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

Previous Research Experiences

In 2020-2021, I had been a Researcher in Dynamic Locomotion Group at the Max Planck Institute for Intelligent Systems under the supervision of Dr. Alexander Badri-Sprowitz. In 2019-2020, I had been a Research Fellow in Artificial and Mechanical Intelligence lab at the Italian Institute of Technology (IIT) under the supervision of Dr. Daniele Pucci.

I received my master degree in Mechanical engineering from University of Tehran in 2017. In 2017-2018, I had been the leader of the Dynamic and Control group of SURENA humanoid robot projects at CAST, University of Tehran, where I used the SURENA and Surena Mini as research platforms.

News
April 2024:	DeepTransition paper has been accepted at Natrure Communications.
March 2024:	ManyQuadurpeds video featured at IEEE Spectrum.
Feb 2024:	4 papers has been accepted at ICRA 2024. Checkout the research section for details of the papers.

Research

	Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains Milad Shafiee, Guillaume Bellegarda, Auke Ijspeert, Nature Communications, 2024 project page / paper / arXiv / Code
	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 / IEEE Spectrum / Code (Coming Soon)
	Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping Guillaume Bellegarda, Milad Shafiee, Auke Ijspeert, International Conference on Robotics and Automation (ICRA), 2024 arXiv / video
	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
	Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion Guillaume Bellegarda, Milad Shafiee, Auke Ijspeert, International Conference on Robotics and Automation (ICRA), 2024 arXiv / video
	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
	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
	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
	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

Design and source code from Jon Barron's website.

News

Research