My peer-reviewed publications. See also my Google scholar or my dblp page.


  1. AAAI
    Factored Online Planning in Many-Agent POMDPs
    Maris Galesloot, Thiago D. Simão, Sebastiaan Junges, and Nils Jansen
    In AAAI 2024
  2. AAAI
    Robust Active Measuring under Model Uncertainty
    Merlijn Krale, Thiago D. Simão, Jana Tumova, and Nils Jansen
    In AAAI 2024
  3. A Supervised Learning Approach to Robust Reinforcement Learning for Job Shop Scheduling
    Christoph Schmidl, Thiago D. Simão, and Nils Jansen
    In ICAART 2024


  1. IJCAI
    More for Less: Safe Policy Improvement with Stronger Performance Guarantees
    Patrick Wienhöft, Marnix Suilen, Thiago D. Simão, Clemens Dubslaff, Christel Baier, and Nils Jansen
    In IJCAI 2023
  2. IJCAI
    Recursive Small-Step Multi-Agent A* for Dec-POMDPs
    Wietze Koops, Nils Jansen, Sebastian Junges, and Thiago D. Simão
    In IJCAI 2023
  3. ICLR
    Safe Reinforcement Learning From Pixels Using a Stochastic Latent Representation
    Yannick Hogewind, Thiago D. Simão, Tal Kachman, and Nils Jansen
    In ICLR 2023
  4. AAAI
    Safe Policy Improvement for POMDPs via Finite-State Controllers
    Thiago D. Simão, Marnix Suilen, and Nils Jansen
    In AAAI 2023
  5. AAAI
    Probabilities Are Not Enough: Formal Controller Synthesis for Stochastic Dynamical Models with Epistemic Uncertainty
    Thom S. Badings, Licio Romano, Alessandro Abate, and Nils Jansen
    In AAAI 2023
  6. AAAI
    Safe Reinforcement Learning via Shielding under Partial Observability
    Steven Carr, Nils Jansen, Sebastian Junges, and Ufuk Topcu
    In AAAI 2023
  7. ECAI
    Reinforcement Learning by Guided Safe Exploration
    Qisong Yang, Thiago D. Simão, Nils Jansen, Simon H. Tindemans, and Matthijs T. J. Spaan
    In ECAI 2023
  8. UAI
    Risk-aware Curriculum Generation for Heavy-tailed Task Distributions
    Cevahir Koprulu, Thiago D. Simão, Nils Jansen, and Ufuk Topcu
    In UAI 2023
  9. CAV
    Efficient Sensitivity Analysis for Parametric Robust Markov Chains
    Thom Badings, Sebastian Junges, Ahmadreza Marandi, Ufuk Topcu, and Nils Jansen
    In CAV 2023
  10. STTT
    Strong Simple Policies for POMDPs
    Leonore Winterer, Ralf Wimmer, Nils Jansen, and Bernd Becker
    Int. J. Softw. Tools Technol. Transf. 2023
  11. FMSD
    Parameter Synthesis for Markov Models Covering the Parameter Space
    Sebastian Junges, Erika Ábrahám, Christian Hensel, Nils Jansen, Joost-Pieter Katoen, Tim Quatmann, and Matthias Volk
    Formal Methods in System Design 2023
  12. LNCS
    Intelligent and Dependable Decision-Making Under Uncertainty
    Nils Jansen
    In FM 2023
  13. QEST
    Quantitative Evaluation of Systems - 20th International Conference, QEST 2023, Antwerp, Belgium, September 20-22, 2023, Proceedings
    Nils Jansen, and Mirco Tribastone (editors)
  14. Book
    Shared Control with Human Trust and Workload Models
    Murat Cubuktepe, Nils Jansen, and Ufuk Topcu
    Cyber-Physical-Human Systems: Fundamentals and Applications, 2023
  15. NCA
    A Maintenance Planning Framework using Online and Offline Deep Reinforcement Learning
    Zaharah Allah Bukhsh, Hajo Molegraaf, and Nils Jansen
    Neural Comput. Appl. 2023
  16. STTT
    Decision-making under uncertainty: beyond probabilities. Challenges and Perspectives
    Thom Badings, Thiago D. Simão, Marnix Suilen, and Nils Jansen
    STTT 2023
  17. TACAS
    Robust Almost-Sure Reachability in Multi-Environment MDPs
    Marck van der Vegt, Nils Jansen, and Sebastian Junges
    In TACAS 2023
  18. ICAPS
    Act-Then-Measure: Reinforcement Learning for Partially Observable Environments with Active Measuring
    Merlijn Krale, Thiago D. Simão, and Nils Jansen
    In ICAPS 2023
  19. ICAPS
    Model Checking for Adversarial Multi-Agent Reinforcement Learning with Reactive Defense Methods
    Dennis Groß, Christoph Schmidl, Nils Jansen, and Guillermo Perez
    In ICAPS 2023
  20. JAIR
    Robust Control for Dynamical Systems with Non-Gaussian Noise via Formal Abstractions
    Thom S. Badings, Licio Romao, Alessandro Abate, David Parker, Hasan A. Poonawala, Mariëlle Stoelinga, and Nils Jansen
    J. Artif. Intell. Res. 2023
  21. ICAART
    Targeted Adversarial Attacks on Deep Reinforcement Learning Policies via Model Checking
    Dennis Gross, Thiago D. Simão, Nils Jansen, and Guillermo A. Pérez
    In ICAART 2023


