Mohammad Ali Zamani

Language-modulated safer actions

Principle Supervisor:
Prof. Dr. Stefan Wermter
Universität Hamburg

Collaboration partners:

  • Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA

Competence Area: Situation


Research Summary

In the future, robots are expected to work as companions with humans in various areas including domestic scenarios such as care-giving. However, even with well-engineered robots, it would be unrealistic to move robots directly from factories to home environments to perform complex tasks due to safety. Moreover, robots also have to continuously adapt to new environments to avoid hazardous actions since using experts to program a robot for every environment is impossible. Hence, we need adaptive learning algorithms. Spoken language can be considered one of the most effective communication channels to warn robots about threats. A human can guide the robot by a verbal utterance toward a safer interaction. Our goal is to train a robot to safely perform complex tasks with the ability of processing environmental feedback, including guidance and warnings by a human, to shape a proper signal for updating its own policy. Therefore, this research project is focused on three areas: a) given the verbal instructions, generating high-level actions, b) learning low-level actions to fulfill the high-level action, c) learning warnings using the prosodic/sentiment features of the human speaker.


Publications

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

(2019, May)

Incorporating End-to-End Speech Recognition Models for Sentiment Analysis (pdf)

2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 7976-7982.


 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.


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

(2018, Oct)

On the Robustness of Speech Emotion Recognition for Human-Robot Interaction with Deep Neural Networks (pdf)

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 854-860.


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

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 (pdf)

 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

May 2016- April 2019

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)

Supervisor: Prof. Stefan Wermter

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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