About Me (!! Site under Construction !! )

Your Name
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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!


research

Write about your research here.


news

  • Sep 09, 2023: Teaching assistant for Robot Learning Course!
  • Sep 09, 2023: Our paper on time-based inductive bias for RL policies got accepted to an IROS Workshop!
  • Aug 14, 2023: Started MS Robotics at CMU!
  • Apr 07, 2023: Our paper on data-driven inverse kinematics got accepted to IJCNN, 2023!
  • Jun 30, 2022: Our paper on skill learning using differentiable physics has been accepted for presentation at IROS, 2022!
  • May 26, 2022: Our paper on Monocular Obstacle Avoidance got accepted to CASE,2022!
  • Jan 29, 2022: Our paper on sequenced dynamical systems got accepted to GPL Workshop at ICLR, 2022!
  • Jun 30, 2021: Our work on Real Time Visual Servoing has been accepted for presentation at IROS,2021!
  • May 05, 2021: Started my internship at R-PAD, Carnegie Mellon University!
  • May 02, 2020: Started working at Robotics Research Center!

Publications (!! need to update !!)

Representative publications are higlighted.
( “*” denotes equal contribution. )

Publication Title 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} }
Publication Title 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}}
Publication Title 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}}
Publication Title 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} }
Publication Title 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} }
Publication Title 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} }
Publication Title 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}}

Contact

Please feel free to contact or interact with me through the following links:


Mohammad Nomaan Qureshi