  1. NeurIPS
    Robust Anytime Learning of Markov Decision Processes
    Marnix Suilen, Thiago D. Simão, David Parker, and Nils Jansen
    In NeurIPS 2022
  2. AAAI
    Sampling-Based Robust Control of Autonomous Systems with Non-Gaussian Noise
    Thom S. Badings, Alessandro Abate, Nils Jansen, David Parker, Hasan A. Poonawala, and Mariëlle Stoelinga
    In AAAI 2022
  3. CAV
    Sampling-Based Verification of CTMCs with Uncertain Rates
    Thom S. Badings, Nils Jansen, Sebastian Junges, Mariëlle Stoelinga, and Matthias Volk
    In CAV (2) 2022
  4. STTT
    Scenario-based verification of uncertain parametric MDPs
    Thom S. Badings, Murat Cubuktepe, Nils Jansen, Sebastian Junges, Joost-Pieter Katoen, and Ufuk Topcu
    Int. J. Softw. Tools Technol. Transf. 2022
  5. A Journey from Process Algebra via Timed Automata to Model Learning - Essays Dedicated to Frits Vaandrager on the Occasion of His 60th Birthday
  6. Grouping of Maintenance Actions with Deep Reinforcement Learning and Graph Convolutional Networks
    David Kerkkamp, Zaharah Allah Bukhsh, Yingqian Zhang, and Nils Jansen
    In ICAART (2) 2022
  7. COOL-MC: A Comprehensive Tool for Reinforcement Learning and Model Checking
    Dennis Gross, Nils Jansen, Sebastian Junges, and Guillermo A. Pérez
    In SETTA 2022


  1. Formalizing and guaranteeing human-robot interaction
    Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Rüdiger Ehlers, Christoffer Heckman, Nils Jansen, Ross A. Knepper, Jan Kretı́nský, Shelly Levy-Tzedek, Jamy Li, Todd D. Murphey, Laurel D. Riek, and Dorsa Sadigh
    Commun. ACM 2021
  2. Task-Aware Verifiable RNN-Based Policies for Partially Observable Markov Decision Processes
    Steven Carr, Nils Jansen, and Ufuk Topcu
    J. Artif. Intell. Res. 2021
  3. Robust Finite-State Controllers for Uncertain POMDPs
    Murat Cubuktepe, Nils Jansen, Sebastian Junges, Ahmadreza Marandi, Marnix Suilen, and Ufuk Topcu
    In AAAI 2021
  4. AlwaysSafe: Reinforcement Learning without Safety Constraint Violations during Training
    Thiago D. Simão, Nils Jansen, and Matthijs T. J. Spaan
    In AAMAS 2021
  5. Safe Policies for Factored Partially Observable Stochastic Games
    Steven Carr, Nils Jansen, Sudarshanan Bharadwaj, Matthijs T. J. Spaan, and Ufuk Topcu
    In Robotics: Science and Systems 2021
  6. Enforcing Almost-Sure Reachability in POMDPs
    Sebastian Junges, Nils Jansen, and Sanjit A. Seshia
    In CAV (2) 2021
  7. Strategy Synthesis for POMDPs in Robot Planning via Game-Based Abstractions
    Leonore Winterer, Sebastian Junges, Ralf Wimmer, Nils Jansen, Ufuk Topcu, Joost-Pieter Katoen, and Bernd Becker
    IEEE Trans. Autom. Control. 2021
  8. Synthesis of Provably Correct Autonomy Protocols for Shared Control
    Murat Cubuktepe, Nils Jansen, Mohammed Alshiekh, and Ufuk Topcu
    IEEE Trans. Autom. Control. 2021
  9. Control Theory Meets POMDPs: A Hybrid Systems Approach
    Mohamadreza Ahmadi, Nils Jansen, Bo Wu, and Ufuk Topcu
    IEEE Trans. Autom. Control. 2021
  10. Damage detection using in-domain and cross-domain transfer learning
    Zaharah Allah Bukhsh, Nils Jansen, and Aaqib Saeed
    Neural Comput. Appl. 2021
  11. Adaptive Shielding under Uncertainty
    Stefan Pranger, Bettina Könighofer, Martin Tappler, Martin Deixelberger, Nils Jansen, and Roderick Bloem
    In ACC 2021
  12. Balancing Wind and Batteries: Towards Predictive Verification of Smart Grids
    Thom S. Badings, Arnd Hartmanns, Nils Jansen, and Marnix Suilen
    In NFM 2021


