Fares J. Abu-Dakka

Publication Activity (10 Years)

Years Active: 2011-2024
Publications (10 Years): 59

Top Topics

Reinforcement Learning

Top Venues

Robotics Auton. Syst.

Publications

Yingbai Hu, Fares J. Abu-Dakka, Fei Chen, Xiao Luo, Zheng Li, Alois Knoll, Weiping Ding
Fusion dynamical systems with machine learning in imitation learning: A comprehensive overview. Inf. Fusion 108 (2024)
Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel
Learning periodic skills for robotic manipulation: Insights on orientation and impedance. Robotics Auton. Syst. 180 (2024)
Peter So, Rafael I. Cabral Muchacho, Robin Jeanne Kirschner, Abdalla Swikir, Luis Figueredo, Fares J. Abu-Dakka, Sami Haddadin
CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation. ICRA (2024)
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions. CoRR (2024)
Andrej Kruzliak, Jiri Hartvich, Shubhan P. Patni, Lukas Rustler, Jan Kristof Behrens, Fares J. Abu-Dakka, Krystian Mikolajczyk, Ville Kyrki, Matej Hoffmann
Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements. CoRR (2024)
Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares J. Abu-Dakka, Alois Knoll, Sami Haddadin
1 kHz Behavior Tree for Self-adaptable Tactile Insertion. ICRA (2024)
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions. ICRA (2024)
Akhil S. Anand, Rituraj Kaushik, Jan Tommy Gravdahl, Fares J. Abu-Dakka
Data-Efficient Reinforcement Learning for Variable Impedance Control. IEEE Access 12 (2024)
Yingbai Hu, Fares J. Abu-Dakka, Fei Chen, Xiao Luo, Zheng Li, Alois Knoll, Weiping Ding
Fusion Dynamical Systems with Machine Learning in Imitation Learning: A Comprehensive Overview. CoRR (2024)
Matteo Saveriano, Fares J. Abu-Dakka, Ville Kyrki
Learning stable robotic skills on Riemannian manifolds. Robotics Auton. Syst. 169 (2023)
Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features. CoRR (2023)
Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka, Dongheui Lee
Orientation Control with Variable Stiffness Dynamical Systems. CoRR (2023)
David Blanco Mulero, Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation. IROS (2023)
Matteo Saveriano, Fares J. Abu-Dakka, Aljaz Kramberger, Luka Peternel
Dynamic movement primitives in robotics: A tutorial survey. Int. J. Robotics Res. 42 (13) (2023)
Naseem Alhousani, Hatice Kose, Fares J. Abu-Dakka
Reinforcement Learning for Orientation on the Lie Algebra. SIU (2023)
Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features. IROS (2023)
Akhil S. Anand, Jan Tommy Gravdahl, Fares J. Abu-Dakka
Model-based variable impedance learning control for robotic manipulation. Robotics Auton. Syst. 170 (2023)
Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka, Dongheui Lee
Orientation Control with Variable Stiffness Dynamical Systems. IROS (2023)
Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc, Talha Abdulkuddus, Hatice Kose, Fares J. Abu-Dakka
Geometric Reinforcement Learning for Robotic Manipulation. IEEE Access 11 (2023)
David Blanco Mulero, Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation. CoRR (2023)
Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints. CoRR (2023)
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects. IROS (2022)
Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc, Talha Abdulkuddus, Hatice Kose, Fares J. Abu-Dakka
Geometric Reinforcement Learning: The Case of Cartesian Space Orientation. CoRR (2022)
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects. CoRR (2022)
Akhil S. Anand, Fares J. Abu-Dakka, Jan Tommy Gravdahl
Deep Model Predictive Variable Impedance Control. CoRR (2022)
Fares J. Abu-Dakka, Matteo Saveriano, Meghan E. Huber, Thiago Boaventura
Editorial Variable Impedance Control and Learning in Complex Interaction Scenarios: Challenges and Opportunities. IEEE Robotics Autom. Lett. 7 (4) (2022)
Haihang Wang, He Xu, Fares J. Abu-Dakka, Ville Kyrki, Chen Yang, Xin Li, Siqing Chen
A Bidirectional Soft Biomimetic Hand Driven by Water Hydraulic for Dexterous Underwater Grasping. IEEE Robotics Autom. Lett. 7 (2) (2022)
Matteo Saveriano, Fares J. Abu-Dakka, Ville Kyrki
Learning Stable Robotic Skills on Riemannian Manifolds. CoRR (2022)
Weitao Wang, Matteo Saveriano, Fares J. Abu-Dakka
Learning Deep Robotic Skills on Riemannian Manifolds. IEEE Access 10 (2022)
Weitao Wang, Matteo Saveriano, Fares J. Abu-Dakka
Learning Deep Robotic Skills on Riemannian manifolds. CoRR (2022)
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
Deformation-Aware Data-Driven Grasp Synthesis. IEEE Robotics Autom. Lett. 7 (2) (2022)
Fares J. Abu-Dakka, Matteo Saveriano, Ville Kyrki
A Unified Formulation of Geometry-aware Dynamic Movement Primitives. CoRR (2022)
Akhil S. Anand, Jens Erik Kveen, Fares J. Abu-Dakka, Esten Ingar Grøtli, Jan Tommy Gravdahl
Addressing Sample Efficiency and Model-bias in Model-based Reinforcement Learning. ICMLA (2022)
Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le, Ville Kyrki, He Xu
A Novel Soft Robotic Hand Design With Human-Inspired Soft Palm: Achieving a Great Diversity of Grasps. IEEE Robotics Autom. Mag. 28 (2) (2021)
Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell
