Publications de Amirreza Razmjoo Fard

D-LGP: Dynamic Logic-Geometric Program for Reactive Task and Motion Planning

Many real-world sequential manipulation tasks involve a combination of discrete symbolic search and continuous motion planning, collectively known as combined task and motion planning (TAMP). However, prevailing methods often struggle with the computationa ...

IEEE2024

Logic Learning From Demonstrations for Multi-Step Manipulation Tasks in Dynamic Environments

Sylvain Calinon, Amirreza Razmjoo Fard

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for long-horizon manipulation ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2024

Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

Sylvain Calinon, Amirreza Razmjoo Fard, Yiming Li

In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein polynomials to encode ...

IEEE2024

A geometric optimal control approach for imitation and generalization of manipulation skills

Sylvain Calinon, Amirreza Razmjoo Fard, Jie Zhao

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Elsevier2023

Learning Joint Space Reference Manifold for Reliable Physical Assistancey

Sylvain Calinon, Amirreza Razmjoo Fard

This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100-200 N) within a very short time (2-8 s), posing significant challen ...

IEEE2023

Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills

Sylvain Calinon, Teguh Santoso Lembono, Amirreza Razmjoo Fard

paper studies exploiting action-level learning (imitation) in the optimal control problem context. Cost functions defined by the optimal control methods are similar to the goal-level learning (emulation) in animals. However, imitating the robot's or others ...

IEEE2021