  1. Robustness Verification for Classifier Ensembles
    Dennis Gross, Nils Jansen, Guillermo A. Pérez, and Stephan Raaijmakers
    In ATVA 2020
  2. Safe Reinforcement Learning Using Probabilistic Shields (Invited Paper)
    Nils Jansen, Bettina Könighofer, Sebastian Junges, Alex Serban, and Roderick Bloem
    In CONCUR 2020
  3. Robust Policy Synthesis for Uncertain POMDPs via Convex Optimization
    Marnix Suilen, Nils Jansen, Murat Cubuktepe, and Ufuk Topcu
    In IJCAI 2020
  4. Verifiable RNN-Based Policies for POMDPs Under Temporal Logic Constraints
    Steven Carr, Nils Jansen, and Ufuk Topcu
    In IJCAI 2020
  5. Shield Synthesis for Reinforcement Learning
    Bettina Könighofer, Florian Lorber, Nils Jansen, and Roderick Bloem
    In ISoLA (1) 2020
  6. Neural Simplex Architecture
    Dung T. Phan, Radu Grosu, Nils Jansen, Nicola Paoletti, Scott A. Smolka, and Scott D. Stoller
    In NFM 2020
  7. Strengthening Deterministic Policies for POMDPs
    Leonore Winterer, Ralf Wimmer, Nils Jansen, and Bernd Becker
    In NFM 2020
  8. Scenario-Based Verification of Uncertain MDPs
    Murat Cubuktepe, Nils Jansen, Sebastian Junges, Joost-Pieter Katoen, and Ufuk Topcu
    In TACAS (1) 2020
  9. Formal Modeling and Analysis of Timed Systems - 18th International Conference, FORMATS 2020, Vienna, Austria, September 1-3, 2020, Proceedings


  1. Model Repair Revamped - - On the Automated Synthesis of Markov Chains -
    Milan Ceska, Christian Dehnert, Nils Jansen, Sebastian Junges, and Joost-Pieter Katoen
    In From Reactive Systems to Cyber-Physical Systems 2019
  2. Counterexample-Guided Strategy Improvement for POMDPs Using Recurrent Neural Networks
    Steven Carr, Nils Jansen, Ralf Wimmer, Alexandru Constantin Serban, Bernd Becker, and Ufuk Topcu
    In IJCAI 2019
  3. Structured Synthesis for Probabilistic Systems
    Nils Jansen, Laura R. Humphrey, Jana Tumova, and Ufuk Topcu
    In NFM 2019
  4. Correct-by-construction policies for POMDPs
    Nils Jansen, Sebastian Junges, Joost-Pieter Katoen, Tim Quatmann, Bernd Becker, Ralf Wimmer, and Leonore Winterer
    In SNR 2019
  5. Shepherding Hordes of Markov Chains
    Milan Ceska, Nils Jansen, Sebastian Junges, and Joost-Pieter Katoen
    In TACAS (2) 2019


