Fares J. Abu-Dakka

80 papers A* 7A 8C 1Journal 57Unranked 7

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Learning-Based Robust Control: Unifying Exploration and Distributional Robustness for Reliable Robotics via Free Energy. CoRR Hozefa Jesawada, Giovanni Russo, Abdalla Swikir, Fares J. Abu-Dakka
2026	J	`jnl`	Receding-Horizon Nullspace Optimization for Actuation-Aware Control Allocation in Omnidirectional UAVs. CoRR Riccardo Pretto, Mahmoud Hamandi, Abdullah Mohamed Ali, Gokhan Alcan, Anthony Tzes, Fares J. Abu-Dakka
2026	J	`jnl`	Safe and Stable Neural Network Dynamical Systems for Robot Motion Planning. IEEE Robotics Autom. Lett. Allen Emmanuel Binny, Mahathi Anand, Hugo T. M. Kussaba, Lingyun Chen, Shreenabh Agrawal, Fares J. Abu-Dakka, Abdalla Swikir
2025	J	`jnl`	Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming. Syst. Control. Lett. Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
2025	A*	`conf`	Evaluating Human-Robot Skill Gaps in Electrical Circuit Inspection: A New Electronic Task Board for Benchmarking Manipulation. ICRA Peter So, Abdalla Swikir, Fares J. Abu-Dakka, Sami Haddadin
2025	J	`jnl`	K-VARK: Kernelized Variance-Aware Residual Kalman Filter for Sensorless Force Estimation in Collaborative Robots. CoRR Oguzhan Akbiyik, Naseem Alhousani, Fares J. Abu-Dakka
2025	A*	`conf`	MeshDMP: Motion Planning on Discrete Manifolds Using Dynamic Movement Primitives. ICRA Matteo Dalle Vedove, Fares J. Abu-Dakka, Luigi Palopoli, Daniele Fontanelli, Matteo Saveriano
2025	J	`jnl`	Safe and Stable Neural Network Dynamical Systems for Robot Motion Planning. CoRR Allen Emmanuel Binny, Mahathi Anand, Hugo T. M. Kussaba, Lingyun Chen, Shreenabh Agrawal, Fares J. Abu-Dakka, Abdalla Swikir
2025	J	`jnl`	Stable Robot Motions on Manifolds: Learning Lyapunov-Constrained Neural Manifold ODEs. CoRR David Boetius, Abdelrahman Abdelnaby, Ashok Kumar, Stefan Leue, Abdalla Swikir, Fares J. Abu-Dakka
2024	A*	`conf`	1 kHz Behavior Tree for Self-adaptable Tactile Insertion. ICRA Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares J. Abu-Dakka, Alois Knoll, Sami Haddadin
2024	A*	`conf`	CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation. ICRA Peter So, Rafael I. Cabral Muchacho, Robin Jeanne Kirschner, Abdalla Swikir, Luis F. C. Figueredo, Fares J. Abu-Dakka, Sami Haddadin
2024	J	`jnl`	Data-Efficient Reinforcement Learning for Variable Impedance Control. IEEE Access Akhil S. Anand, Rituraj Kaushik, Jan Tommy Gravdahl, Fares J. Abu-Dakka
2024	J	`jnl`	Digital Robot Judge: Building a Task-Centric Performance Database of Real-World Manipulation With Electronic Task Boards. IEEE Robotics Autom. Mag. Peter So, Andriy Sarabakha, Fan Wu, Utku Culha, Fares J. Abu-Dakka, Sami Haddadin
2024	J	`jnl`	Fusion Dynamical Systems with Machine Learning in Imitation Learning: A Comprehensive Overview. CoRR Yingbai Hu, Fares J. Abu-Dakka, Fei Chen, Xiao Luo, Zheng Li, Alois Knoll, Weiping Ding
2024	J	`jnl`	Fusion dynamical systems with machine learning in imitation learning: A comprehensive overview. Inf. Fusion Yingbai Hu, Fares J. Abu-Dakka, Fei Chen, Xiao Luo, Zheng Li, Alois Knoll, Weiping Ding
2024	A	`conf`	Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements. IROS Andrej Kruzliak, Jiri Hartvich, Shubhan P. Patni, Lukas Rustler, Jan Kristof Behrens, Fares J. Abu-Dakka, Krystian Mikolajczyk, Ville Kyrki, Matej Hoffmann
2024	J	`jnl`	Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements. CoRR Andrej Kruzliak, Jiri Hartvich, Shubhan P. Patni, Lukas Rustler, Jan Kristof Behrens, Fares J. Abu-Dakka, Krystian Mikolajczyk, Ville Kyrki, Matej Hoffmann
2024	J	`jnl`	Learning periodic skills for robotic manipulation: Insights on orientation and impedance. Robotics Auton. Syst. Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel
2024	J	`jnl`	MeshDMP: Motion Planning on Discrete Manifolds using Dynamic Movement Primitives. CoRR Matteo Dalle Vedove, Fares J. Abu-Dakka, Luigi Palopoli, Daniele Fontanelli, Matteo Saveriano
2024	A*	`conf`	Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions. ICRA Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin
2024	J	`jnl`	Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions. CoRR Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin
2024	—	`conf`	Visual servoing based dynamic groove following with an industrial robot. CASE Gorka Sarabia, Alberto Izaguirre, Xabier Elkorobarrutia, Virginia Ruiz, Fares J. Abu-Dakka, Imanol Andonegui
2023	J	`jnl`	Dynamic movement primitives in robotics: A tutorial survey. Int. J. Robotics Res. Matteo Saveriano, Fares J. Abu-Dakka, Aljaz Kramberger, Luka Peternel
