arXiv subjects

Mohamed Abdelwahab

Publications and source records attributed to Mohamed Abdelwahab.

8 recordsLinked to original sources

arXiv2026

Hierarchical Topology-Aware Planning and Control of Underwater Vehicle-Manipulator Systems in Confined Environments

This paper addresses autonomous intervention with an underwater vehicle--manipulator system (UVMS) in confined, cluttered, and partially known environments, where poor maneuverability, narrow passages, and uncertain execution may cause the robot to enter unrecoverable regions. We propose MANTA, a three-layer hierarchical planning-and-control framework that couples passage accessibility, manipulation feasibility, and closed-loop execution. The first layer performs global connectivity reasoning in a conservative reduced base space to extract traversable corridor candidates toward the task region. The second layer refines each candidate corridor by jointly optimizing the continuous base motion and arm trajectory, producing a collision-free base--arm trajectory. The third layer learns a reach-and-hold base policy using Gaussian-process model-based reinforcement learning (MBRL) through MC-PILCO, enabling trajectory tracking and station keeping at the planned manipulation state. During execution, the framework monitors map updates and can trigger recovery and route repair when the active passage becomes infeasible. MANTA is evaluated in confined UVMS planning and closed-loop tracking experiments. Across 120 matched planning queries, it achieves higher task success than full-state sampling-based baselines while producing larger clearance margins and lower arm motion. The learned MC-PILCO policy further reduces position and yaw tracking errors on both training and unseen tube-like references. These results show MANTA as a structured and data-efficient framework for safe autonomous underwater intervention in caves, tubes, and cluttered subsea structures.

cs.RO↗

arXiv2026

What are They Thinking? Delineation, Probing, and Tracking of Concepts in LLMs

As the influence of LLMs expands, it is imperative to gain insight into their decisions. One way to do that is to develop probes that detect the presence or absence of a broad set of high-level abstract concepts within the embeddings computed in an LLM - which is what we might say a model is ``thinking" about. Such probes should be low-cost and easily applicable to any LLM, so that monitoring for many concepts is possible during normal operation. In this paper, we take the first steps towards developing the capability of creating many such probes by defining and executing examples of the key tasks needed: first, the careful delineation of a high-level abstract concept through the creation of a dataset with the concept both present and then absent. Then, the training and testing of a set of linear probes to detect the concept on any layer of an LLM, including an exploration of the complexity of the probe needed. Finally, we show that such probes can track concepts across larger contexts. This is done with four separate concepts and three different LLMs. When this process is scaled to many more concepts, it will create the ability to monitor new models.

cs.CL↗

arXiv2025

A Robust Controller based on Gaussian Processes for Robotic Manipulators with Unknown Uncertainty

In this paper, we propose a novel learning-based robust feedback linearization strategy to ensure precise trajectory tracking for an important family of Lagrangian systems. We assume a nominal knowledge of the dynamics is given but no a-priori bounds on the model mismatch are available. In our approach, the key ingredient is the adoption of a regression framework based on Gaussian Processes (GPR) to estimate the model mismatch. This estimate is added to the outer loop of a classical feedback linearization scheme based on the nominal knowledge available. Then, to compensate for the residual uncertainty, we robustify the controller including an additional term whose size is designed based on the variance provided by the GPR framework. We proved that, with high probability, the proposed scheme is able to guarantee asymptotic tracking of a desired trajectory. We tested numerically our strategy on a 2 degrees of freedom planar robot.

cs.RO↗

arXiv2025

A Fully Generative Motivational Interviewing Counsellor Chatbot for Moving Smokers Towards the Decision to Quit