  1. Conditioning in Probabilistic Programming
    Federico Olmedo, Friedrich Gretz, Nils Jansen, Benjamin Lucien Kaminski, Joost-Pieter Katoen, and Annabelle McIver
    ACM Trans. Program. Lang. Syst. 2018
  2. Verification of Uncertain POMDPs Using Barrier Certificates
    Mohamadreza Ahmadi, Murat Cubuktepe, Nils Jansen, and Ufuk Topcu
    In Allerton 2018
  3. Human-in-the-Loop Synthesis for Partially Observable Markov Decision Processes
    Steven Carr, Nils Jansen, Ralf Wimmer, Jie Fu, and Ufuk Topcu
    In ACC 2018
  4. Synthesis in pMDPs: A Tale of 1001 Parameters
    Murat Cubuktepe, Nils Jansen, Sebastian Junges, Joost-Pieter Katoen, and Ufuk Topcu
    In ATVA 2018
  5. Abstraktions-basierte Verifikation von POMDPs im Motion-Planning-Kontext
    Leonore Winterer, Sebastian Junges, Ralf Wimmer, Nils Jansen, Ufuk Topcu, Joost-Pieter Katoen, and Bernd Becker
    In MBMV 2018
  6. Model Checking for Safe Navigation Among Humans
    Sebastian Junges, Nils Jansen, Joost-Pieter Katoen, Ufuk Topcu, Ruohan Zhang, and Mary M. Hayhoe
    In QEST 2018
  7. Finite-State Controllers of POMDPs using Parameter Synthesis
    Sebastian Junges, Nils Jansen, Ralf Wimmer, Tim Quatmann, Leonore Winterer, Joost-Pieter Katoen, and Bernd Becker
    In UAI 2018
  8. Machine Learning and Model Checking Join Forces (Dagstuhl Seminar 18121)
    Nils Jansen, Joost-Pieter Katoen, Pushmeet Kohli, and Jan Kretı́nský
    Dagstuhl Reports 2018


  1. Synthesis of shared control protocols with provable safety and performance guarantees
    Nils Jansen, Murat Cubuktepe, and Ufuk Topcu
    In ACC 2017
  2. Motion planning under partial observability using game-based abstraction
    Leonore Winterer, Sebastian Junges, Ralf Wimmer, Nils Jansen, Ufuk Topcu, Joost-Pieter Katoen, and Bernd Becker
    In CDC 2017
  3. Sequential Convex Programming for the Efficient Verification of Parametric MDPs
    Murat Cubuktepe, Nils Jansen, Sebastian Junges, Joost-Pieter Katoen, Ivan Papusha, Hasan A. Poonawala, and Ufuk Topcu
    In TACAS (2) 2017
  4. Synthesis and Verification of Self-aware Computing Systems
    Radu Calinescu, Marco Autili, Javier Cámara, Antinisca Di Marco, Simos Gerasimou, Paola Inverardi, Alexander Perucci, Nils Jansen, Joost-Pieter Katoen, Marta Z. Kwiatkowska, Ole J. Mengshoel, Romina Spalazzese, and Massimo Tivoli


  1. Probabilistic Verification for Cognitive Models
    Sebastian Junges, Nils Jansen, Joost-Pieter Katoen, and Ufuk Topcu
    In AAAI Fall Symposia 2016
  2. Parameter Synthesis for Markov Models: Faster Than Ever
    Tim Quatmann, Christian Dehnert, Nils Jansen, Sebastian Junges, and Joost-Pieter Katoen
    In ATVA 2016
  3. Bounded Model Checking for Probabilistic Programs
    Nils Jansen, Christian Dehnert, Benjamin Lucien Kaminski, Joost-Pieter Katoen, and Lukas Westhofen
    In ATVA 2016
  4. Combining Static and Runtime Methods to Achieve Safe Standing-Up for Humanoid Robots
    Francesco Leofante, Simone Vuotto, Erika Ábrahám, Armando Tacchella, and Nils Jansen
    In ISoLA (1) 2016
  5. Parameter Synthesis for Probabilistic Systems
    Christian Dehnert, Sebastian Junges, Nils Jansen, Florian Corzilius, Matthias Volk, Joost-Pieter Katoen, Erika Ábrahám, and Harold Bruintjes
    In MBMV 2016
  6. Safety-Constrained Reinforcement Learning for MDPs
    Sebastian Junges, Nils Jansen, Christian Dehnert, Ufuk Topcu, and Joost-Pieter Katoen
    In TACAS 2016


  1. Counterexamples in probabilistic verification
    Nils Jansen
  2. High-level Counterexamples for Probabilistic Automata
    Ralf Wimmer, Nils Jansen, Andreas Vorpahl, Erika Ábrahám, Joost-Pieter Katoen, and Bernd Becker
    Log. Methods Comput. Sci. 2015
  3. Understanding Probabilistic Programs
    Joost-Pieter Katoen, Friedrich Gretz, Nils Jansen, Benjamin Lucien Kaminski, and Federico Olmedo
    In Correct System Design 2015
  4. PROPhESY: A PRObabilistic ParamEter SYnthesis Tool
    Christian Dehnert, Sebastian Junges, Nils Jansen, Florian Corzilius, Matthias Volk, Harold Bruintjes, Joost-Pieter Katoen, and Erika Ábrahám
    In CAV (1) 2015
  5. Counterexamples for Expected Rewards
    Tim Quatmann, Nils Jansen, Christian Dehnert, Ralf Wimmer, Erika Ábrahám, Joost-Pieter Katoen, and Bernd Becker
    In FM 2015
  6. A Greedy Approach for the Efficient Repair of Stochastic Models
    Shashank Pathak, Erika Ábrahám, Nils Jansen, Armando Tacchella, and Joost-Pieter Katoen
    In NFM 2015
  7. Conditioning in Probabilistic Programming
    Nils Jansen, Benjamin Lucien Kaminski, Joost-Pieter Katoen, Federico Olmedo, Friedrich Gretz, and Annabelle McIver
    In MFPS 2015


