Ali Shafti | Publications


Research Associate in Robotics and AI @ Imperial College London

Peer reviewed conference and journal publications

A. Shafti, S. Haar, R. Mio Zaldivar, P. Guilleminot, A. A. Faisal. "Real-World Human-Robot Collaborative Reinforcement Learning" Under review -pre-print available, 2020.

A. Shafti, J. Tjomsland, W. Dudley, A. A. Faisal. "Real-World Human-Robot Collaborative Reinforcement Learning" Under review -pre-print available, 2020.

P. Christodoulou, R. T. Lange, A. Shafti, A. A. Faisal. "Reinforcement Learning with Structured Hierarchical Grammar Representations of Actions" Under review -pre-print available, 2019.

A. Makrigiorgos, A. Shafti, A. Harston, J. Gerard, A. A. Faisal. "Human Visual Attention Prediction Boosts Learning & Performance of Autonomous Driving Agents" Under review - pre-print available.

B. Beyret, A. Shafti, A.A. Faisal. "Dot-to-Dot: Explainable Hierarchical Reinforcement Learning for Robotic Manipulation" Accepted in IEEE IROS'19 - pre-print available.

A. Shafti, P. Orlov,, A.A. Faisal. "Gaze-based, Context-aware Robotic System for Assisted Reaching and Grasping" In IEEE ICRA'19

A. Shafti, A. Ataka, B. Urbistondo Lazpita, A. Shiva, H.A. Wurdemann and K. Althoefer. "Real-time Robot-assisted Ergonomics", In IEEE ICRA'19

M. Ruiz Maymo, A. Shafti, A.A. Faisal. "FastOrient: Lightweight Computer Vision for Wrist Control in Assistive Robotic Grasping" In IEEE BioRob'18

J. Cunningham, A. Hapsari, P. Guilleminot, A. Shafti, A.A. Faisal. "The Supernumerary Robotic 3rd Thumb for Skilled Music Tasks" In IEEE BioRob'18

B. Woods, M. Subramanian, A. Shafti, A.A. Faisal. "Mechanomyography based closed-loop Functional Electrical Stimulation cycling system" In IEEE BioRob'18

P. Orlov, A. Shafti, C. Auepanwiriyakul, N. Songur, and A.A. Faisal. "A gaze-contingent intention decoding engine for human augmentation." In ACM ETRA'18

C. Auepanwiriyakul, A. Harston, P. Orlov, A. Shafti, and A.A. Faisal. "Semantic fovea: real-time annotation of ego-centric videos with gaze context." In ACM ETRA'18

S. Pitou, F. Wu, A. Shafti, B. Michael, R. Stopforth, M.J. Howard. "Embroidered Electrodes for Control of Affordable Myoelectric Prostheses", In IEEE ICRA'18

A. Shafti, R.B. Ribas Manero, A.M. Borg, K. Althoefer, and M.J. Howard. "Embroidered electromyography: A systematic design guide."In IEEE Transactions on Neural Systems and Rehabilitation Engineering 25, no. 9, pp. 1472-1480, 2017

A. Ataka, P. Qi, A. Shiva, A. Shafti, H.A. Wurdemann, H. Liu, and K. Althoefer. "Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments." In IEEE IROS'16

I. Maurtua, N. Pedrocchi, A. Orlandini, J. de Gea Fernández, C. Vogel, A. Geenen, K. Althoefer, and A. Shafti. "FourByThree: Imagine humans and robots working hand in hand." In IEEE ETFA'16

R.B. Ribas Manero, A. Shafti, B. Michael, J. Grewal, J.L. Ribas Fernández, K. Althoefer, and M.J. Howard. "Wearable embroidered muscle activity sensing device for the human upper leg." In IEEE EMBC'16

A. Shafti, B. Urbistondo Lazpita, O. Elhage, H.A. Wurdemann, and K. Althoefer. "Analysis of comfort and ergonomics for clinical work environments." In IEEE EMBC'16

A. Ataka, P. Qi, A. Shiva, A. Shafti, H.A. Wurdemann, P. Dasgupta, and K. Althoefer. "Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments." In IEEE BioRob'16

A. Shafti, R.B. Ribas Manero, A. M. Borg, K. Althoefer, and M.J. Howard. "Designing embroidered electrodes for wearable surface electromyography." In IEEE ICRA'16

A. Shafti et al. "Comfort and learnability assessment of a new soft robotic manipulator for minimally invasive surgery." In IEEE EMBC'15

H.A. Wurdemann, S. Sareh, A. Shafti, Y. Noh, A. Faragasso, D. Chathuranga, H. Liu, S. Hirai, and K. Althoefer. "Embedded electro-conductive yarn for shape sensing of soft robotic manipulators." In IEEE EMBC'15

A. Shafti, and M. Yavari. "A zero-crossing based 10-bit 100 MS/s pipeline ADC with controlled current in 90 nm CMOS." In Analog Integrated Circuits and Signal Processing 80, no. 1, pp. 141-151, 2014

Workshop publications

J. Tjomsland, A. Shafti, A. Aldo Faisal. "Human-Robot Collaboration via Deep Reinforcement Learning of Real-World Interactions", in NeurIPS'19 Workshop on Robot Learning: Control and Interaction in the Real World

A. Shafti, A. Ataka, B. Urbistondo Lazpita, A. Shiva, H.A. Wurdemann and K. Althoefer. "Real-time Robot-assisted Ergonomics", in IEEE ICRA'18 Workshop on Ergonomic Physical Human-Robot Collaboration

A. Ataka, A. Shiva, A. Shafti, H.A. Wurdemann, and K. Althoefer. "Reactive Motion Planning for Mobile Continuum Arm in Dynamic Industrial Envrionment." In CLAWAR 2017 Workshop on Advances in Cooperative Robotics

A. Shafti, B. Urbistondo Lazpita, O. Elhage, H. Wurdemann, K. Althoefer, “Towards an Objective Assessment of Comfort and Ergonomics during Surgery”, in 2016 Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2016)

A. Ataka, A. Shafti, A. Shiva, H. Wurdemann, and K. Althoefer,”Real-Time Obstacle Avoidance for Continuum Manipulator: Towards Safer Application in Human Environments”, in AAAI ICAPS'16 Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interactions (SafePlan)

A. Shafti, Y. Noh, H. A. Wurdemann, K. Althoefer, A. Aydin, O. Elhage, P. Dasgupta et al. "Benchmarking of Comfort and Learnability of a New Soft Robotic Tool for Key-hole Surgery.", in 2015 Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2015)

Books

J. Konstantinova, H.A. Wurdemann, A. Shafti, A. Shiva, K. Althoefer (editors), "Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: The STIFF-FLOP Approach", River Publishers Series in Automation, Control and Robotics, 2018

A. Shafti, "Electromyography-guided and Robot-assisted Ergonomics", PhD dissertation, King's College London, 2017