The conversational capabilities of Large Language Models (LLMs) suggest that they may be able to perform as automated talk therapists. It is crucial to know if these systems would be effective and adhere to known standards. We present a counsellor chatbot that focuses on motivating tobacco smokers to quit smoking. It uses a state-of-the-art LLM and a widely applied therapeutic approach called Motivational Interviewing (MI), and was evolved in collaboration with clinician-scientists with expertise in MI. We also describe and validate an automated assessment of both the chatbot's adherence to MI and client responses. The chatbot was tested on 106 participants, and their confidence that they could succeed in quitting smoking was measured before the conversation and one week later. Participants' confidence increased by an average of 1.7 on a 0-10 scale. The automated assessment of the chatbot showed adherence to MI standards in 98% of utterances, higher than human counsellors. The chatbot scored well on a participant-reported metric of perceived empathy but lower than typical human counsellors. Furthermore, participants' language indicated a good level of motivation to change, a key goal in MI. These results suggest that the automation of talk therapy with a modern LLM has promise.

cs.CL↗

arXiv2024

Adaptive Robust Controller for handling Unknown Uncertainty of Robotic Manipulators

The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot dynamics, and robustness to model uncertainties is achieved by relying on precise bounds on the model mismatch. In this paper, we propose a novel adaptive robust feedback linearization scheme able to compensate for model uncertainties without any a-priori knowledge on them, and we provide a theoretical proof of convergence under mild assumptions. We evaluate the method on a simulated RR robot. First, we consider a nominal model with known model mismatch, which allows us to compare our strategy with state-of-the-art uncertainty-aware methods. Second, we implement the proposed control law in combination with a learned model, for which uncertainty bounds are not available. Results show that our method leads to performance comparable to uncertainty-aware methods while requiring less prior knowledge.

cs.RO↗

arXiv2024

Generation, Distillation and Evaluation of Motivational Interviewing-Style Reflections with a Foundational Language Model

Large Foundational Language Models are capable of performing many tasks at a high level but are difficult to deploy in many applications because of their size and proprietary ownership. Many will be motivated to distill specific capabilities of foundational models into smaller models that can be owned and controlled. In the development of a therapeutic chatbot, we wish to distill a capability known as reflective listening, in which a therapist produces reflections of client speech. These reflections either restate what a client has said, or connect what was said to a relevant observation, idea or guess that encourages and guides the client to continue contemplation. In this paper, we present a method for distilling the generation of reflections from a Foundational Language Model (GPT-4) into smaller models. We first show that GPT-4, using zero-shot prompting, can generate reflections at near 100% success rate, superior to all previous methods. Using reflections generated by GPT-4, we fine-tune different sizes of the GPT-2 family. The GPT-2-small model achieves 83% success on a hold-out test set and the GPT-2 XL achieves 90% success. We also show that GPT-4 can help in the labor-intensive task of evaluating the quality of the distilled models, using it as a zero-shot classifier. Using triple-human review as a guide, the classifier achieves a Cohen-Kappa of 0.66, a substantial inter-rater reliability figure.

cs.CL↗

arXiv2012

Cosmological dynamics of fourth order gravity: A compact view

We construct a compact phase space for flat FLRW spacetimes with standard matter described by a perfect fluid with a barotropic equation of state for general f(R) theories of gravity, subject to certain conditions on the function f. We then use this framework to study the behaviour of the phase space of Universes with a non-negative Ricci scalar in R + αR^n gravity. We find a number of interesting cosmological evolutions which include the possibility of an initial unstable power-law inflationary point, followed by a curvature fluid dominated phase mimicking standard radiation, then passing through a standard matter (CDM) era and ultimately evolving asymptotically towards a de-Sitter-like late-time accelerated phase.

gr-qc↗

arXiv2012

Covariant gauge-invariant perturbations in multifluid f(R) gravity

We study the evolution of scalar cosmological perturbations in the (1+3)- covariant gauge-invariant formalism for generic $f(R)$ theories of gravity. Extending previous works, we give a complete set of equations describing the evolution of matter and curvature fluctuations for a multi-fluid cosmological medium. We then specialize to a radiation-dust fluid described by barotropic equations of state and solve the perturbation equations around a background solution of $R^{n}$ gravity. In particular we study exact solutions for scales much smaller and much larger than the Hubble radius and show that $n>2/3$ in order to have a growth rate compatible with the Mészáros effect.

gr-qc↗