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Author

Jan Peters

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2 papers indexed here

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Preprint Oct 2026

Continue, Abort, or Fall: Viability-Aware Policy Selection (VAPS) for Safe Humanoid Acrobatics

Dynamic humanoid motions such as flips risk hardware damage due to suboptimal policies, disturbances or sim-to-real gaps. A motion tracking policy offers no way out once the maneuver leaves its reference, and a backup policy needs to take over to protect the hardware for a minimum-damage landing. Which backup to use ma...

Si-Wei Ju, Lu Liu, Jan Peters et al. · 0 citations
Review Sep 2026

Embedding Physics Priors in Robot Learning: A Survey

The rapid progress of artificial intelligence is reshaping robotics and accelerating the adoption of learning-based approaches. While purely data-driven methods have achieved remarkable success in computer vision and natural language processing, robotics remains constrained by limited data, complex real-world interacti...

Mattia Piccinini, L. Schulze, Alice Plebe et al. · 0 citations

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