An Thai Le

An Thai Le

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Research Interests

Reinforcement Learning, Motion Planning, Optimal Control, Variational Inference, Optimal Transport

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Contact Information

An Thai Le
TU Darmstadt, FG IAS,
Hochschulstr. 10, 64289 Darmstadt
Office. Room E225, Building S2|02

An Thai Le joined the Intelligent Autonomous System lab on November 1st, 2021, as a Ph.D. student. He is currently working on applying Optimal Transport methods for the correspondence problem of imitation learning and also for motion generation problems.

Before his Ph.D., An Thai Le has worked on motion optimization and reactive motion generation methods applied in robotics manipulation and human-robot collaboration settings. His thesis entitled Learning Task-Parameterized Riemannian Motion Policies ( Code link) was written under the supervision of Dr. Jim Mainprice from Universitaet Stuttgart and Dr. Meng Guo from BCAI. The thesis aims to learn movement primitives that are context-dependent for adaptation under different task conditions and composable with other behavior skills such as collision avoidance.

Key References

Learning for Motion Planning

  1. Urain, J.; Le, A.T.; Lambert, A.; Chalvatzaki, G.; Boots, B.; Peters, J. (2022). Learning Implicit Priors for Motion Optimization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   Download Article [PDF]   BibTeX Reference [BibTex] Website

Forceful Imitation Learning

  1. Le, A.T.; Guo M.; Duijkeren, N.; Rozo, L.; Krug, R.; Kupcsik, A.G.; Bürger M. (2021). Learning forceful manipulation skills from multi-modal human demonstrations, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   Download Article [PDF]   BibTeX Reference [BibTex] Video

Human-Robot Collaboration

  1. Le, A.T.; Kratzer, P.; Hagenmayer, S.; Toussaint, M.; Mainprice, J. (2021). Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks, 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN).   Download Article [PDF]   BibTeX Reference [BibTex] Video

Supervised Theses and Projects

YearTypeTogether withStudent(s)TopicDocument
2022Integrated ProjectJunning HuangLu Liu, Yuheng Ouyang, Jiahui ShiBenchmark Neural Lyapunov Control Algorithms on Pendulum
2022Integrated ProjectJunning HuangChao Jin, Liyuan Xiang, Peng YanHybrid Motion-Force Optimization
2022Master ThesisAli Younes, Georgia ChalvatzakiDaljeet NandhaLeveraging Large Language Models For Autonomous Task Planningpdf


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