Mohammad Nomaan Qureshi — accepted AI-conference papers

2025

SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting

Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandún, David Held, George Kantor, Abhisesh Silwal

ICRA 2025

Sim2Real transfer, particularly for manipulation policies relying on RGB images, remains a critical challenge in robotics due to the significant domain shift between syn-thetic and real-world visual data. In this paper, we propose SplatSim, a novel framework that leverages Gaussian Splatting as the

Cited by 66 Source ↗code ↗Scholar ↗

2022

Learning Object Manipulation Skills from Video via Approximate Differentiable Physics

Vladimír Petrík, Mohammad Nomaan Qureshi, Josef Sivic, Makar Tapaswi

IROS 2022poster

We aim to teach robots to perform simple object manipulation tasks by watching a single video demonstration. Towards this goal, we propose an optimization approach that outputs a coarse and temporally evolving 3D scene to mimic the action demonstrated in the input video. Similar to previous work, a…

Cited by 7 Source ↗Scholar ↗