2023	J	`jnl`	Geometric Reinforcement Learning for Robotic Manipulation. IEEE Access Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc, Talha Abdulkuddus, Hatice Kose, Fares J. Abu-Dakka
2023	J	`jnl`	Learning stable robotic skills on Riemannian manifolds. Robotics Auton. Syst. Matteo Saveriano, Fares J. Abu-Dakka, Ville Kyrki
2023	J	`jnl`	Model-based variable impedance learning control for robotic manipulation. Robotics Auton. Syst. Akhil S. Anand, Jan Tommy Gravdahl, Fares J. Abu-Dakka
2023	A	`conf`	Orientation Control with Variable Stiffness Dynamical Systems. IROS Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka, Dongheui Lee
2023	J	`jnl`	Orientation Control with Variable Stiffness Dynamical Systems. CoRR Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka, Dongheui Lee
2023	A	`conf`	QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation. IROS David Blanco Mulero, Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
2023	J	`jnl`	QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation. CoRR David Blanco Mulero, Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
2023	—	`conf`	Reinforcement Learning for Orientation on the Lie Algebra. SIU Naseem Alhousani, Hatice Kose, Fares J. Abu-Dakka
2023	A	`conf`	SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features. IROS Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki
2023	J	`jnl`	SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features. CoRR Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki
2023	J	`jnl`	Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints. CoRR Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
2022	J	`jnl`	A Bidirectional Soft Biomimetic Hand Driven by Water Hydraulic for Dexterous Underwater Grasping. IEEE Robotics Autom. Lett. Haihang Wang, He Xu, Fares J. Abu-Dakka, Ville Kyrki, Chen Yang, Xin Li, Siqing Chen
2022	A	`conf`	A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects. IROS Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
2022	J	`jnl`	A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects. CoRR Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
2022	J	`jnl`	A Unified Formulation of Geometry-aware Dynamic Movement Primitives. CoRR Fares J. Abu-Dakka, Matteo Saveriano, Ville Kyrki
2022	C	`conf`	Addressing Sample Efficiency and Model-bias in Model-based Reinforcement Learning. ICMLA Akhil S. Anand, Jens Erik Kveen, Fares J. Abu-Dakka, Esten Ingar Grøtli, Jan Tommy Gravdahl
2022	J	`jnl`	Deep Model Predictive Variable Impedance Control. CoRR Akhil S. Anand, Fares J. Abu-Dakka, Jan Tommy Gravdahl
2022	J	`jnl`	Deformation-Aware Data-Driven Grasp Synthesis. IEEE Robotics Autom. Lett. Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
2022	J	`jnl`	Editorial Variable Impedance Control and Learning in Complex Interaction Scenarios: Challenges and Opportunities. IEEE Robotics Autom. Lett. Fares J. Abu-Dakka, Matteo Saveriano, Meghan E. Huber, Thiago Boaventura
2022	J	`jnl`	Geometric Reinforcement Learning: The Case of Cartesian Space Orientation. CoRR Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc, Talha Abdulkuddus, Hatice Kose, Fares J. Abu-Dakka
2022	J	`jnl`	Learning Deep Robotic Skills on Riemannian Manifolds. IEEE Access Weitao Wang, Matteo Saveriano, Fares J. Abu-Dakka
2022	J	`jnl`	Learning Deep Robotic Skills on Riemannian manifolds. CoRR Weitao Wang, Matteo Saveriano, Fares J. Abu-Dakka
2022	J	`jnl`	Learning Stable Robotic Skills on Riemannian Manifolds. CoRR Matteo Saveriano, Fares J. Abu-Dakka, Ville Kyrki
2021	J	`jnl`	A Novel Soft Robotic Hand Design With Human-Inspired Soft Palm: Achieving a Great Diversity of Grasps. IEEE Robotics Autom. Mag. Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le, Ville Kyrki, He Xu
2021	J	`jnl`	A probabilistic framework for learning geometry-based robot manipulation skills. Robotics Auton. Syst. Fares J. Abu-Dakka, Yanlong Huang, João Silvério, Ville Kyrki
2021	J	`jnl`	Deformation-Aware Data-Driven Grasp Synthesis. CoRR Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
2021	J	`jnl`	Dynamic Movement Primitives in Robotics: A Tutorial Survey. CoRR Matteo Saveriano, Fares J. Abu-Dakka, Aljaz Kramberger, Luka Peternel
2021	J	`jnl`	Imitation learning-based framework for learning 6-D linear compliant motions. Auton. Robots Markku Suomalainen, Fares J. Abu-Dakka, Ville Kyrki
2021	—	`conf`	Periodic DMP formulation for Quaternion Trajectories. ICAR Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel
