Thesis

Towards Autonomous Policy Synthesis: Tactile Manipulation Skills, Learning Architecture, and Process-Taxonomy-Based Planning

Biography

I am a research scientist at the Seattle Robotics Lab. I obtained my PhD from the Technical University Munich under the supervision of Prof. Sami Haddadin. Before joining NVIDIA, I was the head of the AI department at Franka Robotics GmbH, the creator of the most popular research robot worldwide. My research at NVIDIA focuses on two main aspects. First, how to design intelligent robotic systems such that they are deployable in the real world. Second, how to model manipulation such that robots can solve complex tasks with similar performance and robustness as humans.

Research Interests

• Artificial Intelligence and Machine Learning
• Robotics

Contact

• LinkedIn
• Google Scholar
• NVIDIA
• ORCID

Selected Publications

• 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, 2024. [Project Page]
• Samuel Schneider, Yansong Wu, Lars Johannsmeier, Fan Wu, Sami Haddadin, A Scalable Platform for Robot Learning and Physical Skill Data Collection, 2024. [Project Page]
• Johannes Ringwald, Samuel Schneider, Lingyun Chen, Dennis Knobbe, Lars Johannsmeier, Abdalla Swikir, Sami Haddadin, Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics, 2023. [Project Page]
• Abdeldjallil Naceri, Jean Elsner, Mario Tröbinger, Hamid Sadeghian, Lars Johannsmeier, Florian Voigt, Xiao Chen, Daniela Macari, Christoph Jähne, Maximilian Berlet, Jonas Fuchtmann, Luis F. C. Figueredo, Hubertus Feußner, Dirk Wilhelm, Sami Haddadin, Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study, 2022. [Project Page]
• Sami Haddadin, Sven Parusel, Lars Johannsmeier, Saskia Golz, Simon Gabl, Florian Walch, Mohamadreza Sabaghian, Christoph Jähne, Lukas Hausperger, Simon Haddadin, The Franka Emika Robot: A Reference Platform for Robotics Research and Education, 2022. [Project Page]
• Xiao Chen, Lars Johannsmeier, Hamid Sadeghian, Erfan Shahriari, Martin Danneberg, Anselm Nicklas, Fan Wu, Gerhard P. Fettweis, Sami Haddadin, On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G, 2022. [Project Page]
• Lars Johannsmeier, Sami Haddadin, Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance, 2022. [Project Page]
• Johannes Ringwald, Samuel Schneider, Lingyun Chen, Dennis Knobbe, Lars Johannsmeier, Abdalla Swikir, Sami Haddadin, Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics, 2022. [Project Page]
• Erfan Shahriari, Lars Johannsmeier, Elisabeth Rose Jensen, Sami Haddadin, Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks, 2020. [Project Page]
• Florian Voigt, Lars Johannsmeier, Sami Haddadin, Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation, 2020. [Project Page]
• Sami Haddadin, Lars Johannsmeier, Fernando Diaz Ledezma, Tactile Robots as a Central Embodiment of the Tactile Internet, 2019. [Project Page]
• Lars Johannsmeier, Malkin Gerchow, Sami Haddadin, A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control, 2019. [Project Page]
• Jasmin Grischke, Lars Johannsmeier, Lukas Eich, Sami Haddadin, Dentronics: Review, First Concepts and Pilot Study of a New Application Domain for Collaborative Robots in Dental Assistance, 2019. [Project Page]
• Johannes Kuehn, Johannes Ringwald, Moritz Schappler, Lars Johannsmeier, Sami Haddadin, Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype, 2019. [Project Page]
• Erfan Shahriari, Lars Johannsmeier, Sami Haddadin, Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives, 2018. [Project Page]
• Sami Haddadin, Lars Johannsmeier, Marvin Becker, Moritz Schappler, Torsten Lilge, Simon Haddadin, Johannes Schmid, Tobias Ende, Sven Parusel, Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands, 2018. [Project Page]
• Reinhard Grassmann, Lars Johannsmeier, Sami Haddadin, Smooth Point-to-Point Trajectory Planning in \textdollarSE\textdollar (3)with Self-Collision and Joint Constraints Avoidance, 2018. [Project Page]
• Sami Haddadin, Lars Johannsmeier, The Art of Manipulation: Learning to Manipulate Blindly, 2018. [Project Page]
• Sami Haddadin, Lars Johannsmeier, Johannes Schmid, Tobias Ende, Sven Parusel, Simon Haddadin, Moritz Schappler, Torsten Lilge, Marvin Becker, roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands, 2018. [Project Page]
• Lars Johannsmeier, Malkin Gerchow, Sami Haddadin, A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control, 2018. [Project Page]
• Lars Johannsmeier, Sami Haddadin, A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes, 2017. [Project Page]