Ramy Farag — accepted AI-conference papers

2025

LBE-DDIK: Is One Model Good Enough to Learn-By-Example the Inverse Kinematics of Multiple Serial Robots?

Jacket Demby's, Ramy Farag, Seyed Mohamad Ali Tousi, Gbenga Omotara, Guilherme N. DeSouza

IROS 2025

Data-Driven Inverse Kinematics (DDIK) solvers emerged as promising Inverse Kinematics (IK) methods for reliably approximating the IK of robotic manipulators. However, these solvers remain heavily robot-dependent, where for each robot of interest, a network needs to be trained in an one-solver-one-ro

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2024

Inverse Kinematics of Robotic Manipulators Using a New Learning-by-Example Method

Jacket Demby’s, Ramy Farag, Guilherme N. DeSouza

IROS 2024poster

Inverse Kinematics (IK) is one of the most fundamental challenges in robotics. It refers to the process of determining the joint configurations required to achieve the desired position and orientation (pose) of a robot end-effector. Although numerous Data-Driven (DD) IK solvers have demonstrated enc…

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