Milad Shafiee
I'm a PhD candidate in BioRobotics Lab at the EPFL under the supervision of Prof. Auke Ijspeert . I am a robotics/ML researcher intrested on the use of Reinforcement Learning and Optimization algorithms for agile movement generation of legged robots. We use robots as tools to investigate scientific hypotheses about animal motor-control, iteratively taking inspiration from animals to improve the robots’ performance.
Email  / 
Linkedin  / 
Google Scholar  / 
Twitter  / 
Github
ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots
Milad Shafiee ,
Guillaume Bellegarda ,
Auke Ijspeert ,
International Conference on Robotics and Automation (ICRA) , 2024  
project page
/
arXiv
/
Code (Coming Soon)
DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills
Milad Shafiee ,
Guillaume Bellegarda ,
Auke Ijspeert ,
Pre-Print , 2023,   Accepted at Nature Communications
project page
/
arXiv
/
Code (Coming Soon)
Identifying important sensory feedback for learning locomotion skills
Wanming Yu ,
Chuanyu Yang ,
Christopher McGreavy ,
Eleftherios Triantafyllidis ,
Guillaume Bellegarda ,
Milad Shafiee ,
Auke Ijspeert ,
Zhibin Li
Nature Machine Intelligence , 2023,  COVER
paper
/
arXiv
/
Code
ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton based on Stepping Strategy
Zeynep Ozge Orhan ,
Milad Shafiee ,
Vincent Juillard ,
Joel Coelho Oliveira ,
Auke Ijspeert ,
Mohamed Bouri ,
International Conference on Robotics and Automation (ICRA) , 2024  
arXiv
Your browser does not support the video tag.
Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
Milad Shafiee ,
Guillaume Bellegarda ,
Auke Ijspeert ,
International Conference on Robotics and Automation (ICRA) , 2023  
project page
/
arXiv
/
gallery
Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor
Pezhman Abdolahnezhad ,
Aghil Yousefi-Koma ,
Amirhosein Vedadi ,
Kasra Sinaei ,
Behnam Maleki ,
Milad Shafiee
Humanoids , 2022
project page /
video /
IEEE /
arXiv
Your browser does not support the video tag.
Your browser does not support the video tag.
Hybrid leg compliance enables robots to operate with sensorimotor delays and low control update frequencies
Milad Shafiee ,
Alborz Sarvestani ,
Alexander Sprowitz ,
Frontiers in Robotics and AI , 2021  
project page
/
arXiv
/
gallery
Your browser does not support the video tag.
Your browser does not support the video tag.
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots
Milad Shafiee ,
Giulio Romualdi ,
Stefano Dafarra ,
Francisco Chavez ,
Daniele Pucci
Humanoids , 2019
project page /
video /
arXiv
Surena IV: Towards a cost-effective full-size humanoid robot for real-world scenarios
Aghil Yousefi-Koma, ,
Behnam Maleki, ,
Hessam Maleki ,
Amin Amani ,
Ali Bazrafshani ,
Hossein Keshavarz ,
Ala Iranmanesh ,
Alireza Yazdanpanah ,
Hamidreza Alai ,
Sahel Salehi ,
Mahyar Ashkvari ,
Milad Mousavi ,
Milad Shafiee
Humanoids , 2020
project page /
video /
IEEE /
arXiv
Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control
Milad Shafiee ,
Aghil Yousefi-Koma ,
Reihaneh Mirjalili ,
Hessam Maleki ,
Mojtaba Karimi
ICRoM , 2018
project page /
video /
arXiv