Abdeslam Boularias

About

Abdeslam Boularias is an Associate Professor in the Department of Computer Science at Rutgers, The State University of New Jersey. His research group focuses on Artificial Intelligence, Intelligent Systems, and Robotics. He has received recognition for his work, including an NSF CAREER award, and has been involved in collaborative projects with Yale. Boularias has contributed to the field through research in cognitive robotics and related areas, and his work has been highlighted in various NSF grants and awards.

Research topics

• Computer Science
• Artificial Intelligence
• Computer vision
• Simulation
• Human–computer interaction

Selected publications

• DIPN: Deep Interaction Prediction Network with Application to Clutter Removal

  2021 · 59 citations

  We propose a Deep Interaction Prediction Network (DIPN) for learning to predict complex interactions that ensue as a robot end-effector pushes multiple objects, whose physical properties, including size, shape, mass, and friction coefficients may be unknown a priori. DIPN "imagines" the effect of a push action and generates an accurate synthetic image of the predicted outcome. DIPN is shown to be sample efficient when trained in simulation or with a real robotic system. The high accuracy of DIPN…

  DOI

• Vision-driven Compliant Manipulation for Reliable; High-Precision Assembly Tasks

  2021 · 58 citations

  Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception systems.This paper demonstrates that the combination of state-of-the-art object tracking with passively adaptive mechanical hardware can be leveraged to complete precision manipulation tasks with tight, industrially-relevant tolerances (0.25mm).The proposed control…

  DOI

• Autoregressive Action Sequence Learning for Robotic Manipulation

  IEEE Robotics and Automation Letters · 2025-03-12 · 8 citations

  articleSenior author

  Designing a universal policy architecture that performs well across diverse robots and task configurations remains a key challenge. In this work, we address this by representing robot actions as sequential data and generating actions through autoregressive sequence modeling. Existing autoregressive architectures generate end-effector waypoints sequentially as word tokens in language modeling, which are limited to low-frequency control tasks. Unlike language, robot actions are heterogeneous and o…

  PublisherDOI

• Insert-One: One-Shot Robust Visual-Force Servoing for Novel Object Insertion with 6-DoF Tracking

  2024-10-14 · 6 citations

  article

  Recent advancements in autonomous robotic assembly have shown promising results, especially in addressing the precision insertion challenge. However, achieving adaptability across diverse object categories and tasks often necessitates a learning phase that requires costly real-world data collection. Moreover, previous research often assumes either the rigid attachment of the inserted object to the robot’s end-effector or relies on precise calibration within structured environments. We propose a…

  PublisherDOI

• One-Shot Imitation Learning with Invariance Matching for Robotic Manipulation

  2024-07-15 · 4 citations

  articleSenior author
  PublisherDOI

Recent grants

• RI: CAREER: Task-Oriented Model Identification for Robust Robotic Manipulation

  NSF · $536k · 2019–2025

• S&AS: FND: Reflective Learning of Stochastic Physical Models for Robust Manipulation

  NSF · $683k · 2017–2020

Frequent coauthors

• Kostas E. Bekris

  42 shared

• Chaitanya Mitash

  Amazon (United States)

  31 shared

• Jan Peters

  Technical University of Darmstadt

  21 shared

• Bowen Wen

  19 shared

• Chang‐Kyu Song

  Rutgers, The State University of New Jersey

  18 shared

• Liam Schramm

  16 shared

• Haonan Chang

  15 shared

• Rahul Shome

  14 shared

Education

• Ph.D., Computer Science

  Rutgers, The State University of New Jersey

Awards & honors

• NSF CAREER Award
• NSF NRI grant
• NSF SA&S grant

Similar researchers at Rutgers University

• Dimitris Metaxash-69
• Ahmed Elgammalh-50
• Tomasz Imielinskih-46