Mohammad Ali Zamani

Language-modulated safer actions

Principle Supervisor:
Prof. Dr. Stefan Wermter
Universität Hamburg

Collaboration partners:

  • University of Plymouth
  • Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA

Competence Area: Situation


Objectives

To develop a neuro-inspired model (deep learning in convolution networks) of spoken language understanding for modulating actions. Humans often use short warnings to communicate a threatening situation to another human. If robots are to interact with humans in safe open spaces they will have to be able to listen to those warnings that humans naturally generate and adapt their behaviour accordingly.


Expected Results

The result will be an auditory-guided robot which can protect its body or change its current behaviour based on auditory warnings. We will study how the auditory input (e.g. sound, word) can trigger actions from simple actions toward action sequences and will develop an architecture for a robot that learns safe movements guided by auditory cues based on previously learned experiences.


Publications

 Mohammad Ali Zamani, Sven Magg, Cornelius Weber, Di Fu, and Stefan Wermter

(2018, Nov)

Deep Reinforcement Learning using Compositional Representations for Performing Instructions. 

Paladyn. Journal of Behavioral Robotics, Volume 9, pages 358-–373 - Nov 2018.


Hadi Beik-Mohammadi, Matthias Kerzel, Michael Görner, Mohammad Ali Zamani, Manfred Eppe, Stefan Wermter  (2018, Sep)

Neural End-to-End Learning of Reach for Grasp Ability with a 6-DoF Robot Arm

IROS 2018 Workshop on Machine Learning in Robot Motion Planning - Sep 2018.


Matthias Kerzel, Hadi Beik-Mohammadi, Mohammad Ali Zamani, and Stefan Wermter (2018, July)

Accelerating Deep Continuous Reinforcement Learning through Task Simplification.
International Joint Conference on Neural Networks (IJCNN), 2018.


Egor Lakomkin, Mohammad Ali Zamani, Cornelius Weber, Sven Magg, Stefan Wermter

EmoRL:Real-time Acoustic Emotion Classification using Deep Reinforcement Learning
International Conference on Robotics and Automation (ICRA) - May 2018.


 Mohammad Ali Zamani, Sven Magg, Cornelius Weber, Stefan Wermter

Language-modulated Safer Actions using Deep Reinforcement Learning

ICRA PhD Forum - May 2018.


Mohammad Ali Zamani, Hadi Beik-Mohammadi, Matthias Kerzel,Sven Magg, Stefan Wermter
Learning Spatial Representation for Secure Human-Robot Collaboration in Joint Manual Tasks

ICRA workshop on the WORKplace is better with intelligent, collaborative, robot MATEs (WORKMATE) - May 2018.


Zamani, M.A., Magg, S., Weber, C., and Wermter, S. (2017, August).

Deep Reinforcement Learning using Symbolic Representation for Performing Spoken Language Instructions.

In 2nd Workshop on Behavior Adaptation, Interaction and Learning for Assistive Robotics (BAILAR) on Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on.

 

 

Short Curriculum Vitae

since May 2016 Research Associate (SECURE Project) of Knowledge Technology Research Group,
Department of Computer Science, University of Hamburg, Germany.
Project: European Training Network: Safety Enables Cooperation in Uncertain Robotic Environments (SECURE)
Aug. 2015 M.Sc. in Computer Science 2012-2015, Ozyegin University, Istanbul, Turkey.,
M.Sc. Thesis: Simultaneous Human-Robot Learning for Efficient Robot Skill Synthesis,
Supervisor: Associate Prof. Erhan Oztop.
Sep. 2012- Aug. 2015 Research Assistant, Robotics Lab, Ozyegin University, from September 2012 up to August 2015 (Research supported by European Community's Seventh Framework Programme FP7, Converge).
July 2009-August 2012 Research Assistant, System and Machine Research Lab., University of Tehran, Tehran, Iran.
Supervisors: Dr. Alireza Fereidunian, Prof. Hamid Lesani and Prof. Caro Lucas.
July 2009 B.Sc. in Electrical Engineering (Control Engineering), School of ECE, University of Tehran, Tehran, Iran.
B.Sc. Thesis: Design an Expert System for Adaptive Autonomy in Smart Grids,
Supervisors: Professor Hamid Lesani and Prof. Caro Lucas.
Research Associate of the Knowledge Technology Group

Contact Info

Address: University of Hamburg
Department of Informatics
Vogt Koelln Str. 30
22527 Hamburg, Germany
Office: F-225
Phone: +49 40 428 83 2446
Fax: +49 40 428 83 2515
Email: zamani at informatik [dot] uni-hamburg [dot] de
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