Hi! I am a first-year MS Robotics student at Carnegie Mellon University advised by Prof. George Kantor. I am interested in machine learning for robot manipulation. Currently, I am trying to build robot farmers.
Before that, I completed my integrated BS/MS degree from IIIT Hyderabad. I was an undergraduate researcher at Robotics Research Center, advised by Prof. K. Madhava Krishna. I spent my summers of 2021 and 2022 working with Prof. David Held at Carnegie Mellon University. I formulated a differentiable version of linear dynamic systems, which could be used as a building block to accelerate the learning and transfer of policies. I also collaborate with Prof. Makarand Tapaswi on a project that aims to learn manipulation policies directly from human demonstrations like these.
If you're looking for collaborators for Robotics/ML projects, please feel free to get in touch!
Write about your research here.
Representative publications are higlighted.
( “*” denotes equal contribution. )
On Time-Indexing as Inductive Bias in Deep RL for Sequential Manipulation Tasks M. Nomaan Qureshi, Ben Eisner, David Held Learning Meets Model-based Methods for Manipulation and Grasping Workshop @ IROS 2023 Paper | Bibtex
This is the explanation for the first paper.
@misc{qureshi2024timeindexing,
title={On Time-Indexing as Inductive Bias in Deep RL for Sequential Manipulation Tasks},
author={M. Nomaan Qureshi and Ben Eisner and David Held},
year={2024},
eprint={2401.01993},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
|
Disentangling Planning and Control for Non-Prehensile Tabletop Manipulation Vishal Reddy Mandadi, Kallol Saha, Dipanwita Guhathakurta, M Nomaan Qureshi, Aditya Agarwal, Bipasha Sen, Dipanjan Das, Brojeshwar Bhowmick, Arun Singh, Madhava Krishna CASE, 2023 Paper | Video | Why? | Bibtex
This is the explanation for the first paper.
@INPROCEEDINGS{10260462,
author={Mandadi, Vishal Reddy and Saha, Kallol and Guhathakurta, Dipanwita and Qureshi, M. Nomaan and Agarwal, Aditya and Sen, Bipasha and Das, Dipanjan and Bhowmick, Brojeshwar and Singh, Arun and Krishna, Madhava},
booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
title={Disentangling Planning and Control for Non-Prehensile Tabletop Manipulation},
year={2023},
volume={},
number={},
pages={1-6},
doi={10.1109/CASE56687.2023.10260462}}
|
Learning Arc-Length Value Function for Fast Time-Optimal Pick and Place Sequence Planning and Execution Prajwal Thakur*, M Nomaan Qureshi*, Arun Kumar Singh, YVS Harish, Pushkal Katara, Houman Masnavi, K Madhava Krishna, Brojeshwar Bhowmick IJCNN, 2023 Paper | Video | Why? | Bibtex
This is the explanation for the first paper.
@INPROCEEDINGS{10191434,
author={Thakur, Prajwal and Qureshi, M. Nomaan and Singh, Arun Kumar and Harish, Y V S and Katara, Pushkal and Masnavi, Houman and Krishna, K. Madhava and Bhowmick, Brojeshwar},
booktitle={2023 International Joint Conference on Neural Networks (IJCNN)},
title={Learning Arc-Length Value Function for Fast Time-Optimal Pick and Place Sequence Planning and Execution},
year={2023},
volume={},
number={},
pages={1-10},
doi={10.1109/IJCNN54540.2023.10191434}}
|
Learning Object Manipulation Skills from Video via Approximate Differentiable Physics Vladimir Petrik, M Nomaan Qureshi, Josef Sivic, Makarand Tapaswi IROS, 2022 Paper | Video | Why? | Bibtex
This is the explanation for the first paper.
@misc{petrik2022learning,
title={Learning Object Manipulation Skills from Video via Approximate Differentiable Physics},
author={Vladimir Petrik and Mohammad Nomaan Qureshi and Josef Sivic and Makarand Tapaswi},
year={2022},
eprint={2208.01960},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
|
Flow Synthesis Based Visual Servoing Frameworks for Monocular Obstacle Avoidance Amidst High-Rises Harshit K Sankhla*, M Nomaan Qureshi*, Shankara Narayanan V*, Vedansh Mittal, Gunjan Gupta, Harit Pandya, K Madhava Krishna CASE, 2022 Paper | Video | Why? | Bibtex
This is the explanation for the first paper.
@misc{sankhla2022flow,
title={Flow Synthesis Based Visual Servoing Frameworks for Monocular Obstacle Avoidance Amidst High-Rises},
author={Harshit K. Sankhla and M. Nomaan Qureshi and Shankara Narayanan V. and Vedansh Mittal and Gunjan Gupta and Harit Pandya and K. Madhava Krishna},
year={2022},
eprint={2207.03557},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
|
Deep Sequenced Linear Dynamical Systems for Manipulation Policy Learning M Nomaan Qureshi,Ben Eisner, David Held ICLR 2022 Workshop on Generalizable Policy Learning in Physical World Paper | Video | Why? | Bibtex
This is the explanation for the first paper.
@inproceedings{
qureshi2022deep,
title={Deep Sequenced Linear Dynamical Systems for Manipulation Policy Learning},
author={Mohammad Nomaan Qureshi and Ben Eisner and David Held},
booktitle={ICLR 2022 Workshop on Generalizable Policy Learning in Physical World},
year={2022},
url={https://openreview.net/forum?id=rF-fT4pN1Wc}
}
|
RTVS: A Lightweight Differentiable MPC Framework for Real-Time Visual Servoing M Nomaan Qureshi*, Pushkal Katara*, Abhinav Gupta*, Harit Pandya, YVS Harish, AadilMehdi Sanchawala, Gourav Kumar, Brojeshwar Bhowmick, K Madhava Krishna IROS, 2021 Paper | Video | Why? | Bibtex
This is the explanation for the first paper.
@INPROCEEDINGS{9636290,
author={Qureshi, M. Nomaan and Katara, Pushkal and Gupta, Abhinav and Pandya, Harit and Harish, Y V S and Sanchawala, AadilMehdi and Kumar, Gourav and Bhowmick, Brojeshwar and Krishna, K. Madhava},
booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={RTVS: A Lightweight Differentiable MPC Framework for Real-Time Visual Servoing},
year={2021},
volume={},
number={},
pages={3798-3805},
doi={10.1109/IROS51168.2021.9636290}}
|
Please feel free to contact or interact with me through the following links:
GitHub: qureshinomaan