12 papers
Mamba-based Selective State Space Modeling Improves the Accuracy-Complexity Tradeoff of SmolVLA Vision-Language-Action Experts
Farida Mohsen, Thowayba Elkaffash, Mohammad Reza Chalak Qazani +3
Vision-language-action (VLA) models face a crucial tradeoff between their task success rate and the policy-call frequency. Executing a single action per inference () enables a…
IAML: Illumination-Aware Mirror Loss for Progressive Learning in Low-Light Image Enhancement Auto-encoders
Farida Mohsen, Tala Zaim, Ali Al-Zawqari +2
This letter presents a novel training approach and loss function for learning low-light image enhancement auto-encoders. Our approach revolves around the use of a teacher-student a…
Real-Time Human-Robot Interaction Intent Detection Using RGB-based Pose and Emotion Cues with Cross-Camera Model Generalization
Farida Mohsen, Ali Safa
Service robots in public spaces require real-time understanding of human behavioral intentions for natural interaction. We present a practical multimodal framework for frame-accura…
MINT-RVAE: Multi-Cues Intention Prediction of Human-Robot Interaction using Human Pose and Emotion Information from RGB-only Camera Data
Farida Mohsen, Ali Safa
Efficiently detecting human intent to interact with ubiquitous robots is crucial for effective human-robot interaction (HRI) and collaboration. Over the past decade, deep learning…
Learning to Control Dynamical Agents via Spiking Neural Networks and Metropolis-Hastings Sampling
Ali Safa, Farida Mohsen, Ali Al-Zawqari
Spiking Neural Networks (SNNs) offer biologically inspired, energy-efficient alternatives to traditional Deep Neural Networks (DNNs) for real-time control systems. However, their t…
Deep Fusion of Ultra-Low-Resolution Thermal Camera and Gyroscope Data for Lighting-Robust and Compute-Efficient Rotational Odometry
Farida Mohsen, Ali Safa
Accurate rotational odometry is crucial for autonomous robotic systems, particularly for small, power-constrained platforms such as drones and mobile robots. This study introduces…