Posts by Collection

ROS 2 Dual Arm Teleoperation

Markerless real-time teleoperation of dual UR5e robotic arms using a standard webcam and MediaPipe hand tracking. Built for fun with ROS 2 Humble, MoveIt, and MoveIt Servo.

Open Set Task Augmentation Facilitates Generalization of Deep Neural Networks Trained on Small Data Sets

Published in Neural Computing and Applications, 34, 6067–6083, 2022

Topics: Machine Learning, Deep Learning, Image Processing.

Recommended citation: Wadhah Zai El Amri, Felix Reinhart, Wolfram Schenck (2022). "Open Set Task Augmentation Facilitates Generalization of Deep Neural Networks Trained on Small Data Sets." Neural Computing and Applications, 34, 6067–6083. https://link.springer.com/article/10.1007/s00521-021-06753-6

Transfer Learning with Jukebox for Music Source Separation

Published in Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT,volume 647), 2022

Topics: Machine Learning, Deep Learning, Audio Signal Processing, Transfer Learning.

Recommended citation: Wadhah Zai El Amri, Oliver Tautz, Helge Ritter, Andrew Melnik (2022). "Transfer Learning with Jukebox for Music Source Separation." Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT,volume 647). https://link.springer.com/chapter/10.1007/978-3-031-08337-2_35

Hierarchical Decentralized Deep Reinforcement Learning Architecture for a Simulated Four-Legged Agent

Published in The 8th International Conference on Machine Learning, Optimization, and Data Science, 2022

Topics: Machine Learning, Deep Reinforcement Learning, Motor Control.

Recommended citation: Wadhah Zai El Amri, Luca Hermes, Malte Schilling (2022). "Hierarchical Decentralized Deep Reinforcement Learning Architecture for a Simulated Four-Legged Agent." In: Nicosia, G., et al. Machine Learning, Optimization, and Data Science. LOD 2022. Lecture Notes in Computer Science, vol 13811. Springer, Cham. https://doi.org/10.1007/978-3-031-25891-6_20. https://link.springer.com/chapter/10.1007/978-3-031-25891-6_20

A Review of the Role of Causality in Developing Trustworthy AI Systems

Published in Currently under review at ACM CSUR, 2023

Topics: Causality, Artificial Intelligence, Counterfactual, Interpretability, Explainability, Robustness, Bias, Discrimination, Fairness, Privacy, Safety, Healthcare.

Recommended citation: Niloy Ganguly, Dren Fazlija, Maryam Badar, Marco Fisichella, Sandipan Sikdar, Johanna Schrader, Jonas Wallat, Koustav Rudra, Manolis Koubarakis, Gourab K. Patro, Wadhah Zai El Amri, and Wolfgang Nejdl (2023). "A Review of the Role of Causality in Developing Trustworthy AI Systems." arXiv:2302.06975. https://arxiv.org/abs/2302.06975

Vibro-Sense: A Bio-Inspired Vibration-Based Tactile Sensor for Robotics

Published in 1st German Robotics Conference (GRC), 2024

Topics: BioTac, DIGIT, Tactile sensors, Transfer learning.

Recommended citation: Wadhah Zai El Amri, Nicolas Faundes, and Nicolás Navarro-Guerrero (2025). "Vibro-Sense: A Bio-Inspired Vibration-Based Tactile Sensor for Robotics." in 1st German Robotics Conference (GRC), Nuremberg, Germany, March. 2025, pp. 1–3. https://www.researchgate.net/profile/Nicolas-Navarro-Guerrero/publication/389964298_Vibro-Sense_A_Bio-Inspired_Vibration-Based_Tactile_Sensor_for_Robotics/links/67da8c5935f7044c9232e70a/Vibro-Sense-A-Bio-Inspired-Vibration-Based-Tactile-Sensor-for-Robotics.pdf

Optimizing BioTac Simulation for Realistic Tactile Perception

Published in International Joint Conference on Neural Network (IJCNN) 2024, Yokohama, Japan., 2024

Topics: BioTac, XGBoost, Transformer, Tactile Perception.

Recommended citation: Wadhah Zai El Amri, Nicolás Navarro-Guerrero (2024). "Optimizing BioTac Simulation for Realistic Tactile Perception." 2024 International Joint Conference on Neural Networks (IJCNN), Yokohama, Japan, 2024, pp. 1-8, doi: 10.1109/IJCNN60899.2024.10650656.. https://ieeexplore.ieee.org/document/10650656

Transferring Tactile Data Across Sensors

Published in 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), 2024

Topics: BioTac, DIGIT, Tactile sensors, Transfer learning.

Recommended citation: Wadhah Zai El Amri, Malte Kuhlmann, and Nicolás Navarro-Guerrero (2024). "Transferring Tactile Data Across Sensors." in 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, The Netherlands, Sept. 2024, pp. 1540–1542. https://arxiv.org/abs/2410.14310

ACROSS: A Deformation-Based Cross-Modal Representation for Robotic Tactile Perception

Published in IEEE International Conference on Robotics and Automation (ICRA) 2025, Atlanta, USA, 2025

Topics: BioTac, DIGIT, Tactile sensors, Transfer learning.

Recommended citation: Wadhah Zai El Amri, Malte Kuhlmann, Nicolás Navarro-Guerrero (2025). "ACROSS: A Deformation-Based Cross-Modal Representation for Robotic Tactile Perception." 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, 2025. https://arxiv.org/abs/2411.08533

Do Robots Really Need Anthropomorphic Hands?

Published in Submitted to Autonomous Robots Springer Journal, 2025

Topics: Robotics Hands, Grippers, Smart Prosthetics, Manipulation, Grasping.

Recommended citation: Alexander Fabisch, Wadhah Zai El Amri, Chandandeep Singh, Nicolás Navarro-Guerrero (2025). "Do Robots Really Need Anthropomorphic Hands?" 2026 Submitted to Springer Autonomous Robots Journal, 2026. https://arxiv.org/abs/2508.05415

Vibro-Sense: Robust Vibration-based Impulse Response Localization and Trajectory Tracking for Robotic Hands

Published in Submitted to Springer Autonomous Robots, 2026

Topics: Tactile Sensing, Vibro-Acoustic Sensing, Contact Localization, Deep Learning.

Recommended citation: Wadhah Zai El Amri, Nicolás Navarro-Guerrero (2026). "Vibro-Sense: Robust Vibration-based Impulse Response Localization and Trajectory Tracking for Robotic Hands." 2026 Submitted to Springer Autonomous Robots Journal, 2026. https://arxiv.org/abs/2601.20555

SPLIT: Separating Physical-Contact via Latent Arithmetic in Image-Based Tactile Sensors

Published in Robotics and Autonomous Systems Journal, 2026

Topics: Tactile Sensing, Real2Sim, Robotic Perception, Image-Based Tactile Sensors.

Recommended citation: Wadhah Zai El Amri, Nicolás Navarro-Guerrero (2026). "SPLIT: Separating Physical-Contact via Latent Arithmetic in Image-Based Tactile Sensors." Robotics and Autonomous Systems, Volume 203, 2026,ISSN 0921-8890, 10.1016/j.robot.2026.105498. https://www.sciencedirect.com/science/article/pii/S0921889026001715