1 citations · 2 across the 8 of their papers we have counts for
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A Dynamic Safety Shield for Safe and Efficient Reinforcement Learning of Navigation Tasks
Murad Dawood, Ahmed Shokry, Maren Bennewitz
Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the tr…
Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks
Ahmed Shokry, Walid Gomaa, Tobias Zaenker +5
Autonomous assembly is an essential capability for industrial and service robots, with Peg-in-Hole (PiH) insertion being one of the core tasks. However, PiH assembly in unknown env…
Physically-Consistent Parameter Identification of Robots in Contact
Shahram Khorshidi, Murad Dawood, Benno Nederkorn +2
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial…
Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion
Shahram Khorshidi, Murad Dawood, Maren Bennewitz
In this paper, we introduce a novel approach to centroidal state estimation, which plays a crucial role in predictive model-based control strategies for dynamic legged locomotion.…