13 papers
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…
MUOT_3M: A 3 Million Frame Multimodal Underwater Benchmark and the MUTrack Tracking Method
Ahsan Baidar Bakht, Mohamad Alansari, Muhayy Ud Din +5
Underwater Object Tracking (UOT) is crucial for efficient marine robotics, large scale ecological monitoring, and ocean exploration; however, progress has been hindered by the scar…
LLM-VLM Fusion Framework for Autonomous Maritime Port Inspection using a Heterogeneous UAV-USV System
Muhayy Ud Din, Waseem Akram, Ahsan B. Bakht +1
Maritime port inspection plays a critical role in ensuring safety, regulatory compliance, and operational efficiency in complex maritime environments. However, existing inspection…
Lang2Manip: A Tool for LLM-Based Symbolic-to-Geometric Planning for Manipulation
Muhayy Ud Din, Jan Rosell, Waseem Akram +1
Simulation is essential for developing robotic manipulation systems, particularly for task and motion planning (TAMP), where symbolic reasoning interfaces with geometric, kinematic…
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…