Publications
SELECTED PUBLICATIONS
Note: Shared PDF files are drafts of my papers made available only for research purposes. Please refer to the publishers for the official copies.
Book Chapters
Z. R. Khavas, S. R. Ahmadzadeh, P. Robinette, "Modeling Trust in Human-Robot Interaction: A Survey," in Social Robotics, Eds. R. Wagner, et al., Springer LNAI 12483, pp. 529--541, 2020.
S. R. Ahmadzadeh, P. Kormushev, "Visuospatial Skill Learning," in Handling Uncertainty and Networked Structure in Robot Control, Eds. L. Busoniu, L. Tamás, Springer Studies in Systems, Decision, and Control, pp. 75-99, 2015.
P. Kormushev, S. R. Ahmadzadeh, "Robot Learning for Persistent Autonomy," in Handling Uncertainty and Networked Structure in Robot Control, Eds. L. Busoniu, L. Tamás, Springer Studies in Systems, Decision, and Control, pp. 3-28, 2015.
Journal Papers
H. Osooli, N. Joshi, P. Khurana, A. Nikoofard, Z. Shirmohammadi, and R. Azadeh, "Releaf: An Efficient Method for Real-Time Occlusion Handling by Game Theory," Sensors, vol. 24, no. 17, 2024.
Z. R. Khavas, M. R. Kotturu, S. R. Ahmadzadeh, p. Robinette, "Do Humans Trust Robots that Violate Moral-Trust?," ACM Transactions on Human-Robotic Interaction (THRI), 2024.
Z. R. Khavas, M. R. Kotturu, R. Perkin, S. R. Ahmadzadeh, P. Robinette, "The Effect of Performance-Based Compensation on Crowdsourced HRI Experiments," Journal of Software (JSW), vol. 18, no. 3, pp. 117--129, ISSN: 1796-217X, 2023.
S. R. Ahmadzadeh, S. Chernova, "Trajectory-based Skill Learning using Generalized Cylinders," Frontiers in Robotics and AI, section Human-Robot Interaction, vol.5 (2018).
[PDF][Frontiers][Bibtex][Code]
S. R. Ahmadzadeh, F. Mastrogiovanni, P. Kormushev, "Visuospatial Skill Learning for Robots," CoRR abs/1706.00989, 2017.
A. Carrera*, S. R. Ahmadzadeh*, A. Ajoudani, P. Kormushev, M. Carreras and D. G. Caldwell, "Towards Autonomous Robotic Valve Turning," In Cybernetics and Information Technologies (CIT), Vol. 12, no. 3, pp. 17-26, 2012.
Conference Papers
Yasin Findik, Hunter Hasenfus, Reza Azadeh, "Collaborative Adaptation for Recovery from Unforeseen Malfunctions in Discrete and Continuous MARL Domains," In Proc. 63rd IEEE Conference on Decision and Control (CDC), Milan, Italy, pp. xxxx--xxxx, Dec. 16-19, 2024. [accepted]
Monish Reddy Kotturu, Saniya Vahedian Movahed, Kshitij Jerath, Paul Robinette, Reza Azadeh, "Relational Weight Optimization for Enhancing Team Performance in Multi-Agent Multi-Armed Bandits," In Proc. 4th Modeling, Estimation and Control Conference (MECC) 2024, Chicago, IL, USA, pp. xx--xx, Oct. 27-30, 2024. [accepted]
Akshay Kolli, Reza Azadeh, Kshitij Jerath, "Graph Attention Inference of Network Topology in Multi-Agent Systems," In Proc. 4th Modeling, Estimation and Control Conference (MECC) 2024, Chicago, IL, USA, pp. xx--xx, Oct. 27-30, 2024. [accepted]
Zahra Rezaei Khavas, Monish Reddy Kotturu, Reza Azadeh, Paul Robinette, "Do Humans Have Different Expectations Regarding Humans and Robots' Morality?," In Proc. 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Pasadena, CA, USA, pp. xx--xx, Aug. 26-30, 2024. [accepted]
Gregory LeMasurier, James Tukpah, Murphy Wonsick, Jordan Allspaw, Brendan Hertel, Jacob Epstein, Reza Azadeh, Taskin Padir, Holly Yanco, Elizabeth Phillips, "Comparing a 2D Keyboard and Mouse Interface to Virtual Reality for Human-in-the-Loop Robot Planning for Mobile Manipulation," In Proc. 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Pasadena, CA, USA, pp. xx--xx, Aug. 26-30, 2024. [accepted]
Yasin Findik, Paul Robinette, Kshitij Jerath, Reza Azadeh, "Relational Q-Functionals: Multi-Agent Learning to Recover from Unforeseen Robot Malfunctions in Continuous Action Domains," In Proc. 21st International Conference on Ubiquitous Robots (UR), New York, USA, pp. 251--256, June 24-27, 2024.
