Authors

Ahmed H. Qureshi

Publications 2

Preprint Open access

Riemannian Splat Regression Models for Learning Time Fields on Arbitrary Riemannian Manifolds

Anastasios Manganaris, Rohit Banerjee, Gokul Prabhakaran et al. · 2026

Motion planning on arbitrary Riemannian manifolds is an important and difficult problem that frustrates typical planning methods for Euclidean spaces. In particular, motion planning methods that approximate optimal time-to-go functions with neural networks, e.g., Neural Time Fields (NTFields), cannot be directly applie …

Preprint Open access

Missing Bridges: Composition-Aware Active Imitation Learning

Maxwell J. Jacobson, Ahmed H. Qureshi, Yexiang Xue · 2026

Active imitation learning reduces expert effort by allowing a learner to request the demonstrations it needs. Existing methods typically select these requests for their expected information gain about the expert policy. In structured multi-task domains, however, the number of start-goal tasks may grow combinatorially d …

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