6 papers
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…
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…
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…