publications

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2026

  1. Diminishing Return of Value Expansion Methods

    Diminishing Return of Value Expansion Methods

    Daniel Palenicek , Michael Lutter , João Carvalho , Daniel Dennert , Faran Ahmad

    IEEE TPAMI, 2026

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  2. Geometry-Aware Probabilistic Shared Autonomy with Riemannian Motion Policies

    Geometry-Aware Probabilistic Shared Autonomy with Riemannian Motion Policies

    Kay Pompetzki , Cristiana Farias , João Carvalho , Georgia Chalvatzaki , and Jan Peters

    ICRA Workshop: Geometry in the Age of Data-Driven Robotics, 2026

    PDF

  3. Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation

    Real-World Deployment of Massively Parallel Sampling-Based MPC for Contact-Rich Manipulation

    Magnus Dierking , João Carvalho , An Thai Le , Georgia Chalvatzaki , and Jan Peters

    ICRA Workshop: Frontiers of Optimization for Robotics, 2nd Edition, 2026

    PDF

2025

  1. Motion Planning Diffusion: Learning and Adapting Robot Motion Planning With Diffusion Models

    Motion Planning Diffusion: Learning and Adapting Robot Motion Planning With Diffusion Models

    João Carvalho , An T. Le , Piotr Kicki , Dorothea Koert , and Jan Peters

    IEEE T-RO, 2025

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  2. Enhancing Robot Manipulation Skills through Learning

    Enhancing Robot Manipulation Skills through Learning

    João Carvalho

    Ph.D. Thesis, 2025

    PDF Website

  3. Model Tensor Planning

    Model Tensor Planning

    An Thai Le , Khai Nguyen , Minh Nhat Vu , João Carvalho , and Jan Peters

    TMLR, 2025

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  4. Global Tensor Motion Planning

    Global Tensor Motion Planning

    An T. Le , Kay Pompetzki , João Carvalho , Joe Watson , Julen Urain

    IEEE RA-L, 2025

    PDF Website Code

2024

  1. Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR3

    Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR3

    João Carvalho , An T. Le , Philipp Jahr , Qiao Sun , Julen Urain

    arXiv, 2024

    PDF Website

  2. ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching

    ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching

    Niklas Funk , Julen Urain , Joao Carvalho , Vignesh Prasad , Georgia Chalvatzaki

    arXiv, 2024

    PDF Website

2023

  1. Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models

    Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models

    João Carvalho , An T. Le , Mark Baierl , Dorothea Koert , and Jan Peters

    IROS, 2023

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  2. Diminishing Return of Value Expansion Methods in Model-Based Reinforcement Learning

    Diminishing Return of Value Expansion Methods in Model-Based Reinforcement Learning

    Daniel Palenicek , Michael Lutter , Joao Carvalho , and Jan Peters

    ICLR, 2023

    PDF

2022

  1. Adapting Object-Centric Probabilistic Movement Primitives with Residual Reinforcement Learning

    Adapting Object-Centric Probabilistic Movement Primitives with Residual Reinforcement Learning

    João Carvalho , Dorothea Koert , Marek Daniv , and Jan Peters

    Humanoids, 2022

    PDF

  2. Conditioned Score-Based Models for Learning Collision-Free Trajectory Generation

    Conditioned Score-Based Models for Learning Collision-Free Trajectory Generation

    João Carvalho , Mark Baierl , Julen Urain , and Jan Peters

    NeurIPS Workshop SBM, 2022

    PDF

  3. Batch Reinforcement Learning With a Nonparametric Off-Policy Policy Gradient

    Batch Reinforcement Learning With a Nonparametric Off-Policy Policy Gradient

    Samuele Tosatto , João Carvalho , and Jan Peters

    IEEE TPAMI, 2022

    PDF Code

2021

  1. An Empirical Analysis of Measure-Valued Derivatives for Policy Gradients

    An Empirical Analysis of Measure-Valued Derivatives for Policy Gradients

    João Carvalho , Davide Tateo , Fabio Muratore , and Jan Peters

    IJCNN, 2021

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2020

  1. A Nonparametric Off-Policy Policy Gradient

    A Nonparametric Off-Policy Policy Gradient

    Samuele Tosatto , João Carvalho , Hany Abdulsamad , and Jan Peters

    AISTATS, 2020

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