  1. Symbolic counterexample generation for large discrete-time Markov chains
    Nils Jansen, Ralf Wimmer, Erika Ábrahám, Barna Zajzon, Joost-Pieter Katoen, Bernd Becker, and Johann Schuster
    Sci. Comput. Program. 2014
  2. Minimal counterexamples for linear-time probabilistic verification
    Ralf Wimmer, Nils Jansen, Erika Ábrahám, Joost-Pieter Katoen, and Bernd Becker
    Theor. Comput. Sci. 2014
  3. Fast Debugging of PRISM Models
    Christian Dehnert, Nils Jansen, Ralf Wimmer, Erika Ábrahám, and Joost-Pieter Katoen
    In ATVA 2014
  4. Accelerating Parametric Probabilistic Verification
    Nils Jansen, Florian Corzilius, Matthias Volk, Ralf Wimmer, Erika Ábrahám, Joost-Pieter Katoen, and Bernd Becker
    In QEST 2014
  5. Counterexample Generation for Discrete-Time Markov Models: An Introductory Survey
    Erika Ábrahám, Bernd Becker, Christian Dehnert, Nils Jansen, Joost-Pieter Katoen, and Ralf Wimmer
    In SFM 2014


  1. Regular Model Checking Using Solver Technologies and Automata Learning
    Daniel Neider, and Nils Jansen
    In NASA Formal Methods 2013
  2. High-Level Counterexamples for Probabilistic Automata
    Ralf Wimmer, Nils Jansen, Andreas Vorpahl, Erika Ábrahám, Joost-Pieter Katoen, and Bernd Becker
    In QEST 2013


  1. The COMICS Tool - Computing Minimal Counterexamples for DTMCs
    Nils Jansen, Erika Ábrahám, Matthias Volk, Ralf Wimmer, Joost-Pieter Katoen, and Bernd Becker
    In ATVA 2012
  2. Symbolic Counterexample Generation for Discrete-Time Markov Chains
    Nils Jansen, Erika Ábrahám, Barna Zajzon, Ralf Wimmer, Johann Schuster, Joost-Pieter Katoen, and Bernd Becker
    In FACS 2012
  3. Minimal Critical Subsystems as Counterexamples for omega-Regular DTMC Properties
    Ralf Wimmer, Bernd Becker, Nils Jansen, Erika Ábrahám, and Joost-Pieter Katoen
    In MBMV 2012
  4. Minimal Critical Subsystems for Discrete-Time Markov Models
    Ralf Wimmer, Nils Jansen, Erika Ábrahám, Bernd Becker, and Joost-Pieter Katoen
    In TACAS 2012


  1. Hierarchical Counterexamples for Discrete-Time Markov Chains
    Nils Jansen, Erika Ábrahám, Jens Katelaan, Ralf Wimmer, Joost-Pieter Katoen, and Bernd Becker
    In ATVA 2011
  2. Counterexample Generation for Markov Chains Using SMT-Based Bounded Model Checking
    Bettina Braitling, Ralf Wimmer, Bernd Becker, Nils Jansen, and Erika Ábrahám
    In FMOODS/FORTE 2011
  3. On collaboratively conveying computer science to pupils
    Erika Ábrahám, Nadine Bergner, Philipp Brauner, Florian Corzilius, Nils Jansen, Thiemo Leonhardt, Ulrich Loup, Johanna Nellen, and Ulrik Schroeder
    In Koli Calling 2011
  4. SMT-based Counterexample Generation for Markov Chains
    Bettina Braitling, Ralf Wimmer, Bernd Becker, Nils Jansen, and Erika Ábrahám
    In MBMV 2011


  1. Podcastproduktion als kollaborativer Zugang zur theoretischen Informatik
    Erika Ábrahám, Philipp Brauner, Nils Jansen, Thiemo Leonhardt, Ulrich Loup, and Ulrik Schroeder
    In DeLFI 2010