Samer Alfayad — accepted AI-conference papers

2026

AVO-QP: Task-Adaptive Real-Time Obstacle Avoidance for Redundant Manipulators on Edge Platforms

Fang Peng, Yifei Li, Honghui Zhang, Feilong Wang, Wen Qi, Hang Su +1

RA-L 2026

We address real-time obstacle avoidance for redundant manipulators where tracking and safety constraints can conflict and render quadratic programs (QPs) infeasible. We propose AVO-QP, a sensor-guided velocity-level planner that fuses RGB-D depth with learned detection to maintain situational awaren

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2026

Symmetry-Aware Skill Transfer with Energy-Tank Passive Control for Ankle Exoskeletons

Etienne Largeteau, Loqmane Bencharif, Bangaly Conte, Abderahim Ibset, Hang Su, Olivier Bruneau +1

ICRA 2026poster

This paper presents a unified framework that combines symmetry-aware skill transfer with energy-tank passive control to achieve safe and adaptive ankle exoskeleton assistance. Subject-specific ankle references are first extracted from wearable IMU data : Dynamic Time Warping (DTW) aligns gait cycles…

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