9 citations · 9 across the 9 of their papers we have counts for
10 papers
End-to-end example-based sim-to-real RL policy transfer based on neural stylisation with application to robotic cutting
Jamie Hathaway, Alireza Rastegarpanah, Rustam Stolkin
Whereas reinforcement learning has been applied with success to a range of robotic control problems in complex, uncertain environments, reliance on extensive data - typically sourc…
Intent-Driven LLM Ensemble Planning for Flexible Multi-Robot Disassembly: Demonstration on EV Batteries
Cansu Erdogan, Cesar Alan Contreras, Alireza Rastegarpanah +2
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must p…
Hybrid Task and Motion Planning with Reactive Collision Handling for Multi-Robot Disassembly of Complex Products: Application to EV Batteries
Abdelaziz Shaarawy, Cansu Erdogan, Rustam Stolkin +1
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a rea…
Utilizing Vision-Language Models as Action Models for Intent Recognition and Assistance
Cesar Alan Contreras, Manolis Chiou, Alireza Rastegarpanah +2
Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER,…
Probabilistic Human Intent Prediction for Mobile Manipulation: An Evaluation with Human-Inspired Constraints
Cesar Alan Contreras, Manolis Chiou, Alireza Rastegarpanah +2
Accurate inference of human intent enables human-robot collaboration without constraining human control or causing conflicts between humans and robots. We present GUIDER (Global Us…
A Mini-Review on Mobile Manipulators with Variable Autonomy
Cesar Alan Contreras, Alireza Rastegarpanah, Rustam Stolkin +1
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application…
Semi-autonomous Robotic Disassembly Enhanced by Mixed Reality
Alireza Rastegarpanah, Cesar Alan Contreras, Rustam Stolkin
In this study, we introduce "SARDiM," a modular semi-autonomous platform enhanced with mixed reality for industrial disassembly tasks. Through a case study focused on EV battery di…
Imitation learning for sim-to-real transfer of robotic cutting policies based on residual Gaussian process disturbance force model
Jamie Hathaway, Rustam Stolkin, Alireza Rastegarpanah
Robotic cutting, or milling, plays a significant role in applications such as disassembly, decommissioning, and demolition. Planning and control of cutting in real-world scenarios…
Towards Reuse and Recycling of Lithium-ion Batteries: Tele-robotics for Disassembly of Electric Vehicle Batteries
Jamie Hathaway, Abdelaziz Shaarawy, Cansu Akdeniz +3
Disassembly of electric vehicle batteries is a critical stage in recovery, recycling and re-use of high-value battery materials, but is complicated by limited standardisation, desi…
Learning robotic milling strategies based on passive variable operational space interaction control
Jamie Hathaway, Alireza Rastegarpanah, Rustam Stolkin
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufa…