Iman Nematollahi

PhD Student in Robot Learning

University of Freiburg

Biography

I am a Ph.D. student at the Autonomous Intelligent Systems Lab of the University of Freiburg, supervised by Prof. Dr. Wolfram Burgard. My research focuses on robot manipulation and deep learning to enable robots to develop an intuitive understanding of physics from past unlabeled interaction experiences. This intuitive physics model allows robots to comprehend the 3D dynamics of the surrounding world in order to predict plausible future outcomes and learn a diverse repertoire of adaptive and generalizable skills.

Progress

Intuitive Physics: Hind4sight (2020), T3VIP (2022)
Robot Skills: Ext-GMM (2019), SAC-GMM (2022), KIS-GMM (2023)

Interests

Robot Learning
Learning Intuitive Physics
Self-Supervised Learning

Education

PhD in Robot Learning, now
University of Freiburg
MSc in Embedded Systems, 2018
University of Freiburg
BSc in Electrical Engineering, 2015
Shahid Beheshti University

Recent Work

Intuitive Physics

RGB-D Video Prediction (T3VIP)	Learning Structured Dynamics Models (Hind4sight)

Robot Skills

Robot Skill Generalization to Unseen Environments (KIS-GMM)	Refining Real-World Robot Skills in the Trajectory Space (SAC-GMM)
Augmenting Robot Skills by Non-Geometric Features (Ext-GMM)

Experience

Research Assistant

Autonomous Intelligent Systems Lab

Jan 2019 – Present Germany

Student Research Assistant

Autonomous Intelligent Systems Lab

Aug 2017 – Oct 2017 Germany

Implementation of Dynamic Obstacle Avoidance for KUKA OmniRob

Student Research Assistant

IMTEK - Laboratory for the Design of Microsystems

Nov 2016 – Oct 2018 Germany

Low power hardware implementation of an Early Seizure Detection Convolutional Neural Network algorithm on FPGA
Continuous and simultaneous readout of ADC channels using SPI and USB protocols via FPGA

Electrical Engineer

Mahya Intelligent Transportation Systems

Sep 2012 – Sep 2014 Iran

As a member of Electrical team, I was trained to design, implement and maintain software and hardware requirements of Tehran traffic control devices.

Student Research Assistant

Shahid Beheshti University - Microprocessors Lab

Mar 2014 – Jun 2014 Iran

Design and Implementation of a novel Class Attendance System using AVR Microcontrollers and RFID Modules (used in the 22nd Iranian Conference on Electrical Engineering).

Publications

Quickly discover relevant content by filtering publications.

Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models

ISER 2023 - Chiang Mai, Thailand

Iman Nematollahi*, Kirill Yankov*, Wolfram Burgard, Tim Welschehold

Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models

T3VIP: Transformation-based 3D Video Prediction

IROS 2022 - Kyoto, Japan

Iman Nematollahi, Erick Rosete-Beas, Seyed Mahdi B. Azad, Raghu Rajan, Frank Hutter, Wolfram Burgard

T3VIP: Transformation-based 3D Video Prediction

Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models

ICRA 2022 - Philadelphia, USA

Iman Nematollahi*, Erick Rosete-Beas*, Adrian Röfer, Tim Welschehold, Abhinav Valada, Wolfram Burgard

Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models

Hindsight for Foresight: Unsupervised Structured Dynamics Models from Physical Interaction

IROS 2020 - Las Vegas, USA

Iman Nematollahi, Oier Mees, Lukas Hermann, Wolfram Burgard

Hindsight for Foresight: Unsupervised Structured Dynamics Models from Physical Interaction

Augmenting Action Model Learning by Non-Geometric Features

ICRA 2019 - Montreal, Canada

Iman Nematollahi, Daniel Kuhner, Tim Welschehold, Wolfram Burgard

Augmenting Action Model Learning by Non-Geometric Features

Hardware Implementation of a Performance and Energy-optimized Convolutional Neural Network for Seizure Detection

EMBC 2018 - Honolulu, Hawaii

Simon Heller, Maria Hügle, Iman Nematollahi, Farrokh Manzouri, Matthias Dümpelmann, Andreas Schulze-Bonhage, Joschka Boedecker, Peter Woias

Three Channel High Dynamic Current Measurement System for Low Power Systems

Journal of Physics Conference Series 2018

Simon Heller, Iman Nematollahi, Soeren Koeble, Peter Woias

Assistive Medication Management System for Users with Visual Impairment

pHealth 2018 - Gjøvik, Norway

Kiana Farhadyar, Reza Safdari, Ahmad Behpajooh, Iman Nematollahi

Contact

nematoli@cs.uni-freiburg.de
+49 761 203-8023
Georges-Köhler-Allee 080, Freiburg im Breisgau, BW 79110