arXiv subjects

Ahmed Hussein

Publications and source records attributed to Ahmed Hussein.

7 recordsLinked to original sources

arXiv2026

From Prompts to Pavement Through Time: Temporal Grounding in Agentic Scene-to-Plan Reasoning

Recent attempts to support high-level scene interpretation and planning in Autonomous Vehicles (AVs) using ensembles of Large Language Models (LLMs) and Large Multimodal Models (LMMs) continue to treat time as a secondary property. This lack of temporal grounding leads to inconsistencies in reasoning about continuous actions, undermining both safety and interpretability. This work explores whether temporal conditioning within inter-agent communication can preserve or enhance coherence without introducing degradation in semantic or logical consistency. To investigate this, we introduce three planner architectures with progressively increasing temporal integration and evaluate them on curated subsets of the BDD-X dataset using semantic, syntactic, and logical metrics. Results show that while temporal conditioning reshapes reasoning style, it yields no statistically significant improvements in standard NLP-based correctness metrics. However, qualitative analysis reveals predictive hazard reasoning, stable corrective behavior, and strategic divergence in the Sentinel. These findings clarify the limits of prompt-based temporal grounding and establish the first empirical benchmark for temporal scene-to-plan reasoning.

cs.AI↗

arXiv2026

AROLA: A Modular Layered Architecture for Scaled Autonomous Racing

Autonomous racing has advanced rapidly, particularly on scaled platforms, and software stacks must evolve accordingly. In this work, AROLA is introduced as a modular, layered software architecture in which fragmented and monolithic designs are reorganized into interchangeable layers and components connected through standardized ROS 2 interfaces. The autonomous-driving pipeline is decomposed into sensing, pre-processing, perception, localization and mapping, planning, behavior, control, and actuation, enabling rapid module replacement and objective benchmarking without reliance on custom message definitions. To support consistent performance evaluation, a Race Monitor framework is introduced as a lightweight system through which lap timing, trajectory quality, and computational load are logged in real time and standardized post-race analyses are generated. AROLA is validated in simulation and on hardware using the RoboRacer platform, including deployment at the 2025 RoboRacer IV25 competition. Together, AROLA and Race Monitor demonstrate that modularity, transparent interfaces, and systematic evaluation can accelerate development and improve reproducibility in scaled autonomous racing.

cs.RO↗

arXiv2026

From Prompts to Pavement: LMMs-based Agentic Behavior-Tree Generation Framework for Autonomous Vehicles

Autonomous vehicles (AVs) require adaptive behavior planners to navigate unpredictable, real-world environments safely. Traditional behavior trees (BTs) offer structured decision logic but are inherently static and demand labor-intensive manual tuning, limiting their applicability at SAE Level 5 autonomy. This paper presents an agentic framework that leverages large language models (LLMs) and multi-modal vision models (LVMs) to generate and adapt BTs on the fly. A specialized Descriptor agent applies chain-of-symbols prompting to assess scene criticality, a Planner agent constructs high-level sub-goals via in-context learning, and a Generator agent synthesizes executable BT sub-trees in XML format. Integrated into a CARLA+Nav2 simulation, our system triggers only upon baseline BT failure, demonstrating successful navigation around unexpected obstacles (e.g., street blockage) with no human intervention. Compared to a static BT baseline, this approach is a proof-of-concept that extends to diverse driving scenarios.

cs.CV↗

arXiv2024

Khattat: Enhancing Readability and Concept Representation of Semantic Typography

Designing expressive typography that visually conveys a word's meaning while maintaining readability is a complex task, known as semantic typography. It involves selecting an idea, choosing an appropriate font, and balancing creativity with legibility. We introduce an end-to-end system that automates this process. First, a Large Language Model (LLM) generates imagery ideas for the word, useful for abstract concepts like freedom. Then, the FontCLIP pre-trained model automatically selects a suitable font based on its semantic understanding of font attributes. The system identifies optimal regions of the word for morphing and iteratively transforms them using a pre-trained diffusion model. A key feature is our OCR-based loss function, which enhances readability and enables simultaneous stylization of multiple characters. We compare our method with other baselines, demonstrating great readability enhancement and versatility across multiple languages and writing scripts.

cs.CL↗

arXiv2021

Deterministic Guided LiDAR Depth Map Completion

Accurate dense depth estimation is crucial for autonomous vehicles to analyze their environment. This paper presents a non-deep learning-based approach to densify a sparse LiDAR-based depth map using a guidance RGB image. To achieve this goal the RGB image is at first cleared from most of the camera-LiDAR misalignment artifacts. Afterward, it is over segmented and a plane for each superpixel is approximated. In the case a superpixel is not well represented by a plane, a plane is approximated for a convex hull of the most inlier. Finally, the pinhole camera model is used for the interpolation process and the remaining areas are interpolated. The evaluation of this work is executed using the KITTI depth completion benchmark, which validates the proposed work and shows that it outperforms the state-of-the-art non-deep learning-based methods, in addition to several deep learning-based methods.

cs.CV↗

arXiv2019

Crowdsourced Peer Learning Activity for Internet of Things Education: A Case Study

Computing devices such as laptops, tablets and mobile phones have become part of our daily lives. End users increasingly know more and more information about these devices. Further, more technically savvy end users know how such devices are being built and know how to choose one over the others. However, we cannot say the same about the Internet of Things (IoT) products. Due to its infancy nature of the marketplace, end users have very little idea about IoT products. To address this issue, we developed a method, a crowdsourced peer learning activity, supported by an online platform (OLYMPUS) to enable a group of learners to learn IoT products space better. We conducted two different user studies to validate that our tool enables better IoT education. Our method guide learners to think more deeply about IoT products and their design decisions. The learning platform we developed is open source and available for the community.

cs.HC↗

arXiv1997

Pion-nucleus elastic scattering on 12C, 40Ca, 90Zr, and 208Pb at 400 and 500 MeV

Pion-nucleus elastic scattering at energies above the Delta(1232) resonance is studied using both pi+ and pi- beams on 12C, 40Ca, 90Zr, and 208Pb. The present data provide an opportunity to study the interaction of pions with nuclei at energies where second-order corrections to impulse approximation calculations should be small. The results are compared with other data sets at similar energies, and with four different first-order impulse approximation calculations. Significant disagreement exists between the calculations and the data from this experiment.

nucl-ex↗