Publications

The publications below are listed in reverse chronological order and are periodically updated. Please refer to my Google Scholar page for the most up-to-date list.

  1. Manipulation in the Blind: Motion Planning for Manipulation under Uncertainty using Contacts

    Muhammad Suhail Saleem

    Ph.D. Thesis, The Robotics Institute, School of Computer Science, Carnegie Mellon University, 2026

    [PDF]

  2. A Contact-Driven Framework for Manipulating in the Blind

    Muhammad Suhail Saleem, Lai Yuan, and Maxim Likhachev

    Accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), 2026

    [PDF] [BibTeX]

  3. Lazy Heuristic Search for Solving POMDPs with Expensive-to-Compute Belief Transitions

    Muhammad Suhail Saleem, Rishi Veerapaneni, and Maxim Likhachev

    Proceedings of the International Symposium on Combinatorial Search (SoCS), 2025

    [PDF] [BibTeX]

  4. Attractor-based Closed List Search: Sparsifying the Closed List for Efficient Memory-Constrained Planning

    Alvin Zou, Muhammad Suhail Saleem, and Maxim Likhachev

    Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2025

    [PDF] [BibTeX]

  5. Windowed MAPF with Completeness Guarantees

    Rishi Veerapaneni, Muhammad Suhail Saleem, Jiaoyang Li, and Maxim Likhachev

    Proceedings of the AAAI Conference on Artificial Intelligence, 2025

    [PDF] [BibTeX]

  6. Anytime Single-Step MAPF Planning with Anytime PIBT

    Nayesha Gandotra, Rishi Veerapaneni, Muhammad Suhail Saleem, Daniel Harabor, Jiaoyang Li, and Maxim Likhachev

    arXiv preprint, 2025

    [PDF] [BibTeX]

  7. A Data Efficient Framework for Learning Local Heuristics

    Rishi Veerapaneni, Jonathan Park, Muhammad Suhail Saleem, and Maxim Likhachev

    Proceedings of the International Symposium on Combinatorial Search (SoCS), 2024

    [PDF] [BibTeX]

  8. A POMDP-based Hierarchical Planning Framework for Manipulation Under Pose Uncertainty

    Muhammad Suhail Saleem, Rishi Veerapaneni, and Maxim Likhachev

    arXiv preprint, 2024

    [PDF] [BibTeX]

  9. Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles Using a Robot Manipulator

    Ramkumar Natarajan, Hanlan Yang, Qintong Xie, Yash Oza, Manash Pratim Das, Fahad Islam, Muhammad Suhail Saleem, Howie Choset, and Maxim Likhachev

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2024

    [PDF] [BibTeX]

  10. Preprocessing-based Planning for Utilizing Contacts in Semi-structured High-precision Insertion Tasks

    Muhammad Suhail Saleem, Rishi Veerapaneni, and Maxim Likhachev

    IEEE Robotics and Automation Letters (RA-L), 2023

    [PDF] [BibTeX]

  11. Learning Local Heuristics for Search-based Navigation Planning

    Rishi Veerapaneni, Muhammad Suhail Saleem, and Maxim Likhachev

    Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2023

    [PDF] [BibTeX]

  12. Search-based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-based Primitives

    Muhammad Suhail Saleem, Raghav Sood, Sho Onodera, Rohit Arora, Kanazawa Hiroyuki, and Maxim Likhachev

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

    [PDF] [BibTeX]

  13. Manipulation Planning Among Movable Obstacles Using Physics-based Adaptive Motion Primitives

    Dhruv Mauria Saxena*, Muhammad Suhail Saleem*, and Maxim Likhachev

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021

    [PDF] [BibTeX]

  14. Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects

    Muhammad Suhail Saleem and Maxim Likhachev

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020

    [PDF] [BibTeX]

  15. A-MHA*: Anytime Multi-Heuristic A*

    Ramkumar Natarajan*, Muhammad Suhail Saleem*, William Xiao, Sandip Aine, Maxim Likhachev, and Howie Choset

    Proceedings of the International Symposium on Combinatorial Search (SoCS), 2019

    [PDF] [BibTeX]