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Member khoramshahi

Mahdi Khoramshahi

PhD Student


ME A3 434


  • Office: 35961

Fields of Interest

  • Physical Human-Robot Interaction
  • Adaptive and Optimal Control
  • Reinforcement Learning
  • Social and Cognitive Robotics


  • I am working on developing adaptive behaviors for compliant and intuitive human-robot interaction.

  • I am currently part of SecondHands project. Watch a summary of this project here.
  • In the past, I was part of AlterEgo and shortly part of CogIMon project.

  • I also supervise student projects at EPFL. Please check the available projects here.
  • Here is a list of previous student projects:
    • Learning from sub-optimal demonstrations: the role of compliance in the exploration-exploitation trade-off [PDF].
    • Intention recognition under uncertainties for human-robot interaction [PDF]
    • Task-adaptation for assistive robotics using switching dynamical systems [PDF].
    • Learning coupled dynamical systems for adaptive robots coordination [PDF].
    • Adaptive Human-Robot Interaction: From Human Intention to Motion Adaptation Using Parameterized Dynamical Systems [PDF].
  • You can find some of my robotic implementations on Github
    • Active load-support for heavy objects [link].
    • Clearpath mobile-robot and UR5 roboti-arm controllers [link]
    • Task-adaptation using dynamical systems [link].
    • A ROS-library of motion generators using dynamical systems. [link].



  • Khoramshahi, M. and Billard, A. (2018) A Dynamical System Approach to Task-Adaptation in Physical Human-Robot Interaction. Autonomous Robots. [show abstract]
    Source code from this publication available here
  • Laura Cohen, Khoramshahi, M., Salesse, R., et al., Schmidt, R.C, Bardy, B.G, Raffard, S and Billard, A. (2018) Influence of Facial Feedback During a Cooperative Human-Robot Task in Schizophrenia. Accepted in Nature - Scientific Reports. [home page] [show abstract] [pdf]
  • Raffard, S, Bortolon, C. and Laura Cohen (2017) Does this robot have a mind? Schizophrenia patientsí mind perception toward humanoid robots. Schizophrenia Research.
  • Piotr Słowiński, Francesco Alderisio, Chao Zhai, Yuan Shen,, Catherine Bortolon, Laura Cohen, Khoramshahi, M. and Billard, A. (2017) Unravelling socio-motor biomarkers in schizophrenia. In npj Schizophrenia, other Authors: Peter Tino, Delphine Capdevielle, Robin Salesse, Mathieu Gueugnon, Ludovic Marin, Benoit Bardy, Mario di Bernardo, Stephane Raffa. Published online. [home page]
  • Raffard, S, Bortolon, C., Khoramshahi, M., Salesse, R., Burca, M., Marin, L, Bardy, B.G and et al. (2016) Humanoid robots versus humans: how is emotional valence of facial expressions recognized by individuals with schizophrenia? An exploratory study. Schizophrenia Research. [home page] [show abstract] [BibTeX]
  • Khoramshahi, M., Shukla, A., Raffard, S, Bardy, B.G and Billard, A. (2016) Role of Gaze Cues in Interpersonal Motor Coordination: Towards Higher Affiliation in Human-Robot Interaction. PlosOne. [home page] [show abstract]
  • Mirrazavi Salehian, S. S., Khoramshahi, M. and Billard, A. (2016) A Dynamical System Approach for Catching Softly a Flying Object: Theory and Experiment. in IEEE Transactions on Robotics, vol. 32, no. 2, pp. 462-471, April 2016.. [home page] [show abstract] [BibTeX]

  • Conference Proceedings

  • Khoramshahi, M., Laurens, A., Triquet, T., Billard, A. and Billard, A. (2018) From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). [IROS 2018] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Khoramshahi, M., Shukla, A. and Billard, A. (2014) Cognitive mechanism in synchronized motion: An internal predictive model for manual tracking control. The 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014). [SMC 2014] [home page] [show abstract] [pdf]

  • Abstracts

  • Khoramshahi, M. and Billard, A. (2018) Intention-based motion-adaptation using dynamical systems with human in the loop. IROS 2018 Workshop Machine Learning in Robot Motion Planning. [home page] [show abstract] [pdf]
  • Laura Cohen, Khoramshahi, M., et al., Marin, L, Schmidt, R.C, Bardy, B.G, Billard, A. and Raffard, S (2017) Effects of Facial Emotions on Social-motor Coordination in Schizophrenia. Accepted for 7th Joint Action Meeting (JAM 2017). [Joint Action Meeting (JAM)] [home page] [show abstract] [pdf]
  • Khoramshahi, M., Shukla, A. and Billard, A. (2015) From joint-attention to joint-action: Effects of gaze on human following motion. Accepted for 6th Joint Action Meeting (JAM 2015). [Joint Action Meeting (JAM)] [home page] [pdf]

Last update: 11/03/08