Publications
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices
Elie Aljalbout, Jiaxu Xing, Angel Romero, Iretiayo Akinola, Caelan Reed Garrett, Eric Heiden, Abhishek Gupta, Tucker Hermans, Yashraj Narang, Dieter Fox, Davide Scaramuzza, Fabio Ramos
Annual Review of Control, Robotics, and Autonomous Systems, 2026
[ pdf | url ] Student-Informed Teacher Training
Nico Messikommer, Jiaxu Xing, Elie Aljalbout, Davide Scaramuzza
ICLR, 2025
[ pdf | url ] Limt: Language-Informed Multi-Task Visual World Models
Elie Aljalbout, Nikolaos Sotirakis, Patrick van der Smagt, Maximilian Karl, Nutan Chen
ICRA, 2025
[ pdf ] GEM: A Generalizable Ego-Vision Multimodal World Model for Fine-Grained Ego-Motion, Object Dynamics, and Scene Composition Control
Hassan et al
CVPR, 2025
[ pdf | url ] Accelerating Model-Based Reinforcement Learning with State-Space World Models
Maria Krinner*, Elie Aljalbout*, Angel Romero, Davide Scaramuzza
ICLR 2025 Workshop on World Models: Understanding, Modelling and Scaling, 2025
[ pdf ] Actor-Critic Model Predictive Control: Differentiable Optimization meets Reinforcement Learning
Angel Romero, Elie Aljalbout, Yunlong Song, Davide Scaramuzza
IEEE Transactions on Robotics, 2025
[ pdf ] Guided Decoding for Robot On-line Motion Generation and Adaption
Nutan Chen, Botond Cseke, Elie Aljalbout, Alexandros Paraschos, Marvin Alles, Patrick Van der Smagt
IEEE Humanoids, 2024
[ pdf ] On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer
Elie Aljalbout*, Felix Frank*, Maximilian Karl, Patrick van der Smagt
RA-L, 2024
[ pdf | url ] The Shortcomings of Force-from-Motion in Robot Learning
Elie Aljalbout, Felix Frank, Patrick van der Smagt, Alexandros Paraschos
ICRA, 2024
[ pdf ] Multi-Task Reinforcement Learning for Quadrotors
Jiaxu Xing, Ismail Geles, Yunlong Song, Elie Aljalbout, Davide Scaramuzza
RA-L, 2024
[ pdf ] CLAS: Coordinating Multi-Robot Manipulation with Central Latent Action Spaces
Elie Aljalbout, Maximilian Karl, Patrick van der Smagt
L4DC, 2023
[ pdf | url ] Learning to Centralize Dual-Arm Assembly
Marvin Alles, Elie Aljalbout
Frontiers in Robotics and AI, 2022
[ pdf | url ] Seeking Visual Discomfort: Curiosity-driven Representations for Reinforcement Learning
Elie Aljalbout, Maximilian Ulmer, Rudolph Triebel
ICRA, 2022
[ pdf | url ] Learning robotic manipulation skills using an adaptive force-impedance action space
Maximilian Ulmer, Elie Aljalbout, Sascha Schwarz, Sami Haddadin
arXiv, 2021
[ pdf ] Learning Vision-based Reactive Policies for Obstacle Avoidance
Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer and Sami Haddadin
CoRL, 2020
[ pdf | url ] How to Make Deep RL Work in Practice
Nirnai Rao*, Elie Aljalbout*, Axel Sauer*, Sami Haddadin (*Shared first authorship)
NeurIPS, Workshop on Deep RL, 2020
[ pdf | url ] Task-Independent Spiking Central Pattern Generator: A Learning-Based Approach
Elie Aljalbout, Florian Walter, Florian Roehrbein, and Alois Knoll
Neural Processing Letters, Springer, 2020
[ pdf | url ] Tracking Holistic Object Representations
Axel Sauer*, Elie Aljalbout*, Sami Haddadin (*Shared first authorship)
BMVC (oral, acceptance rate: 4%), **Best Science Paper Award**, 2019
[ pdf | url ] Associative deep clustering: Training a classification network with no labels
Philip Haeusser, Johannes Plapp, Vladimir Golkov, Elie Aljalbout, and Daniel Cremers
GCPR, 2018
[ pdf ] Clustering with Deep Learning: Taxonomy and New Methods
Elie Aljalbout, Vladimir Golkov, Yawar Siddiqui, Maximilian Strobel, and Daniel Cremers
arXiv, 2018
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