Petar Kormushev

Petar Kormushev is a Team Leader (equivalent to U.S. Assistant Professor) at the Advanced Robotics department of the Italian Institute of Technology, doing research on the iCub humanoid robot and the Barrett WAM arm robot under the supervision of Prof. Darwin Caldwell.

In September 2009 he received PhD in Computational Intelligence from Tokyo Institute of Technology. His research interests include robotics and machine learning, especially reinforcement learning for intelligent robot behavior.

Petar Kormushev holds a MSc degree in Artificial Intelligence, a MSc degree in Bio- and Medical Informatics, and a BSc degree in Computer Science from Sofia University. He has participated in many scientific projects, including European INFRAWEBS project for designing the future Semantic Web, and Japanese NEDO project for developing a common basis for next-generation robots. He has won a number of prestigious awards, including a “John Atanasoff” award, a “St. Kliment Ohridski” award, and a 4-year Monbukagakusho/MEXT Japanese research fellowship.

Videos of my research experiments:
http://kormushev.com/research/videos/

Click below in Publications or Projects section for more info:

Kormushev, P., Ugurlu, B., Calinon, S., Tsagarakis, N., and Caldwell, D.G., "Reinforcement Learning with Evolving Policy Parameterization", 2011, submitted.

Kormushev, P., Ugurlu, B., Calinon, S., Tsagarakis, N., and Caldwell, D.G., "Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization", Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS-2011), San Francisco, 2011. [pdf] [bibtex]

Kormushev, P., Nenchev, D.N., Calinon, S., and Caldwell, D.G., "Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot", IEEE Intl. Conf. on Robotics and Automation (ICRA 2011), 2011. [pdf] [bibtex]

Kormushev, P., Calinon, S., and Caldwell, D.G., “Imitation learning of positional and force skills demonstrated via kinesthetic teaching and haptic input”, Advanced Robotics, vol. 25, pp. 581-603, 2011. [pdf] [bibtex]

Sato, F., Nishii, T., Takahashi, J., Yoshida, Y., Mitsuhashi, M., Kormushev, P., Kanamiya, Y., "Whiteboard Cleaning Task Realization with HOAP-2", Proc. SICE System Integration (SI-2010) in Sendai, Japan, pp.426-429, 2010. [pdf] [bibtex]

Kormushev, P., Calinon, S., and Caldwell, D.G., "Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution", Workshop on Humanoid Robots Learning from Human Interaction (at Humanoids 2010), 2010. [pdf] [bibtex]

Kormushev, P., Calinon, S., Saegusa, R. and Metta, G., “Learning the skill of archery by a humanoid robot iCub”, Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids-2010), 2010. [pdf] [bibtex]

Kormushev, P., Calinon, S. and Caldwell, D.G. “Robot Motor Skill Coordination with EM-based Reinforcement Learning”, Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS-2010), 2010. [pdf] [bibtex]

Kormushev, P., “Time Hopping Technique for Reinforcement Learning and its Application to Robot Control”, Dept. of Computational Intelligence and Systems Science, Tokyo Institute of Technology, PhD thesis, September, 2009.

Kormushev, P., K., Dong, F., and Hirota, K., “Probability redistribution using time hopping for reinforcement learning”, 10th International Symposium on advanced Intelligent Systems ISIS-2009, 2009.

Kormushev, P., Nomoto, K., Dong, F., and Hirota, K., “Eligibility propagation to speed up time hopping for reinforcement learning”, Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.13, No.6, 2009.

Kormushev, P., Nomoto, K., Dong, F., and Hirota, K., “Time hopping for faster reinforcement learning in simulations”, IEEE Transactions on Systems, Man and Cybernetics, Part B, submitted in January, 2009.

Kormushev, P., Nomoto, K., Dong, F., and Hirota, K., “Time manipulation technique for speeding up reinforcement learning in simulations”, International Journal of Cybernetics and Information Technologies, Vol. 8, No. 1, pp. 12-24, January, 2008.

Yamazaki, Y., Dong, F., Masuda, Y., Uehara, Y., Kormushev, P., Vu, H. A., Le, P. Q., and Hirota, K., “Intent expression using eye robot for mascot robot system”, 8th International Symposium on Advanced Intelligent Systems ISIS-2007, 2007.

Yamazaki, Y., Dong, F., Masuda, Y., Uehara, Y., Kormushev, P., Vu, H. A., Le, P. Q., and Hirota, K., “Fuzzy inference based mentality estimation for eye robot agent”, Proceedings of 23rd Fuzzy System Symposium FSS-2007, 2007.

Agre, G., Kormushev, P. and Dilov, I., “INFRAWEBS Axiom editor – a graphical ontology-driven tool for creating complex logical expressions”, International Journal of Information Theories and Applications, Vol. 13, No. 2, pp. 169-178, November, 2006.

Kormushev, P., Master’s thesis: “Visual approach for data mining on medical information databases using Fastmap algorithm”, Faculty of Mathematics and Informatics, Sofia University, March, 2006.

Kormushev, P., Master’s thesis: “Design, development and implementation of a tool for construction of declarative functional descriptions of semantic web services based on WSMO methodology”, Faculty of Mathematics and Informatics, Sofia University, July, 2005.

Agre, G., Kormushev, P. and Dilov, I., “INFRAWEBS Capability editor – A graphical ontology-driven tool for creating capabilities of Semantic Web Services”, Third International Conference on Information Research, Applications and Education i.TECH-2005, June, 2005.

I am a Team Leader of the Learning and Interaction Group at the Department of Advanced Robotics.

Videos of my research experiments:
http://kormushev.com/research/videos/