6 papers
MIND: Instruction-Conditioned Incremental Grounding for Robots
Mohamed Abouagour, Junhyun Nam, Wonse Jo +1
Robots following persistent language instructions must decide which cached room judgments remain valid as their environment changes. We present MIND (Maintenance via INstruction-co…
Audit Before You Commit: Locating Belief Failures in Active Identification for One-Shot Manipulation
Mohamed Abouagour, Byung-Cheol Min
A robot that probes a few times before one irreversible action, such as tapping a surface before inserting a peg, must decide when the evidence is enough to commit. We argue that t…
PRISM: Differentiable Analysis-by-Synthesis for Fixel Recovery in Diffusion MRI
Mohamed Abouagour, Atharva Shah, Eleftherios Garyfallidis
Diffusion MRI microstructure fitting is nonconvex and often performed voxelwise, which limits fiber peak recovery in narrow crossings. This work introduces PRISM, a differentiable…
Spherical Hermite Maps
Mohamed Abouagour, Eleftherios Garyfallidis
Spherical functions appear throughout computer graphics, from spherical harmonic lighting and precomputed radiance transfer to neural radiance fields and procedural planet renderin…
GFLAN: Generative Functional Layouts
Mohamed Abouagour, Eleftherios Garyfallidis
Automated floor plan generation lies at the intersection of combinatorial search, geometric constraint satisfaction, and functional design requirements -- a confluence that has his…
ResPlan: A Large-Scale Vector-Graph Dataset of 17,000 Residential Floor Plans
Mohamed Abouagour, Eleftherios Garyfallidis
We introduce ResPlan, a dataset of 17,000 residential floor plans with vector geometry, room-connectivity graphs, and metric-scale coordinates. Each plan annotates walls, doors, wi…