5 papers
Implicit Behavior Coordination from Sub-Task Demonstrations by Exploiting Overlap-Induced Multimodality
Ahmed Shokry, Usama Ahmed Siddiquie, Sicong Pan +1
Long-horizon robotic rearrangement is commonly formulated as a skill-sequencing problem, where distinct behaviors are explicitly represented and coordinated by a planner or high-le…
Self-Organized Conformal Prediction: Reducing Regional Coverage Gaps with Unsupervised Group Discovery
Louis Berthier, Ahmed Shokry, Maxime Moreaud +2
Conformal prediction guarantees marginal coverage, but a pooled calibration quantile can hide systematic undercoverage across heterogeneous regions of the feature space. We introdu…
torchsom: The Reference PyTorch Library for Self-Organizing Maps
Louis Berthier, Ahmed Shokry, Maxime Moreaud +2
This paper introduces torchsom, an open-source Python library that provides a reference implementation of the Self-Organizing Map (SOM) in PyTorch. This package offers three main f…
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…