10 citations · 22 across the 14 of their papers we have counts for
15 papers
Adapting Vision Foundation Models to Acoustics for Pose-Free 3D Sonar Reconstruction
Kevin Zhang, Jingxi Chen, Mohamad Qadri +5
Vision foundation models trained on Internet-scale RGB datasets enable remarkable capabilities across a range of tasks, from text-to-video generation to few-shot 3D scene reconstru…
TouchAnything: Diffusion-Guided 3D Reconstruction from Sparse Robot Touches
Langzhe Gu, Hung-Jui Huang, Mohamad Qadri +2
Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for sh…
Overcoming Valid Action Suppression in Unmasked Policy Gradient Algorithms
Renos Zabounidis, Roy Siegelmann, Mohamad Qadri +3
In reinforcement learning environments with state-dependent action validity, action masking consistently outperforms penalty-based handling of invalid actions, yet existing theory…
Acoustic Neural 3D Reconstruction Under Pose Drift
Tianxiang Lin, Mohamad Qadri, Kevin Zhang +3
We consider the problem of optimizing neural implicit surfaces for 3D reconstruction using acoustic images collected with drifting sensor poses. The accuracy of current state-of-th…
Your Learned Constraint is Secretly a Backward Reachable Tube
Mohamad Qadri, Gokul Swamy, Jonathan Francis +2
Inverse Constraint Learning (ICL) is the problem of inferring constraints from safe (i.e., constraint-satisfying) demonstrations. The hope is that these inferred constraints can th…
Z-Splat: Z-Axis Gaussian Splatting for Camera-Sonar Fusion
Ziyuan Qu, Omkar Vengurlekar, Mohamad Qadri +5
Differentiable 3D-Gaussian splatting (GS) is emerging as a prominent technique in computer vision and graphics for reconstructing 3D scenes. GS represents a scene as a set of 3D Ga…
AONeuS: A Neural Rendering Framework for Acoustic-Optical Sensor Fusion
Mohamad Qadri, Kevin Zhang, Akshay Hinduja +3
Underwater perception and 3D surface reconstruction are challenging problems with broad applications in construction, security, marine archaeology, and environmental monitoring. Tr…
Toward Semantic Scene Understanding for Fine-Grained 3D Modeling of Plants
Mohamad Qadri, Harry Freeman, Eric Schneider +1
Agricultural robotics is an active research area due to global population growth and expectations of food and labor shortages. Robots can potentially help with tasks such as prunin…
Learning Covariances for Estimation with Constrained Bilevel Optimization
Mohamad Qadri, Zachary Manchester, Michael Kaess
We consider the problem of learning error covariance matrices for robotic state estimation. The convergence of a state estimator to the correct belief over the robot state is depen…
Learning Observation Models with Incremental Non-Differentiable Graph Optimizers in the Loop for Robotics State Estimation
Mohamad Qadri, Michael Kaess
We consider the problem of learning observation models for robot state estimation with incremental non-differentiable optimizers in the loop. Convergence to the correct belief over…
Autonomous Apple Fruitlet Sizing and Growth Rate Tracking using Computer Vision
Harry Freeman, Mohamad Qadri, Abhisesh Silwal +4
In this paper, we present a computer vision-based approach to measure the sizes and growth rates of apple fruitlets. Measuring the growth rates of apple fruitlets is important beca…
Neural Implicit Surface Reconstruction using Imaging Sonar
Mohamad Qadri, Michael Kaess, Ioannis Gkioulekas
We present a technique for dense 3D reconstruction of objects using an imaging sonar, also known as forward-looking sonar (FLS). Compared to previous methods that model the scene g…
Conditional GANs for Sonar Image Filtering with Applications to Underwater Occupancy Mapping
Tianxiang Lin, Akshay Hinduja, Mohamad Qadri +1
Underwater robots typically rely on acoustic sensors like sonar to perceive their surroundings. However, these sensors are often inundated with multiple sources and types of noise,…
Semantic Feature Matching for Robust Mapping in Agriculture
Mohamad Qadri, George Kantor
Visual Simultaneous Localization and Mapping (SLAM) systems are an essential component in agricultural robotics that enable autonomous navigation and the construction of accurate 3…
Speculative Path Planning
Mohammad Bakhshalipour, Mohamad Qadri, Dominic Guri
Parallelization of A* path planning is mostly limited by the number of possible motions, which is far less than the level of parallelism that modern processors support. In this pap…