Courses & Advising

CS331B: Interactive Simulation for Robot Learning

Spring 2021, Syllabus here
Stanford University

This course provides a research survey of advanced methods for robot learning in simulation, analyzing the simulation techniques and recent research results enabled by advances in physics and virtual sensing simulation. The course covers two main components: agent-environment interactions and domains for multi-agent and human-robot interaction. First, we cover agent-environment interactions by studying novel simulation environments for robotics, imitation and reinforcement learning methods, simulation for navigation and manipulation and ‘sim2real’ techniques. In the second part, we explore models and algorithms for simulation and robot learning in multi-agent domains and human-robot interaction, studying the principles of learning for interactive tasks in which each agent collaborates to accomplish tasks. The topics include domains of social navigation, human-robot collaborative manipulation and multi-agent settings. This a project-based seminar class. Projects will leverage the state-of-the-art simulation environment iGibson, in which students will develop simulations to explore learning and planning methods for diverse domains. We will provide a list of suggested projects but students might also propose an original idea. The course will cover a set of research papers with presentations by students. This is a research field in rapid transformation with exciting research lines. The goal of the class is to provide practical experience and understanding of the main research lines to enable students to conduct innovative research in this field.


Assistant Professor, Department of Electronics and Circuits in the Simon Bolivar University.

  • Navegación Inercial y GPS.- (Tópicos Especiales I). / Inertial Navigation and GPS
    • Sept.-Dic. 2011 / September-December 2011
    • Abril-Julio 2011 / April-July 2011
      • EC5801 (undergraduate)
      • EC6816 (graduate)
  • Fundamentos de Mecatrónica.- / Fundamentals of Mechatronics
    • Abril-Julio 2011 / April-July 2011
      • EC5811 (undergraduate)
      • EC6515 (graduate)
  • Robótica.- EC3514. / Robotics
    • Ene.-Mar. 2012 / January-March 2012
    • Ene.-Mar. 2011 / January-March 2011
  • Señales y Sistemas.- EC1421. / Signals and Systems
    • Sept.-Dic. 2010 / September-December 2010,

Undergraduate Thesis Advising

  • Julio Arellano (student),
    Leonel Paredes Madrid (advisor [CSIC, IAI, Madrid, Spain]), Claudia Pérez D’Arpino (advisor [USB]):
    Integration of a 6-DOF IMU with a manipulator control interface / Integración de una IMU de 6-GDL a una interfaz de control para manipuladores.
  • Sergio Martini Popoli (student),
    Claudia Pérez D’Arpino (advisor):
    Design and implementation of a hardware-software architecture to incorporating 3D vision to an UAV / Diseño de una arquitectura de hardware y software para la incorporación de visión 3D a una plataforma robótica.
  • Tomás Chiesa (student),
    Carolina Chang (advisor [Grupo Inteligencia Artificial USB]), Claudia Pérez D’Arpino (advisor):
    Design and implementation of a hardware architecture for the control of a RC-ROVER robot / Diseño e implementación de una arquitectura de hardware para el control del RC-ROVER
  • Ronald Rodríguez (student),
    Rafael Fierro (advisor [MARHES Laboratory, NMU]), Claudia Pérez D’Arpino (advisor [USB]):
    Hierarchical real-time control architecture for the MARHES aerial test bed / Diseño de un sistema de control jerárquico en tiempo real de un quadrotor en condiciones de hover.
  • Damian Vigouroux (student),
    Leonardo Fermín (advisor), Claudia Pérez D’Arpino (advisor):
    Implementation of a Inertial Measurement Unit (IMU) for Robotics using Kalman Filter / Implementación de Unidad de Mediciones Inerciales (IMU) para Robótica utilizando Filtro de Kalman.