Firas Al-Hafez

Quick Info

Research Interests

Reinforcement Learning, Machine Learning, Motor-Skill Learning, Robotics


Personal Website Curriculum Vitae Google Scholar GitHub

Contact Information

Firas Al-Hafez
TU Darmstadt, FG IAS,
Hochschulstr. 10, 64289 Darmstadt
Office. Room E303, Building S2|02

Firas joined the Intelligent Autonomous System lab on November, 1st, 2021 as a PhD student. He focuses on neuromuscular gait control using inverse reinforcement learning with application on exoskeletons and humanoids. He works with Davide Tateo and Jan Peters within IAS and its research group Safe and Reliable Robot Learning. Previously, he received MSc degrees in Electronic Systems and Mechanical Engineering, as well as a BSc degree in Industrial Engineering field Mechanical Engineering from TU Braunschweig.

During his studies, he completed several applied projects, including a master's thesis on the "Comparison of Reinforcement Learning Algorithms and Evolution Strategies on Robot Manipulation Tasks" at the IRP under the supervision of Jochen Steil and a master's thesis on the "Development of a Tactical Maneuver Planner for Automated Driving Systems in Urban Areas using Reinforcement Learning" at the Volkswagen Group.

Key References

  • Al-Hafez, F.; Tateo, D.; Arenz, O.; Zhao, G.; Peters, J. (2023). LS-IQ: Implicit Reward Regularization for Inverse Reinforcement Learning, International Conference on Learning Representations (ICLR).   Download Article [PDF]   BibTeX Reference [BibTex]
  • Al-Hafez, F.; Steil, J. (2021). Redundancy Resolution as Action Bias in Policy Search for Robotic Manipulation. Conference on Robot Learning (CoRL). Download Article Project Webpage

# (:titlesearch alhafez)


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