Toward Orientation Learning and Adaptation in Cartesian Space. IEEE Trans. Robotics 37 (1) (2021)
Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel
Periodic DMP formulation for Quaternion Trajectories. ICAR (2021)
Matteo Saveriano, Fares J. Abu-Dakka, Aljaz Kramberger, Luka Peternel
Dynamic Movement Primitives in Robotics: A Tutorial Survey. CoRR (2021)
Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel
Periodic DMP formulation for Quaternion Trajectories. CoRR (2021)
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
Towards synthesizing grasps for 3D deformable objects with physics-based simulation. CoRR (2021)
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
Deformation-Aware Data-Driven Grasp Synthesis. CoRR (2021)
Markku Suomalainen, Fares J. Abu-Dakka, Ville Kyrki
Imitation learning-based framework for learning 6-D linear compliant motions. Auton. Robots 45 (3) (2021)
Tran Nguyen Le, Francesco Verdoja, Fares J. Abu-Dakka, Ville Kyrki
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements. IEEE Robotics Autom. Lett. 6 (2) (2021)
Fares J. Abu-Dakka, Yanlong Huang, João Silvério, Ville Kyrki
A probabilistic framework for learning geometry-based robot manipulation skills. Robotics Auton. Syst. 141 (2021)
Fares J. Abu-Dakka, Matteo Saveriano
Variable Impedance Control and Learning - A Review. Frontiers Robotics AI 7 (2020)
Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le, Ville Kyrki, He Xu
A Novel Design of Soft Robotic Hand with a Human-inspired Soft Palm for Dexterous Grasping. CoRR (2020)
Fares J. Abu-Dakka, Matteo Saveriano
Variable impedance control and learning - A review. CoRR (2020)
Fares J. Abu-Dakka, Ville Kyrki
Geometry-aware Dynamic Movement Primitives. CoRR (2020)
Tran Nguyen Le, Francesco Verdoja, Fares J. Abu-Dakka, Ville Kyrki
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements. CoRR (2020)
Fares J. Abu-Dakka, Ville Kyrki
Geometry-aware Dynamic Movement Primitives. ICRA (2020)
Fares J. Abu-Dakka, Angel Valera, Juan A. Escalera, Mohamed Abderrahim, Alvaro Page, Vicente Mata
Passive Exercise Adaptation for Ankle Rehabilitation Based on Learning Control Framework. Sensors 20 (21) (2020)
João Silvério, Yanlong Huang, Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell
Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives. IROS (2019)
Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell
Generalized Orientation Learning in Robot Task Space. ICRA (2019)
João Silvério, Yanlong Huang, Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell
Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives. CoRR (2019)
Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell
Towards Orientation Learning and Adaptation in Cartesian Space. CoRR (2019)
Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell
Force-based variable impedance learning for robotic manipulation. Robotics Auton. Syst. 109 (2018)
Pablo J. Alhama Blanco, Fares J. Abu-Dakka, Mohamed Abderrahim
Practical Use of Robot Manipulators as Intelligent Manufacturing Systems. Sensors 18 (9) (2018)
Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell
Force-Based Learning of Variable Impedance Skills for Robotic Manipulation. Humanoids (2018)
Fares J. Abu-Dakka, Miguel Díaz-Rodríguez
Comparison of trajectory parametrization methods with statistical analysis for dynamic parameter identification of serial robot. IROS (2017)
Juan A. Escalera, Fares J. Abu-Dakka, Mohamed Abderrahim
A symbolic geometric formulation of branched articulated multibody systems based on graphs and lie groups. IROS (2016)
Fares J. Abu-Dakka, Angel Valera, Juan A. Escalera, Marina Vallés, Vicente Mata, Mohamed Abderrahim
Trajectory Adaptation and Learning for Ankle Rehabilitation Using a 3-PRS Parallel Robot. ICIRA (2) (2015)
Fares J. Abu-Dakka, Bojan Nemec, Jimmy A. Jørgensen, Thiusius R. Savarimuthu, Norbert Krüger, Ales Ude
Adaptation of manipulation skills in physical contact with the environment to reference force profiles. Auton. Robots 39 (2) (2015)
Fares J. Abu-Dakka, Francisco Valero, Jose Luis Suñer, Vicente Mata
A direct approach to solving trajectory planning problems using genetic algorithms with dynamics considerations in complex environments. Robotica 33 (3) (2015)
Fares J. Abu-Dakka, Bojan Nemec, Aljaz Kramberger, Anders Glent Buch, Norbert Krüger, Ales Ude
Solving peg-in-hole tasks by human demonstration and exception strategies. Ind. Robot 41 (6) (2014)
Bojan Nemec, Fares J. Abu-Dakka, Barry Ridge, Ales Ude, Jimmy A. Jørgensen, Thiusius Rajeeth Savarimuthu, Jérôme Jouffroy, Henrik Gordon Petersen, Norbert Krüger
Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile. ICAR (2013)
Francisco Rubio, Fares J. Abu-Dakka, Francisco Valero, Vicente Mata
Comparing the efficiency of five algorithms applied to path planning for industrial robots. Ind. Robot 39 (6) (2012)
Fares J. Abu-Dakka, Francisco Valero, Vicente Mata
Evolutionary Path Planning Algorithm for Industrial Robots. Adv. Robotics 26 (11-12) (2012)
Fares J. Abu-Dakka, Iyad F. Assad, Francisco Valero, Vicente Mata
Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots. ICIRA (1) (2011)