I’m a first year PhD student at Robot Learning Lab at Aalto University under supervision of Dr. Joni Pajarinen. Currently, my research is focused on reinforcement learning and robotics. To be more specific, I’m investigating planning in offline goal-conditioned RL. Also I am involved in an industrial project where we are using spot robot to autonomously colllect data on construction site.
I got my master degree in mechatronics engineering at University of Tehran. I was supervised by Dr. Askari Moghadam and my research was about supervised methods in reinforcement learning. I investigated methods to imrpove the stablity and performance of reward-conditioned methods by considering sequential models (GRU, LSTM, Clockwork RNN, and Transformers) in the behavior function and intrinsic reward to encourage more efficient exploration.
I got my bachelor degree in mechanical engineering at Iran University of Science and Technology. I was a member of robotic research lab supervised by Prof. Habibnejad Korayem where I had the chance to learn about industrial manipulators (particularly Hyundai HS group), different control methods (optimal, robust and adaptive), robotics, and basic electronics.
📝 Publications
Conferences
- Mohammadreza Nakhaei, A. Habibnejad Korayem
ICROM 2019
👨💻 Projects
Industrial projects
Automatic path planning of spraying robot
- 2020 - 2021
- SQ 15_06N manipulator for spraying different bodies in the factory
- Program capable of generating and simulating default paths in the robot such as linear, circular, zigzag and automatic path generation.
- Matlab GUI was first tried, which was slow and hard to maintain. RoboDK was used instead.
Other projects
2d Drawing CNC
- In charge of electronics and programming, used a modified version of Marlin and GRBL to control the machine.
- LightBurn software was for creating G-cod
💬 Talks and Presentations
-
Decision transformer: Reinforcement learning via sequence modeling Video -
Improved learning of robot manipulation tasks via tactile intrinsic motivation Video
🎖Skills
-Programming: Proficient in Python and past experience with MATLAB and c++
-Tools: Proficient in PyTorch, Numpy. Experience with ROS, JAX, LaTeX, Git, Bash, Linux
-Software: Experiance with SolidWorks, Msc ADAMS