Shamel Fahmi — accepted AI-conference papers

2026

Flip Stunts on Bicycle Robots Using Iterative Motion Imitation

Jeonghwan Kim, Shamel Fahmi, Seungeun Rho, Sehoon Ha, Gabriel Nelson

ICRA 2026poster

This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we propose Iterative Motion Imitation (IMI), a method that iteratively imitates trajectories generated by prior policy rol…

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2019

Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain

Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini

RA-L 2019

We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a quadratic program that takes into account the full robot rigid body dynamics, the act

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