Announcement: We are hiring a post-doc, please see here.

Intelligent Robotics Lab

Welcome to the Intelligent Robotics Lab at the American University of Beirut – Mediterraneo in Paphos, Cyprus. You can learn more about our research here. For enquiries please contact Rafael Papallas via email here.

Research Topics

Click on a topic to learn more.

Publications

Click on the title of each paper to access a pre-print, the full paper, videos and code.

Journal Papers

[1]
Z. Xu, R. Papallas, J. Modisett, M. Billeter, and M. Dogar "Tracking and Control of Multiple Objects during Non-Prehensile Manipulation in Clutter". IEEE Transactions on Robotics. 2025
[2]
R. Papallas, A. G. Cohn, and M. Dogar "Online Replanning With Human-in-the-Loop for Non-Prehensile Manipulation in Clutter — A Trajectory Optimization Based Approach". IEEE Robotics and Automation Letters (RA-L). 2020

Peer-Reviewed Conference Papers

[3]
D. Russell, R. Papallas, and M. Dogar "Online state vector reduction during model predictive control with gradient-based trajectory optimisation". International Workshop on the Algorithmic Foundations of Robotics (WAFR). 2024
[4]
Z. Xu, R. Papallas, and M. Dogar "Physics-Based Object 6D-Pose Estimation during Non-Prehensile Manipulation". International Symposium on Experimental Robotics (ISER). 2023
[5]
S. Wang, R. Papallas, M. Leonetti, and M. Dogar "Goal-Conditioned Action Space Reduction for Deformable Object Manipulation". IEEE International Conference on Robotics and Automation (ICRA). 2023
[6]
D. Russell, R. Papallas, and M. Dogar "Adaptive approximation of dynamics gradients via interpolation to speed up trajectory optimisation". IEEE International Conference on Robotics and Automation (ICRA). 2023
[7]
R. Papallas, and M. Dogar "To ask for help or not to ask: A predictive approach to human-in-the-loop motion planning for robot manipulation tasks". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022
[8]
R. Papallas, and M. Dogar "Non-Prehensile Manipulation in Clutter with Human-In-The-Loop". IEEE International Conference on Robotics and Automation (ICRA). 2020
[9]
W. Bejjani, R. Papallas, M. Leonetti, and M. Dogar "Planning with a Receding Horizon for Manipulation in Clutter Using a Learned Value Function". IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2018