Tuomas Haarnoja

I am a PhD candidate in the Berkeley Artificial Intelligence Research Lab (BAIR) at UC Berkeley. My current research focus is on extending deep reinforcement learning to provide for flexible, effective robot control that can handle the diversity and variability of the real world. I am co-advised by Prof. Pieter Abbeel and Prof. Sergey Levine.

I received a master's degree in Space Robotics and Automation from Luleå University of Technology, Sweden, and Aalto University of Technology, Finland, and worked as a research scientist at VTT Technical Research Centre of Finland before joining BAIR.

Email  |  Twitter |  Linkedin  |  Google Scholar  |  GitHub

Preprints

Latent Space Policies for Hierarchical Reinforcement Learning
Tuomas Haarnoja, Kristian Hartikainen, Pieter Abbeel. and Sergey Levine
submitted to International Conference on Machine Learning (ICML), 2018
paper  |  videos  |  code

Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor
Tuomas Haarnoja, Aurick Zhou. Pieter Abbeel. and Sergey Levine
submitted to International Conference on Machine Learning (ICML), 2018
paper  |  code

Publications
These are the most relevant publications to my current research topic. For a complete list, see my Google Scholar page.

Composable Deep Reinforcement Learning for Robotic Manipulation
Tuomas Haarnoja, Vitchyr Pong, Aurick Zhou, Murtaza Dalal, Pieter Abbeel, Sergey Levine
International Conference on Robotics and Automation (ICRA), 2018
paper  |  videos  |  code

Reinforcement Learning with Deep Energy-Based Policy
Tuomas Haarnoja*, Haoran Tang*, Pieter Abbeel, Sergey Levine
International Conference on Machine Learning (ICML), 2017
paper  |  videos  |  code

Backprop KF: Learning Discriminative Deterministic State Estimators
Tuomas Haarnoja, Anurag Ajay, Sergey Levine, Pieter Abbeel
Advances in Neural Information Processing Systems (NIPS), 2016
paper

Idle state stability, limit cycle walking & regenerative walking: Towards long time auonomy in bipeds
José-Luis Peralta, Tuomas Haarnoja, Tomi Ylikorpi, and Aarne Halme
International Conference on Climbing and Walking Robots (CLAWAR), 2010
paper

Model-Based Velocity Control for Limit-Cycle Walking
Tuomas Haarnoja, José-Luis Peralta, and Aarne Halme
International Conference on Intelligent Robots and Systems (IROS), 2011
paper

Teaching

Deep Reinforcement Learning Bootcamp
26-27 August 2017, UC Berkeley, Teaching Assistant

CS188/289A - Introduction to Machine Learning
Spring 2016, UC Berkeley, Graduate Student Instructor

AS-0.1101 - Basic course on C programming,
Spring 2007, Helsinki University of Technology, Teaching Assistant


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