Hamid Osooli, Christopher Coco, Jonathan Spanos, Amin Majdi, Reza Azadeh, "Investigating the Generalizability of Assistive Robots Models over Various Tasks," In Proc. 21st International Conference on Ubiquitous Robots (UR), New York, USA, pp. 227--232, June 24-27, 2024. [arXiv]
Ryan Donald, Brendan Hertel, Stephen Misenti, Yan Gu, Reza Azadeh, "An Adaptive Framework for Manipulator Skill Reproduction in Dynamic Environments," In Proc. 21st International Conference on Ubiquitous Robots (UR), New York, USA, pp. 498--503, June 24-27, 2024. [arXiv]
Christopher Coco, Jonathan Spanos, Hamid Osooli, Reza Azadeh, "Design of Fuzzy Logic Parameter Tuners for Upper-Limb Assistive Robots," WIP paper at 21st International Conference on Ubiquitous Robots (UR), New York, USA, pp. 386--389, June 24-27, 2024. [arXiv][Best WIP Paper Award Finalist]
Brendan Hertel, Nhu Tran, Meriem Elkoudi, Reza Azadeh, "A Framework for Learning and Reusing Robotic Skills," WIP paper at 21st International Conference on Ubiquitous Robots (UR), New York, USA, pp. xx--xx, June 24-27, 2024. [arXiv]
Zahra Rezaei Khavas, Monish Reddy Kotturu, Reza Ahmadzadeh, and Paul Robinette, "Do humans retaliate against immoral robots?," International Symposium on Technological Advances in Human-Robotic Interaction (TAHRI), Boulder, CO, pp. 1--4, Mar. 9–10, 2024 [Website][Best Poster Award Winner].
Yasin Findik, Hamid Osooli, Paul Robinette, Kshitij Jerath, S. Reza Ahmadzadeh, "Influence of Team Interactions on Multi-Robot Cooperation: A Relational Network Perspective," In Proc. 2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Boston, MA, pp. 50--56, Dec 4-5, 2023. [IEEE][arXiv][35% acceptance rate]
Y. Findik, P. Robinette, K. Jerath, S. R. Ahmadzadeh, "Impact of Relational Networks in Multi-Agent Learning: A Value-Based Factorization View," In Proc. 62nd IEEE Conference on Decision and Control (CDC), Marina Bay Sands, Singapore, pp. 4447--4454, Dec. 13-15, 2023. [IEEE]
B. Hertel, S. R. Ahmadzadeh, "Confidence-Based Skill Reproduction Through Perturbation Analysis," In Proc. 20th International Conference on Ubiquitous Robots (UR 2023), Honolulu, Hawaii, pp. 165-170, Jun. 25-28, 2023.
H. Osooli, M. I. Rahaghi, S. R. Ahmadzadeh, "Design and Evaluation of a Bioinspired Tendon-Driven 3D-Printed Robotic Eye with Active Vision Capabilities," In Proc. 20th International Conference on Ubiquitous Robots (UR 2023), Honolulu, Hawaii, pp. 747-752, Jun. 25-28, 2023.
