Heni Ben Amor

Certifiably-correct Control Policies for Safe Learning and Adaptation in Assistive Robotics

Mar 12, 2023
Keyvan Majd, Geoffrey Clark, Tanmay Khandait, Siyu Zhou, Sriram Sankaranarayanan, Georgios Fainekos, Heni Ben Amor

Figure 2 for Certifiably-correct Control Policies for Safe Learning and Adaptation in Assistive Robotics

Figure 3 for Certifiably-correct Control Policies for Safe Learning and Adaptation in Assistive Robotics

Figure 4 for Certifiably-correct Control Policies for Safe Learning and Adaptation in Assistive Robotics

* Appeared in the 36th Conference on Neural Information Processing Systems (NeurIPS) - Robot Learning Workshop. arXiv admin note: substantial text overlap with arXiv:2303.04431

Access Paper or Ask Questions

Safe Robot Learning in Assistive Devices through Neural Network Repair

Mar 08, 2023
Keyvan Majd, Geoffrey Clark, Tanmay Khandait, Siyu Zhou, Sriram Sankaranarayanan, Georgios Fainekos, Heni Ben Amor

Figure 2 for Safe Robot Learning in Assistive Devices through Neural Network Repair

Figure 3 for Safe Robot Learning in Assistive Devices through Neural Network Repair

Figure 4 for Safe Robot Learning in Assistive Devices through Neural Network Repair

Access Paper or Ask Questions

Imitation Learning based Auto-Correction of Extrinsic Parameters for A Mixed-Reality Setup

Dec 16, 2022
Shubham Sonawani, Yifan Zhou, Heni Ben Amor

* Horizons of an Extended Robotics Reality (XR2) Workshop, IROS 2022

Access Paper or Ask Questions

Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation

Dec 08, 2022
Yifan Zhou, Shubham Sonawani, Mariano Phielipp, Simon Stepputtis, Heni Ben Amor

Figure 2 for Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation

Figure 3 for Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation

Figure 4 for Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation

* 2022 Conference on Robot Learning (CoRL)

Access Paper or Ask Questions

Learning and Blending Robot Hugging Behaviors in Time and Space

Dec 03, 2022
Michael Drolet, Joseph Campbell, Heni Ben Amor

Figure 2 for Learning and Blending Robot Hugging Behaviors in Time and Space

Figure 3 for Learning and Blending Robot Hugging Behaviors in Time and Space

Figure 4 for Learning and Blending Robot Hugging Behaviors in Time and Space

Access Paper or Ask Questions

A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies

Aug 01, 2022
Simon Stepputtis, Maryam Bandari, Stefan Schaal, Heni Ben Amor

Figure 2 for A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies

Figure 3 for A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies

Figure 4 for A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies

* Accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan

Access Paper or Ask Questions

Local Repair of Neural Networks Using Optimization

Sep 28, 2021
Keyvan Majd, Siyu Zhou, Heni Ben Amor, Georgios Fainekos, Sriram Sankaranarayanan

Figure 2 for Local Repair of Neural Networks Using Optimization

Figure 3 for Local Repair of Neural Networks Using Optimization

Figure 4 for Local Repair of Neural Networks Using Optimization

Access Paper or Ask Questions

Multimodal Data Fusion for Power-On-and-GoRobotic Systems in Retail

Mar 23, 2021
Shubham Sonawani, Kailas Maneparambil, Heni Ben Amor

Figure 2 for Multimodal Data Fusion for Power-On-and-GoRobotic Systems in Retail

Figure 3 for Multimodal Data Fusion for Power-On-and-GoRobotic Systems in Retail

Figure 4 for Multimodal Data Fusion for Power-On-and-GoRobotic Systems in Retail

* POGO Workshop, RSS 2020

Access Paper or Ask Questions

Learning Predictive Models for Ergonomic Control of Prosthetic Devices

Nov 13, 2020
Geoffrey Clark, Joseph Campbell, Heni Ben Amor

Figure 2 for Learning Predictive Models for Ergonomic Control of Prosthetic Devices

Figure 3 for Learning Predictive Models for Ergonomic Control of Prosthetic Devices

Figure 4 for Learning Predictive Models for Ergonomic Control of Prosthetic Devices

* Accepted to CoRL 2020. Accompanying video presentation: https://www.youtube.com/watch?v=DxQPF3VwuoA&feature=youtu.be

Access Paper or Ask Questions

Language-Conditioned Imitation Learning for Robot Manipulation Tasks

Oct 22, 2020
Simon Stepputtis, Joseph Campbell, Mariano Phielipp, Stefan Lee, Chitta Baral, Heni Ben Amor

Figure 2 for Language-Conditioned Imitation Learning for Robot Manipulation Tasks

Figure 3 for Language-Conditioned Imitation Learning for Robot Manipulation Tasks

Figure 4 for Language-Conditioned Imitation Learning for Robot Manipulation Tasks

* Accepted to the 34th Conference on Neural Information Processing Systems (NeurIPS 2020), Vancouver, Canada as spotlight presentation

Access Paper or Ask Questions