Masoud Moghani

I am a PhD student at the University of Toronto, advised by Animesh Garg working at the intersection of robotics, machine learning, and simulation. My research focuses on robot learning for manipulation and deformable object simulation. I am also working on autonomy in surgical robotics.

Email  /  Google Scholar  /  Twitter  /  YouTube  /  Github

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Publications

SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants
Masoud Moghani, Lars Doorenbos, William Chung-Ho Panitch,
Sean Huver, Mahdi Azizian, Ken Goldberg, Animesh Garg
IROS 2024: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
website / video / paper / pdf

Media Coverage: New Scientist

SuFIA, a framework for natural language-guided augmented dexterity for robotic surgical assistants.

ORBIT-Surgical: An Open Simulation Framework for Accelerated Learning in Surgical Autonomy
Qinxi Yu*, Masoud Moghani*, Karthik Dharmarajan, Vincent Schorp,
William Chung-Ho Panitch, Jingzhou Liu, Kush Hari, Huang Huang,
Mayank Mittal, Ken Goldberg, Animesh Garg
*Equal Contribution
ICRA 2024: IEEE International Conference on Robotics and Automation, 2024
website / short video / long video / paper / pdf

Media Coverage: NVIDIA Blog / NVIDIA Developer / Twitter (Masoud Moghani) /
Twitter (Animesh Garg) / The Robot Report / The Decoder

ORBIT-Surgical, a physics-based surgical robot simulation framework with photorealistic rendering.

Robot-Assisted Vascular Shunt Insertion with the dVRK Surgical Robot
Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang,
Lawrence Yunliang Chen, Masoud Moghani, Qinxi Yu, Kush Hari,
Thomas Low, Danyal Fer, Animesh Garg, Ken Goldberg
JMRR 2023: Journal of Medical Robotics Research, 2023
website / paper

A trimodal framework for vascular shunt insertion assisted by a da Vinci Research Kit (dVRK) robotic surgical assistant.

A Small Steerable Tip Based on Dielectric Elastomer Actuators
Siyoung Lee, Masoud Moghani, Ang Li, Mihai Duduta
RA-L 2023: IEEE Robotics and Automation Letters, 2023
paper

A soft robotic approach for a steerable tip capable of guiding a small flexible insertion tube.

A Lightweight Magnetorheological Actuator Using Hybrid Magnetization
Masoud Moghani, Mehrdad R. Kermani
T-Mech 2019: IEEE/ASME Transactions on Mechatronics, 2019
paper / pdf

The design and validation of a high-performance compliant actuator for robotic manipulators.

Hysteresis Modeling of a Hybrid Magneto-Rheological Actuator
Masoud Moghani, Mehrdad R. Kermani
AIM 2016: IEEE International Conference on Advanced Intelligent Mechatronics, 2016
paper

A neural network based closed-loop torque control strategy for a compliant actuator.

Design and Development of a Hybrid Magneto-Rheological Clutch for Safe Robotic Applications
Masoud Moghani, Mehrdad R. Kermani
ICRA 2016: IEEE International Conference on Robotics and Automation, 2016
paper

A novel compliant actuator for safe robotic applications.

Teaching

CSC413H1-2516H - Neural Networks and Deep Learning (TA)
MIE404H1 - Control Systems I (Co-lecturer, 2x - Head TA)
ECE470H1 - Robot Modeling and Control (2x - TA)
MIE505H1 - Micro/Nano Robotics (TA)
ECE 4460B - Real Time Embedded Systems (2x - TA)

Source code from Jon Barron website's source code.