Z. R. Khavas, A. Majdi, S. R. Ahmadzadeh, P. Robinette, "Human Trust After Drone Failure: Study of the Effects of Drone Type and Failure Type on Human-Drone Trust," In Proc. 20th International Conference on Ubiquitous Robots (UR 2023), Honolulu, Hawaii, pp. 685-692, Jun. 25-28, 2023.
R. Donald, P. Gavriel, A. Norton and S. R. Ahmadzadeh, "Contextual Autonomy Evaluation of Unmanned Aerial Vehicles in Subterranean Environments," In Proc. 9th International Conference on Automation, Robotics, and Applications (ICARA), Abu Dhabi, United Arab Emirates, pp. 202–207, Feb 10-12, 2023. [arXiv]
Z. R. Khavas, R. Perkin, S. R. Ahmadzadeh and P. Robinette, "The Effect of Performance-Based Compensation on Crowdsourced HRI Experiments," In Proc. 9th International Conference on Automation, Robotics, and Applications (ICARA), Abu Dhabi, United Arab Emirates, pp. xxx–xxx, Feb 10-12, 2023.
B. Hertel, M. Pelland, S. R. Ahmadzadeh, "Learning from Demonstration using Elastic Maps," In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, pp. 7407-7413, Oct. 23-27, 2022. [pdf][arXiv][video]
B. Hertel, R. Donald, C. Dumas, S. R. Ahmadzadeh, "Methods for Combining and Representing Non-Contextual Autonomy Scores for Unmanned Aerial Systems," In Proc. International Conference on Automation, Robotics, and Applications (ICARA), Prague, Czech Republic, pp. 145–149, Feb 18-20, 2022. [arXiv][Bibtex]
B. Hertel, S. R. Ahmadzadeh, "Similarity-aware Skill Reproduction based on Multi-representational Learning from Demonstration," In Proc. International Conference on Advanced Robotics (ICAR 2021), Ljubljana, Slovenia, pp. 652--657, Dec 6-10, 2021. [arXiv][Bibtex][Vidoe]
B. Hertel, S. R. Ahmadzadeh, "Learning from Successful and Failed Demonstrations via Optimization," In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, pp. 7784-7789, 27 Sept. - 1 Oct. 2021. [PDF][Video][Presentation][IEEE][arXiv]
Z. R. Khavas, S. R. Ahmadzadeh, P. Robinette, "Modeling Trust in Human-Robot Interaction: A Survey," In Proc. International Conference on Social Robotics (ICSR 2020), Golden, Colorado, pp. 529--541, 14-16 Nov. 2020. [Springer][PDF][arXiv][Bibtex]
Z. Han, J. Allspaw, G. LeMasurier, J. Parrillo, D. Giger, S. R. Ahmadzadeh, H. Yanco, "Towards Mobile Multi-Task Manipulation in a Confined and Integrated Environment with Irregular Objects,'' In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2020), Paris, France, pp. 11025--11031, 31 May - 4 June, 2020. [PDF][Video][Presentation][IEEE][Bibtex]
M. A. Rana, D. Chen, S. R. Ahmadzadeh, J. Williams, V. Chu, S. Chernova, "Benchmark for Skill Learning from Demonstration: Impact of User Experience, Task Complexity, and Start Configuration on Performance,'' In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2020), Paris, France, pp. 7561--7567, 31 May - 4 June, 2020. [PDF][Video][Presentation][IEEE][Bibtex]
H. Ravichandar*, S. R. Ahmadzadeh*, M. A. Rana, S. Chernova, "Skill Acquisition via Automated Multi-Coordinate Cost Balancing," In Proc. IEEE Intl Conf. on Robotics and Automation, (ICRA 2019), Montreal, Canada, pp. 7776--7782, 20-24 May, 2019. [arXiv][PDF][Video][IEEE][Bibtex]
M. A. Rana, , D. Chen, S. R. Ahmadzadeh, J. Williams, V. Chu, S. Chernova, "A Large-Scale Benchmark Study Investigating the Impact of User Experience, Task Complexity, and Start Configuration on Robot Skill Learning," NeuroIPS, Workshop on Imitation Learning and its Challenges in Robotics, Montreal, Canada, Dec. 7, 2018. [PDF][PDF][ILR][Bibtex]
