information Technologies, Vol. 12, No. 3, pp. 17-26, 2012.
[pdf] [bibtex]

Persistent autonomy: the challenges of the PANDORA project. David M. Lane, Francesco Maurelli, Petar Kormushev, Marc Carreras, Maria Fox, and Konstantinos Kyriakopoulos. In Proceedings of IFAC MCMC 2012 – Manoeuvring and Control of Marine Craft, 2012.
[pdf] [bibtex]

On Global Optimization of Walking Gaits for the Compliant Humanoid Robot COMAN Using Reinforcement Learning. Houman Dallali, Petar Kormushev, Zhibin Li, Darwin G. Caldwell. International Journal of Cybernetics and Information Technologies, Vol. 12, No. 3, pp. 39-52, 2012.
[pdf] [bibtex]

Combining Local and Global Direct Derivative-free Optimization for Reinforcement Learning. Matteo Leonetti, Petar Kormushev, Simone Sagratella. International Journal of Cybernetics and Information Technologies, Vol. 12, No. 3, pp. 53-65, 2012.
[pdf] [bibtex]

Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization. Haocheng Shen, Jason Yosinski, Petar Kormushev, Darwin G. Caldwell and Hod Lipson. International Journal of Cybernetics and Information Technologies, Vol. 12, No. 3, pp. 66-75, 2012.
[pdf] [bibtex]

Optimization of a compact model for the compliant humanoid robot COMAN using reinforcement learning. Luca Colasanto, Petar Kormushev, Nikolaos Tsagarakis, Darwin G. Caldwell. International Journal of Cybernetics and Information Technologies, Vol. 12, No. 3, pp. 76-85, 2012.
[pdf] [bibtex]

Direct Policy Search Reinforcement Learning based on Particle Filtering. Kormushev, P. and Caldwell, D.G., European Workshop on Reinforcement Learning (EWRL 2012), part of the International Conference on Machine Learning (ICML 2012), Edinburgh, 2012.
[pdf] [bibtex]

Challenges for the Policy Representation when Applying Reinforcement Learning in Robotics. Kormushev, P., Calinon, S., Ugurlu, B., and Caldwell, D.G., International Joint Conference on Neural Networks (IJCNN 2012), part of IEEE World Congress on Computational Intelligence (WCCI 2012), Brisbane, 2012.
[pdf] [bibtex]

Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization. Kormushev, P., Ugurlu, B., Calinon, S., Tsagarakis, N., and Caldwell, D.G., Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS-2011), San Francisco, 2011.
[pdf] [bibtex]

Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot. Kormushev, P., Nenchev, D.N., Calinon, S., and Caldwell, D.G., IEEE Intl. Conf. on Robotics and Automation (ICRA 2011), pp. 3970-3975, 2011.
[pdf] [bibtex]

Imitation learning of positional and force skills demonstrated via kinesthetic teaching and haptic input. Kormushev, P., Calinon, S., and Caldwell, D.G., Advanced Robotics, Vol. 25, pp. 581-603, 2011.
[pdf] [bibtex]

Time Hopping Technique for Faster Reinforcement Learning in Simulations. Kormushev, P., Nomoto, K., Dong, F., and Hirota, K., International Journal of Cybernetics and Information Technologies, Vol. 11, No. 3, pp. 42-59, 2011.
[pdf] [bibtex]

Whiteboard Cleaning Task Realization with HOAP-2. Sato, F., Nishii, T., Takahashi, J., Yoshida, Y., Mitsuhashi, M., Kormushev, P., Kanamiya, Y., Proc. SICE System Integration (SI-2010) in Sendai, Japan, pp.426-429, 2010.
[pdf] [bibtex]

Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution. Kormushev, P., Calinon, S., and Caldwell, D.G., Workshop on Humanoid Robots Learning from Human Interaction (link), Humanoids-2010, Nashville, USA, 2010.
[pdf] [bibtex]

Learning the skill of archery by a humanoid robot iCub. Kormushev, P., Calinon, S., Saegusa, R. and Metta, G., Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids-2010), pp. 417-423, 2010.
[pdf] [bibtex]

Robot Motor Skill Coordination with EM-based Reinforcement Learning. Kormushev, P., Calinon, S. and Caldwell, D.G., Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS-2010), 2010.
[pdf] [bibtex] Top-5 most cited paper from IROS’10

Time Hopping Technique for Reinforcement Learning and its Application to Robot Control. Kormushev, P., Dept. of Computational Intelligence and Systems Science, Tokyo Institute of Technology, PhD thesis, September, 2009.
[pdf] [bibtex]

Probability redistribution using time hopping for reinforcement learning. Kormushev, P., K., Dong, F., and Hirota, K., 10th International Symposium on advanced Intelligent Systems ISIS-2009, 2009.
[pdf] [bibtex]

Eligibility propagation to speed up time hopping for reinforcement learning. Kormushev, P., Nomoto, K., Dong, F., and Hirota, K., Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.13, No.6, 2009.
[pdf] [bibtex]

