Arash Ajoudani
Istituto Italiano di Tecnologia
収録論文 88本 ・ フィジカルAI/ロボット学習
所属歴（論文より）: Istituto Italiano di Tecnologia（〜2026） ／ Italian Institute of Technology（〜2026）
マニピュレーション移動操作テレオペレーション
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- 集中訓練と批評家分解による実世界オンライン強化学習の効率化：ロボット操作への応用マニピュレーション2026/8/10
実世界でのオンライン強化学習を効率化するため、集中訓練と分散実行（CTDE）とハイブリッド報酬アーキテクチャ（HRA）を組み合わせ、複数のエージェントが共有する多頭批評家を導入した。タスク報酬と把握報酬を分離し、サンプル効率と性能を大幅に向上させた。
- LUCID: 想像上のダイナミクスによる潜在スキル統合制御による長期的ヒューマノイド移動操作移動操作2026/8/7
長期的なヒューマノイドの移動操作タスクを解決するため、学習したダイナミクスモデルを用いた想像上のロールアウトを通じて再利用可能なスキルを計画する階層的モデルベース強化学習フレームワークを提案した。
- ロボットマニピュレータ用タッチスクリーンテレオペレーションインターフェースの設計と評価テレオペレーション2026/8/6
タッチスクリーンを用いた直感的な遠隔操作インターフェースを設計し、従来のジョイスティックと比較して、タスク完了時間の短縮や精度向上を実証した。
- Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition2026/8/1
- Design and Evaluation of a Touchscreen-Based Teleoperation Interface for Robotic Manipulators2026/8/1
- LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation2026/8/1
- Robots Need More than VLA and World Models2026/6/1
- Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies2026/4/1
- Foundation Models in Robotics: A Comprehensive Review of Methods, Models, Datasets, Challenges and Future Research Directions2026/4/1
- TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation2026/3/1
- PLanAR: Planning-Language-Grounded Agentic Reasoning for Robot Manipulation2026/2/1
- Self-supervised Physics-Informed Manipulation of Deformable Linear Objects with Non-negligible Dynamics2026/2/1
- Information-Theoretic Detection of Bimanual Interactions for Dual-Arm Robot Plan Generation2026/1/1
- CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation2026/1/1
- Estimating Trust in Human-Robot Collaboration through Behavioral Indicators and Explainability2026/1/1
- Postural Virtual Fixtures for Ergonomic Physical Interactions with Supernumerary Robotic Bodies2026/1/1
- Just in time Informed Trees: Manipulability-Aware Asymptotically Optimized Motion Planning2026/1/1
- Safe Learning for Contact-Rich Robot Tasks: A Survey from Classical Learning-Based Methods to Safe Foundation Models2025/12/1
- Intuitive Programming, Adaptive Task Planning, and Dynamic Role Allocation in Human-Robot Collaboration2025/11/1
- OmniVIC: A Self-Improving Variable Impedance Controller with Vision-Language In-Context Learning for Safe Robotic Manipulation2025/10/1
- Anticipatory Fall Detection in Humans with Hybrid Directed Graph Neural Networks and Long Short-Term Memory2025/9/1
- ActivePose: Active 6D Object Pose Estimation and Tracking for Robotic Manipulation2025/9/1
- Imitation-Guided Bimanual Planning for Stable Manipulation under Changing External Forces2025/9/1
- End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy2025/8/1
- Online Learning for Vibration Suppression in Physical Robot Interaction using Power Tools2025/8/1
- A Human-in-the-loop Approach to Robot Action Replanning through LLM Common-Sense Reasoning2025/7/1
- A Survey on Imitation Learning for Contact-Rich Tasks in Robotics2025/6/1
- IMA-Catcher: An IMpact-Aware Nonprehensile Catching Framework based on Combined Optimization and Learning2025/6/1
- Mitigating Compensatory Movements in Prosthesis Users via Adaptive Collaborative Robotics2025/5/1
- TPT-Bench: A Large-Scale, Long-Term and Robot-Egocentric Dataset for Benchmarking Target Person Tracking2025/5/1
- Context-aware collaborative pushing of heavy objects using skeleton-based intention prediction2025/5/1
- Improving Failure Prediction in Aircraft Fastener Assembly Using Synthetic Data in Imbalanced Datasets2025/5/1
- Learning and Online Replication of Grasp Forces from Electromyography Signals for Prosthetic Finger Control2025/5/1
- A Framework for Adaptive Load Redistribution in Human-Exoskeleton-Cobot Systems2025/4/1
- RPF-Search: Field-based Search for Robot Person Following in Unknown Dynamic Environments2025/3/1
- Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks2025/3/1
- Exo-muscle: A semi-rigid assistive device for the knee2025/3/1
- Scaling Laws in Scientific Discovery with AI and Robot Scientists2025/3/1
- Bresa: Bio-inspired Reflexive Safe Reinforcement Learning for Contact-Rich Robotic Tasks2025/3/1
- Intelligent Framework for Human-Robot Collaboration: Dynamic Ergonomics and Adaptive Decision-Making2025/3/1
- A Machine Learning Approach to Sensor Substitution from Tactile Sensing to Visual Perception for Non-Prehensile Manipulation2025/2/1