2021	J	`jnl`	Periodic DMP formulation for Quaternion Trajectories. CoRR Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel
2021	J	`jnl`	Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements. IEEE Robotics Autom. Lett. Tran Nguyen Le, Francesco Verdoja, Fares J. Abu-Dakka, Ville Kyrki
2021	J	`jnl`	Toward Orientation Learning and Adaptation in Cartesian Space. IEEE Trans. Robotics Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell
2021	J	`jnl`	Towards synthesizing grasps for 3D deformable objects with physics-based simulation. CoRR Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki
2020	J	`jnl`	A Novel Design of Soft Robotic Hand with a Human-inspired Soft Palm for Dexterous Grasping. CoRR Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le, Ville Kyrki, He Xu
2020	A*	`conf`	Geometry-aware Dynamic Movement Primitives. ICRA Fares J. Abu-Dakka, Ville Kyrki
2020	J	`jnl`	Geometry-aware Dynamic Movement Primitives. CoRR Fares J. Abu-Dakka, Ville Kyrki
2020	J	`jnl`	Passive Exercise Adaptation for Ankle Rehabilitation Based on Learning Control Framework. Sensors Fares J. Abu-Dakka, Angel Valera, Juan A. Escalera, Mohamed Abderrahim, Alvaro Page, Vicente Mata
2020	J	`jnl`	Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements. CoRR Tran Nguyen Le, Francesco Verdoja, Fares J. Abu-Dakka, Ville Kyrki
2020	J	`jnl`	Variable Impedance Control and Learning - A Review. Frontiers Robotics AI Fares J. Abu-Dakka, Matteo Saveriano
2020	J	`jnl`	Variable impedance control and learning - A review. CoRR Fares J. Abu-Dakka, Matteo Saveriano
2019	A*	`conf`	Generalized Orientation Learning in Robot Task Space. ICRA Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell
2019	J	`jnl`	Towards Orientation Learning and Adaptation in Cartesian Space. CoRR Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell
2019	A	`conf`	Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives. IROS João Silvério, Yanlong Huang, Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell
2019	J	`jnl`	Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives. CoRR João Silvério, Yanlong Huang, Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell
2018	—	`conf`	Force-Based Learning of Variable Impedance Skills for Robotic Manipulation. Humanoids Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell
2018	J	`jnl`	Force-based variable impedance learning for robotic manipulation. Robotics Auton. Syst. Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell
2018	J	`jnl`	Practical Use of Robot Manipulators as Intelligent Manufacturing Systems. Sensors Pablo J. Alhama Blanco, Fares J. Abu-Dakka, Mohamed Abderrahim
2017	A	`conf`	Comparison of trajectory parametrization methods with statistical analysis for dynamic parameter identification of serial robot. IROS Fares J. Abu-Dakka, Miguel Díaz-Rodríguez
2016	A	`conf`	A symbolic geometric formulation of branched articulated multibody systems based on graphs and lie groups. IROS Juan A. Escalera, Fares J. Abu-Dakka, Mohamed Abderrahim
2015	J	`jnl`	A direct approach to solving trajectory planning problems using genetic algorithms with dynamics considerations in complex environments. Robotica Fares J. Abu-Dakka, Francisco Valero, Jose Luis Suñer, Vicente Mata
2015	J	`jnl`	Adaptation of manipulation skills in physical contact with the environment to reference force profiles. Auton. Robots Fares J. Abu-Dakka, Bojan Nemec, Jimmy A. Jørgensen, Thiusius R. Savarimuthu, Norbert Krüger, Ales Ude
2015	—	`conf`	Trajectory Adaptation and Learning for Ankle Rehabilitation Using a 3-PRS Parallel Robot. ICIRA (2) Fares J. Abu-Dakka, Angel Valera, Juan A. Escalera, Marina Vallés, Vicente Mata, Mohamed Abderrahim
2014	J	`jnl`	Solving peg-in-hole tasks by human demonstration and exception strategies. Ind. Robot Fares J. Abu-Dakka, Bojan Nemec, Aljaz Kramberger, Anders Glent Buch, Norbert Krüger, Ales Ude
2013	—	`conf`	Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile. ICAR Bojan Nemec, Fares J. Abu-Dakka, Barry Ridge, Ales Ude, Jimmy A. Jørgensen, Thiusius Rajeeth Savarimuthu, Jérôme Jouffroy, Henrik Gordon Petersen, Norbert Krüger
2012	J	`jnl`	Comparing the efficiency of five algorithms applied to path planning for industrial robots. Ind. Robot Francisco Rubio, Fares J. Abu-Dakka, Francisco Valero, Vicente Mata
2012	J	`jnl`	Evolutionary Path Planning Algorithm for Industrial Robots. Adv. Robotics Fares J. Abu-Dakka, Francisco Valero, Vicente Mata
2011	—	`conf`	Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots. ICIRA (1) Fares J. Abu-Dakka, Iyad F. Assad, Francisco Valero, Vicente Mata