Time manipulation technique for speeding up reinforcement learning in simulations. Kormushev, P., Nomoto, K., Dong, F., and Hirota, K., International Journal of Cybernetics and Information Technologies, Vol. 8, No. 1, pp. 12-24, January, 2008.
[pdf] [bibtex]

Intent expression using eye robot for mascot robot system. Yamazaki, Y., Dong, F., Masuda, Y., Uehara, Y., Kormushev, P., Vu, H. A., Le, P. Q., and Hirota, K., 8th International Symposium on Advanced Intelligent Systems ISIS-2007, 2007.
[pdf] [bibtex]

Fuzzy inference based mentality estimation for eye robot agent. Yamazaki, Y., Dong, F., Masuda, Y., Uehara, Y., Kormushev, P., Vu, H. A., Le, P. Q., and Hirota, K., Proceedings of 23rd Fuzzy System Symposium FSS-2007, 2007.
[pdf] [bibtex]

INFRAWEBS Axiom editor – a graphical ontology-driven tool for creating complex logical expressions. Agre, G., Kormushev, P. and Dilov, I., International Journal of Information Theories and Applications, Vol. 13, No. 2, pp. 169-178, November, 2006.
[pdf] [bibtex]

Visual approach for data mining on medical information databases using Fastmap algorithm. Kormushev, P., M.Sc. thesis, Faculty of Mathematics and Informatics, Sofia University, March, 2006.
[pdf] [bibtex]

INFRAWEBS Axiom Editor User’s Guide. Agre, G., Kormushev, P. and Dilov, I., 2006.
[pdf] [bibtex]

Design, development and implementation of a tool for construction of declarative functional descriptions of semantic web services based on WSMO methodology. Kormushev, P., M.Sc. thesis, Faculty of Mathematics and Informatics, Sofia University, July, 2005.
[pdf] [bibtex]

INFRAWEBS Capability editor – A graphical ontology-driven tool for creating capabilities of Semantic Web Services. Agre, G., Kormushev, P. and Dilov, I., Third International Conference on Information Research, Applications and Education i.TECH-2005, June, 2005.
[pdf] [bibtex]

 

Ongoing research on the following topics:

– “Robot Learning for Persistent Autonomy”
– “Encoderless Position Control of a Two-Link Robot Manipulator”
– “Learning Symbolic Representations of Actions from Human Demonstrations”
– “Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian”
– “Toward persistent autonomous intervention in a subsea panel”
– “Multi-Objective Trajectory Optimization for Autonomous Underwater Vehicles”
– “Learning Reactive Robot Behavior for Autonomous Valve Turning”
– “Can Active Impedance Protect Robots from Landing Impact?”
– “Modular Dynamics for Dual Arms in Relative Operational Space Formulation”
– “3D Visuospatial Skill Learning for Robotic Pick-and-Place Tasks”
– “Underwater Robot-Object Contact Perception using Machine Learning on Force Torque Sensor Feedback”
– “Haptic Exploration of Unknown Surfaces with Discontinuities”
– “Encoderless Robot Control”
– “Kinematic-free Robot Control”
– “Encoderless Robotics”
– “Global Estimation of an Object’s Pose Using Tactile Sensing”
– “Learning by Demonstration architecture for Intervention AUVs”
– “Learning by demonstration applied to underwater intervention”
– “Reinforcement Learning in Robotics: Applications and Real-World Challenges”
– “Covariance Analysis as a Measure of Policy Robustness in Reinforcement Learning”
– “Persistent Autonomy for Underwater Robotics”
– “Learning by demonstration for valve turning with an AUV”
– “Hybrid gait pattern generator capable of fast and dynamically consistent pattern regeneration”
– “Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots”
– “Improving the Performance of AUV Controllers by Learning to Predict Periodic Disturbances”
– “Improving the Energy Efficiency of AUV Controllers by Learning to Model External Disturbances”
– “Improving the Energy Efficiency of AUV Controllers by Learning to Ignore Periodic Disturbances”
– “Reinforcement Learning with Evolving Policy Parameterization”
– “Encoderless Motion Control”
– “Teaching an Intervention Task to an Autonomous Underwater Vehicle using Learning by Demonstration”
– “On-line Learning for Coping with Thruster Failures on Autonomous Underwater Vehicles”
– “Contact State Estimation using Machine Learning”
– “On–line Identification of Autonomous Underwater Vehicles Through Global Derivative-free Optimization”
– Workshop on “Persistent Autonomy for Underwater Robotics”
– “Learning by demonstration for valve turning with an AUV”
– “Reinforcement Learning in Robotics: State of the Art, Challenges, and Future Insights”
– “Visuospatial Skill Learning for Object Reconfiguration Tasks”
– “A novel approach for robot learning by demonstration (visual imitation learning)”
– “A global direct derivative-free algorithm for policy search in reinforcement learning”
– “Learning algorithms for improved AUV control”
– “Multi-objective Reinforcement Learning for AUV Thruster Failure Recovery”