Author: Abu-Dakka Fares J.
Master thesis on “Hybrid learning and control for human-robot interaction: an imitation learning perspective”
The goal of this project is to exploit more comprehensive information from humans, in order to learn as many skill patterns from humans as possible according to the tasks at hand.
Assignment on “Orientation Learning and Adaptation in Cartesian Space”
The goal of this assignment is to understand the KMP and to implement a C++ code for the kernelized treatment of orientation data in real setup.
Assignment on “Geometry-aware Dynamic Movement Primitives”
The goal of this assignment is to understand dynamic movement primitives in the context of geometry awareness and provide a C++ code for the algorithm.
Master thesis on “Efficient learning of task-specific trajectories from demonstrations”
The goal of this thesis is to increase the efficiency of reinforcement learning when limited number of examples is available by providing a method of obtaining a large number task-specific trajectories from only a few demonstrations.
Master thesis on “Reinforcement learning with kernelized movement primitives”
The goal of this thesis is to integrate KMP with reinforcement learning to provide an automatic adaptation approach to adapt the trajectory and goal in order to optimize a desired task.
Geometry-aware Dynamic Movement Primitives
Robotics Seminar Series. Third Session, Talk 2 – 13th March 2020. Speaker: Fares J. Abu-Dakka.
Accepted papers!!!
Great news!!! Our paper on “Geometry-aware Dynamic Movement Primitives” got accepted in ICRA2020
ICRA 2020, here we come!
Intelligent Robotics group will attend to ICRA 2020 with 3 accepted papers. Read more!
Learning geometry-based robot-manipulation skills
In many robot control problems, skills such as stiffness, damping and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, orientations are represented as unit quaternions, sensory data processed as spatial covariances, etc., which capture the specific geometric characteristics of those skills. Typical learned skill models such as dynamic movement primitives (DMPs), probabilistic […]