2 citations · 4 across the 8 of their papers we have counts for
10 papers
Language-Guided Representation Learning for Robust Cross-Sensor Material Recognition
Mashood M. Mohsan, Muhayy Ud Din, Binzhao Xu +2
Robots need touch to manipulate objects safely and reliably, as many properties, such as softness, texture, and contact stability, are hard to infer from vision alone. However, vis…
RIT*: Riemannian Informed Trees for Cost-Adaptive Optimal Motion Planning
Muhayy Ud Din, Ahmed Nadar, Jan Rosell +1
We present Riemannian Informed Trees (RIT*), a planning framework that replaces Euclidean primitives in batch-informed search with their Riemannian counterparts. RIT* constructs a…
SAGP: Semantic Affordance-Guided Grasp Planning via Coarse-Zone VLM Reasoning
Muhayy Ud Din, Irfan Hussain
Geometry-based grasp planners ensure physically valid grasps but ignore functional semantics, often generating grasps that are antipodal and collision-free yet practically inapprop…
AquaChat: An LLM-Guided ROV Framework for Adaptive Inspection of Aquaculture Net Pens
Waseem Akram, Muhayy Ud Din, Abdelhaleem Saad +1
Inspection of aquaculture net pens is essential for maintaining the structural integrity, biosecurity, and operational efficiency of fish farming systems. Traditional inspection ap…
Maritime Mission Planning for Unmanned Surface Vessel using Large Language Model
Muhayy Ud Din, Waseem Akram, Ahsan B Bakht +2
Unmanned Surface Vessels (USVs) are essential for various maritime operations. USV mission planning approach offers autonomous solutions for monitoring, surveillance, and logistics…
LLM-guided Task and Motion Planning using Knowledge-based Reasoning
Muhayy Ud Din, Jan Rosell, Waseem Akram +3
Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches that combine high-level symbolic plans with low-level mo…
Object Manipulation in Marine Environments using Reinforcement Learning
Ahmed Nader, Muhayy Ud Din, Mughni Irfan +1
Performing intervention tasks in the maritime domain is crucial for safety and operational efficiency. The unpredictable and dynamic marine environment makes the intervention tasks…
Conditional Variational Auto Encoder Based Dynamic Motion for Multi-task Imitation Learning
Binzhao Xu, Muhayy Ud Din, Irfan Hussain
The dynamic motion primitive-based (DMP) method is an effective method of learning from demonstrations. However, most of the current DMP-based methods focus on learning one task wi…
MuLA-GAN: Multi-Level Attention GAN for Enhanced Underwater Visibility
Ahsan Baidar Bakht, Zikai Jia, Muhayy ud Din +6
The underwater environment presents unique challenges, including color distortions, reduced contrast, and blurriness, hindering accurate analysis. In this work, we introduce MuLA-G…
Marine: Design and Implementation of Unmanned Surface Vessel for Vision Guided Navigation
Muhayy Ud Din, Ahmed Humais, Waseem Akram +5
Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, envir…