- A Reinforcement Learning Approach to Non-prehensile Manipulation through Sliding2025/2/1
- Exploiting Information Theory for Intuitive Robot Programming of Manual Activities2024/10/1
- PRO-MIND: Proximity and Reactivity Optimisation of robot Motion to tune safety limits, human stress, and productivity in INDustrial settings2024/9/1
- SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks2024/6/1
- A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots2024/6/1
- Pushing in the Dark: A Reactive Pushing Strategy for Mobile Robots Using Tactile Feedback2024/3/1
- A Combined Learning and Optimization Framework to Transfer Human Whole-body Loco-manipulation Skills to Mobile Manipulators2024/2/1
- Semantic-based Loco-Manipulation for Human-Robot Collaboration in Industrial Environments2023/12/1
- FollowMe: a Robust Person Following Framework Based on Re-Identification and Gestures2023/11/1
- CARPE-ID: Continuously Adaptable Re-identification for Personalized Robot Assistance2023/10/1
- Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning2023/10/1
- A Human Motion Compensation Framework for a Supernumerary Robotic Arm2023/10/1
- Artifacts Mapping: Multi-Modal Semantic Mapping for Object Detection and 3D Localization2023/7/1
- The Bridge between Xsens Motion-Capture and Robot Operating System (ROS): Enabling Robots with Online 3D Human Motion Tracking2023/6/1
- Maximising Coefficiency of Human-Robot Handovers through Reinforcement Learning2023/6/1
- Automatic Interaction and Activity Recognition from Videos of Human Manual Demonstrations with Application to Anomaly Detection2023/4/1
- Markerless 3D human pose tracking through multiple cameras and AI: Enabling high accuracy, robustness, and real-time performance2023/3/1
- Design of an Energy-Aware Cartesian Impedance Controller for Collaborative Disassembly2023/2/1
- Enhancing Human-Robot Collaboration Transportation through Obstacle-Aware Vibrotactile Feedback2023/2/1
- A Unified Architecture for Dynamic Role Allocation and Collaborative Task Planning in Mixed Human-Robot Teams2023/1/1
- An Ergonomic Role Allocation Framework for Dynamic Human-Robot Collaborative Tasks2023/1/1
- An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation2022/9/1
- Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning2022/9/1
- Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robots2022/9/1
- ErgoTac-Belt: Anticipatory Vibrotactile Feedback to Lead Centre of Pressure during Walking2022/7/1
- Robot Trajectory Adaptation to Optimise the Trade-off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks2022/7/1
- An Object Deformation-Agnostic Framework for Human-Robot Collaborative Transportation2022/7/1
- A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-arm Systems2022/7/1
- Pick the Right Co-Worker: Online Assessment of Cognitive Ergonomics in Human-Robot Collaborative Assembly2022/7/1
- Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment2022/7/1
- Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming2022/7/1
- Learning Cooperative Dynamic Manipulation Skills from Human Demonstration Videos2022/4/1
- A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment2022/4/1
- A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators2022/3/1
- A hybrid model-based evolutionary optimization with passive boundaries for physical human-robot interaction2022/3/1
- Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration2022/3/1
- A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration2022/3/1
- MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control2022/2/1
- SUPER-MAN: SUPERnumerary Robotic Bodies for Physical Assistance in HuMAN-Robot Conjoined Actions2022/1/1
- Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics2022/1/1
- Dynamic Human-Robot Role Allocation based on Human Ergonomics Risk Prediction and Robot Actions Adaptation2021/11/1
- An Online Multi-Index Approach to Human Ergonomics Assessment in the Workplace2021/11/1
- An Online Framework for Cognitive Load Assessment in Assembly Tasks2021/9/1
- Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot2021/9/1
- Quantitative Physical Ergonomics Assessment of Teleoperation Interfaces2021/5/1
- Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface2021/5/1
- An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams2021/5/1