M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, and B. Boots, "Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments," In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, pp. 4655-4660, 1-5 Oct. 2018. [arXiv][PDF][Video][IEEE][Bibtex]
M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, and B. Boots, "Robot Skill Learning from Demonstrations in Cluttered Environments," Robotics: Science and System (RSS 2018), Workshop on Learning and Inference in Robotics, Pittsburgh, Pennsylvania, USA, June, 26-30 2018. [LAIR][PDF][PDF][Bibtex]
M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, and B. Boots, "Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning," In Proc. 1st Annual Conference on Robot Learning (CORL 2017), in PMLR, Mountain View, CA, USA, 13-15 Nov. 2017. [selected for plenary presentation: 8% acceptance rate] [PMLR][PDF][Bibtex]
H. Lehmann, I. Keller, S. R. Ahmadzadeh, F. Broz, "Naturalistic Conversational Gaze Control for Humanoid Robots - A First Step," In Proc. International Conference on Social Robotics (ICSR 2017), Tsukuba, Japan, pp. 526--535, 22-24 Nov. 2017. [PDF][Springer][PDF][Bibtex]
M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova and B. Boots, "Towards Robust Skill Generalization: Unifying LfD and Motion Planning," Robotics: Science and Systems (RSS 2017), Workshop on (Empirically) Data-Driven Manipulation, Boston, MA, USA, pp. 1--3, 12-16, Jul. 2017. [MIT][PDF][Bibtex]
M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova and B. Boots, "Skill Generalization via Inference-Based Planning," Robotics: Science and Systems (RSS 2017), Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction, Boston, MA, USA, pp. 1--3, 12-16, Jul. 2017. [PDF][Bibtex]
S. R. Ahmadzadeh, M. A. Rana, S. Chernova, "Generalized Cylinders for Learning, Reproduction, Generalization, and Refinement of Robot Skills," In Proc. Robotics: Science and Systems (RSS 2017), Boston, MA, USA, pp. 1--10, 12th-16th Jul. 2017. [RSS][PDF][Video][Bibtex]
H. Lehmann, F. Broz, S. R. Ahmadzadeh, A. Del Bue, L. Natale, G. Metta, "Social Gaze Behavior for Face to Face Human-Robot Interaction," In Proc. 9th International Workshop on Human-Friendly Robotics (HFR 2016), Genoa, Italy, pp. 112-115, 29-30 Sept. 2016. [PDF][PDF][Bibtex]
S. R. Ahmadzadeh, R. Kaushik, S. Chernova, "Trajectory Learning from Demonstration with Canal Surfaces: A Parameter-free Approach," In Proc. 16th IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids 2016), Cancun, Mexico, pp. 544--549, 15-17 Nov. 2016. [PDF][IEEE][Bibtex]
S. R. Ahmadzadeh, S. Chernova, "Encoding Demonstrations and Learning New Trajectories using Canal Surfaces," In Proc. 25th Int. joint Conf. on Artificial Intelligence (IJCAI 2016), Workshop on Interactive Machine Learning: Connecting Humans and Machines, New York City, NY, USA, 9th-15th Jul. 2016. [PDF][PDF][Bibtex]
S. R. Ahmadzadeh, S. Chernova, "A Geometric Approach for Encoding Demonstrations and Learning New Trajectories," In Proc. Robotics: Science and Systems (RSS 2016), Workshop on Planning for Human-Robot Interaction: Shared Autonomy and Collaborative Robotics, Ann Arbor, Michigan, USA, 18-22 Jun. 2016. [PDF][PDF][Bibtex]
S. R. Ahmadzadeh, A. Paikan, F. Mastrogiovanni, L. Natale, P. Kormushev, D. G. Caldwell, "Learning Symbolic Representations of Actions from Human Demonstrations," In Proc. IEEE Intl Conf. on Robotics and Automation, (ICRA 2015), Seattle, WA, USA, pp. 3801--3808, 26-30 May 2015. [PDF][IEEE][Code][Bibtex]
