Hamidreza Azimian — accepted AI-conference papers

2026

Sample-Efficient Learning of a Robotic Tube Insertion Policy

Asheer Bachoo, Hamidreza Azimian, Kento Okumura, Marc Morcos

RA-L 2026

Reinforcement learning for manipulation with real robots is complicated when faced with object variations and contact dynamics.Further, achieving support across a category of objects for manipulation is in itself a challenging task. A recent work that addresses training inefficiencies on a real robo

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2016

Kinetostatic design of asymmetric notch joints for surgical robots

Kyle W. Eastwood, Hamidreza Azimian, Brian Carrillo, Thomas Looi, Hani E. Naguib, James M. Drake

IROS 2016poster

We present a kinetostatic model for a needle-sized notched tube continuum joint design, and examine the impact that the design parameters have on both stiffness and joint kinematics. The joint is fabricated by removing a series of asymmetric notches from a metal tube. By fixing a cable to the distal…

Cited by 39 Source ↗Scholar ↗