S. R. Ahmadzadeh, P. Kormushev, R. S. Jamisola Jr., and Darwin G. Caldwell, "Learning Reactive Robot Behavior for Autonomous Valve Turning," In Proc. 14th IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids 2014), Madrid, Spain, pp. 366-373, 18-20 Nov. 2014. [PDF][IEEE][Bibtex]
S. R. Ahmadzadeh, P. Kormushev, D. G. Caldwell, "Multi-Objective Reinforcement Learning for AUV Thruster Failure Recovery," In Proc. IEEE Symp. Series on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL 2014), IEEE Symp. Series on Computational Intelligence (SSCI 2014), Orlando, FL, USA, 8-12 Dec. 2014. [PDF][IEEE][Bibtex]
S. R. Ahmadzadeh, M. Leonetti, A. Carrera, M. Carreras, P. Kormushev, D. G. Caldwell, "Online Discovery of AUV Control Policies to Overcome Thruster Failures," In Proc. IEEE Intl Conf. on Robotics and Automation, (ICRA 2014), Hong Kong, China, pp. 6522-6528, 31 May-7 Jun. 2014. [PDF][Video][IEEE][Bibtex]
N. Jamali, P. Kormushev, S. R. Ahmadzadeh, D. G. Caldwell, "Covariance Analysis as a Measure of Policy Robustness," In Proc. MTS/IEEE Intl Conf. OCEANS 2014, Taipei, Taiwan, 7-10 Apr. 2014. [PDF][IEEE][Bibtex]
S. R. Ahmadzadeh, P. Kormushev, D. G. Caldwell, "Interactive Robot Learning of Visuospatial Skills," In Proc. 16th IEEE Intl Conf. on Advanced Robotics (ICAR 2013), Montevideo, Uruguay, 25-29 Nov. 2013. [PDF][Video][IEEE][Code][Bibtex]
S. R. Ahmadzadeh, M. Leonetti, P. Kormushev, "Online Direct Policy Search for Thruster Failure Recovery in Autonomous Underwater Vehicles," In Proc. 6th Intl Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS 2013), 12th European Conf. on Artificial Life (ECAL 2013), Taormina, Italy, 2-9 Sept. 2013. [PDF][Bibtex]
S. R. Ahmadzadeh, P. Kormushev, D. G. Caldwell, "Visuospatial Skill Learning for Object Reconfiguration Tasks," In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, pp. 685-691, 3-8 Nov. 2013.[PDF][video][IEEE][Code][Bibtex]
M. Leonetti, S. R. Ahmadzadeh, P. Kormushev, "On-line Learning to Recover from Thruster Failures on Autonomous Underwater Vehicles," In Proc. MTS/IEEE Intl Conf. OCEANS 2013, San Diego, CA, USA, 23-26 Sept. 2013. [PDF][IEEE][Bibtex]
S. R. Ahmadzadeh, P. Kormushev, D. G. Caldwell, "Autonomous Robotic Valve Turning: A Hierarchical Learning Approach," In Proc. IEEE Intl Conf. on Robotics and Automation, (ICRA 2013), Karlsruhe, Germany, pp. 4614-4619, 6-11 May 2013. [PDF][Video][IEEE][Bibtex]
S. R. Ahmadzadeh, S. Hasanzadeh, "Design of a TSK Fuzzy Controller for Active Suspension System and Compare the Results with the Linear Feedback Controller Actions," In Proc. 6th Annu. Student Conf. of Mechanical Engineering (STU 2009), Tehran, Iran, Feb. 2009 (in Persian). [Bibtex]
S. R. Ahmadzadeh, "Modeling of Hyper-Redundant Manipulators Dynamics and Design of Fuzzy Controller for the System," In Proc. IEEE Intl Conf. of Integration of Knowledge Intensive Multi-Agent Systems (KIMAS 2005), Waltham, MA, USA, pp. 248-253, 18-21 Apr. 2005. [PDF][IEEE][Bibtex]
S. R. Ahmadzadeh, M.A. Hajabasi, "Controller Design for Hyper-Redundant Manipulator Using Backbone Curve," In Proc. 8th Intl Conf. of Mechanics, Tehran, Iran, 2003 (in Persian). [Bibtex]
Workshop Papers
Russell Perkins, Monish Reddy Kotturu, Mai Lee Chang, S. Reza Ahmadzadeh, Paul Robinette, "The Effect of Affiliation Change on Trust in Robots," In Workshop Your Study Design (WYSD) Workshop at the ACM / IEEE International Conference on Human-Robot Interaction, Boulder, CO, USA, March 11, 2023.
Yasin Findik, Paul Robinette, Kshitij Jerath, S, Reza Ahmadzadeh, "Collaborative Adaptation: Learning to Recover from Unforeseen Malfunctions in Multi-Robot Teams," in MADGames workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, Oct 1-5, 2023. [accepted]
Hamid Osooli, Paul Robinette, Kshitij Jerath, S. Reza Ahmadzadeh, "A Multi-Robot Task Assignment Framework for Search and Rescue with Heterogeneous Teams," in Advances in Multi-Agent Learning - Coordination, Communication, and Control Workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, Oct 1-5, 2023.
M. R. Trivedi, S. V. Movahed, R. Perkins, P. Robinette, S. R. Ahmadzadeh, M. E. Cabrera, "Behavior Modeling for Robot Theory of Mind," in AI-HRI Symposium at AAAI Fall Symposium Series (FSS) , Arlington, VA, 17-19 Nov. 2022. [arXiv][AI-HRI]
Z. R. Khavas, S. R. Ahmadzadeh, P. Robinette, "Would Human Retaliation Strategy Vary Among Human and Robotic Teammates?," Prediction and Anticipation Reasoning in Human Robot Interaction Workshop at ICRA 2022, Philadelphia, USA, May 27, 2022.
Z. R. Khavas, R. Perkins, S. R. Ahmadzadeh, P. Robinette, "Moral-Trust Violation vs Performance-Trust Violation by Robots: Which Trust Violation Hurts Human Trust More?," in AI for HRI, AAAI Fall Symposium series, 4-6 Nov. 2021. [arXiv]
H. Haeri, S. R. Ahmadzadeh, K. Jerath, "Reward-Sharing Relational Networks in Multi-Agent Reinforcement Learning as a Framework for Emergent Behavior," in Adaptive and Learning Agents (ALA) Workshop at AAMAS, London, UK, May 3-4, 2021. [Spotlight paper][Talk][Slides][PDF][Bibtex]
B. Hertel, S. R. Ahmadzadeh, "Meta-Learning from Demonstration using Similarity Maps," in Flash FORW-RD Series: Enhancing Human-Robot Interaction Through Physiological Measurements Workshop at WPI, Rubin Campus Center, Odeum Hall, Worcester, MA, USA, Mar. 18, 2020.
Ph.D. Thesis
S.R. Ahmadzadeh, "Robot Learning of Reactive and Visuospatial Skills," Ph.D. Thesis, University of Genoa and Learning and Interaction Group, Dept. Advanced Robotics, Italian Institute of Technology (IIT), Genoa, Italy, Apr. 2015.
M.Sc. Thesis
S.R. Ahmadzadeh, "Modal Approach to Modeling of Hyper-Redundant Robot Manipulators Dynamics and Design of Fuzzy Controller for the System," M.Sc. Thesis, Dept. Mechanical Eng., Bahonar University, Kerman, Iran, Jan. 2004.