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index.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Google tag (gtag.js)
<script async src="https://www.googletagmanager.com/gtag/js?id=G-S4T4PFRZVD"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag(){dataLayer.push(arguments);}
gtag('js', new Date());
gtag('config', 'G-S4T4PFRZVD');
</script> -->
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>Karim El-Refai</title>
<meta name="author" content="Karim El-Refai">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" type="text/css" href="stylesheet.css">
<link rel="icon" type="image/png" href="media/seal_icon.png">
</head>
<body>
<table style="width:100%;max-width:800px;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr style="padding:0px">
<td style="padding:0px">
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr style="padding:0px">
<td style="padding:2.5%;width:63%;vertical-align:middle">
<p style="text-align:center">
<name>Karim El-Refai</name>
</p>
<p>
I am a fourth year undergraduate student at UC Berkeley advised by Professor <a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>.
I am interested in building perception systems for language-guided robot interaction and manipulation. I am also the head teaching assistant for EECS C106A/B, UC Berkeley's Introduction to Robotics and Advanced Robotics course, serving over 300 students!
</p>
<p style="text-align:center">
<a href="mailto:[email protected]">Email</a>  / 
<a href="https://scholar.google.com/citations?user=OC3OLioAAAAJ&hl">Google Scholar</a>  / 
<a href="https://www.linkedin.com/in/karim-el-refai/">LinkedIn</a>  / 
<a href="resume.pdf">Resume</a>
</p>
</td>
<td style="padding:2.5%;width:40%;max-width:40%">
<a href="media/niagara.png"><img style="width:100%;max-width:100%" alt="profile photo" src="media/niagara.png" class="hoverZoomLink"></a>
</td>
</tr>
</tbody></table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr>
<td style="padding:20px;width:100%;vertical-align:middle">
<heading>Research</heading>
</td>
</tr>
</tbody></table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<!-- POGS -->
<tr onmouseout="pogs_stop()" onmouseover="pogs_start()">
<td style="padding:20px;width:20%;vertical-align:middle">
<!-- IMAGES -->
<div class="one">
<div class="two" id='pogs_under'>
<img src="media/pogs_pipeline.png" width=100%/>
</div>
<video width=115% height=100% muted autoplay loop id="pogs_splash">
<source src="media/pogs.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<!-- SCRIPT FOR HOVERING -->
<script type="text/javascript">
function pogs_start() {
document.getElementById('pogs_splash').style.opacity = "0";
document.getElementById('pogs_under').style.opacity = "1";
}
function pogs_stop() {
document.getElementById('pogs_splash').style.opacity = "1";
document.getElementById('pogs_under').style.opacity = "0";
}
pogs_stop()
</script>
</td>
<td style="padding:20px;width:75%;vertical-align:middle">
<!-- TITLE -->
<a href="https://berkeleyautomation.github.io/POGS/"><papertitle>POGS: Persistent Object Gaussian Splat for Tracking Human and Robot Manipulation of Irregularly Shaped Objects</papertitle></a>
<br>
<!-- AUTHORS -->
Justin Yu*, Kush Hari*, <b>Karim El-Refai*</b>, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg
<br>
*Equal contribution
<br>
<!-- CONFERENCE -->
<em>ICRA</em> 2025 (Under Review)
<!-- LINKS -->
<br>
<a href="https://berkeleyautomation.github.io/POGS/">Website (WIP)</a>
<p></p>
<!-- SUMMARY -->
POGS is a system that embeds semantics, self- supervised visual features, and object grouping features into a compact representation which enables online and persistent object tracking and manipulation by dynamically updating the POGS as objects move, without the need for scene recapture or retraining and only using a single stereo camera for tracking.
</td>
</tr>
<!-- LEGS -->
<tr onmouseout="legs_stop()" onmouseover="legs_start()">
<td style="padding:20px;width:20%;vertical-align:middle">
<!-- IMAGES -->
<div class="one">
<div class="two" id='legs_under'>
<img src="media/legs_splash.png" width=100%/>
</div>
<video width=115% height=100% muted autoplay loop id="legs_splash">
<source src="media/legs.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<!-- SCRIPT FOR HOVERING -->
<script type="text/javascript">
function legs_start() {
document.getElementById('legs_splash').style.opacity = "0";
document.getElementById('legs_under').style.opacity = "1";
}
function legs_stop() {
document.getElementById('legs_splash').style.opacity = "1";
document.getElementById('legs_under').style.opacity = "0";
}
legs_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<!-- TITLE -->
<a href="https://berkeleyautomation.github.io/LEGS/"><papertitle>LEGS: Incrementally Building Room-Scale Language-Embedded Gaussian Splats with a Mobile Robot</papertitle></a>
<br>
<!-- AUTHORS -->
Justin Yu*, Kush Hari*, Kishore Srinivas*, <b>Karim El-Refai</b>, Adam Rashid, Chung Min Kim, Justin Kerr, Richard Cheng, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg
<br>
*Equal contribution
<br>
<!-- CONFERENCE -->
<em>IROS</em> 2024 <font color="red"><strong>(Oral Presentation)</strong></font>
<!-- LINKS -->
<br>
<a href="https://arxiv.org/abs/2409.18108">arXiv</a> / <a href="https://berkeleyautomation.github.io/LEGS/">Website</a>
<p></p>
<!-- SUMMARY -->
LEGS provides detailed 3D scene representation that encodes both appearance and semantics in a unified representation while being able to be trained online as a robot traverses its environment to enable localization of open-vocabulary object queries.
</td>
</tr>
<!-- SWAG -->
<tr>
<td style="padding:20px;width:30%;vertical-align:middle">
<div class="one" style="max-width: 100%; height: auto; overflow: hidden;">
<img src="media/swag_inference.png" style="width: 100%; height: auto; max-width: 500px;">
</div>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<!-- TITLE -->
<a href="https://arxiv.org/abs/2402.03483"><papertitle>SWAG: Storytelling With Action Guidance</papertitle></a>
<br>
<!-- AUTHORS -->
Zeeshan Patel*, <b>Karim El-Refai*</b>, Jonathan Pei*, Tianle Li
<br>
*Equal contribution
<br>
<!-- CONFERENCE -->
<em>EMNLP Findings</em> 2024
<br>
<a href="https://arxiv.org/abs/2402.03483">arXiv</a>
<p></p>
<!-- SUMMARY -->
SWAG is a novel approach to storytelling with LLMs which reduces story writing to a search problem through a two-model feedback loop. SWAG can substantially outperform previous end-to-end story generation techniques when evaluated by GPT-4 and through human evaluation, and our SWAG pipeline using only open-source models surpasses GPT-3.5- Turbo.
</td>
</tr>
<!-- Gasket Assembly -->
<tr onmouseout="gasket_stop()" onmouseover="gasket_start()">
<td style="padding:20px;width:20%;vertical-align:middle">
<!-- IMAGES -->
<div class="one">
<div class="two" id='gasket_under'>
<img src="media/gasket_splash.png" width=100%/>
</div>
<video width=115% height=100% muted autoplay loop id="gasket_splash">
<source src="media/gasket.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<!-- SCRIPT FOR HOVERING -->
<script type="text/javascript">
function gasket_start() {
document.getElementById('gasket_splash').style.opacity = "0";
document.getElementById('gasket_under').style.opacity = "1";
}
function gasket_stop() {
document.getElementById('gasket_splash').style.opacity = "1";
document.getElementById('gasket_under').style.opacity = "0";
}
gasket_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<!-- TITLE -->
<a href="https://arxiv.org/abs/2408.12593"><papertitle>Automating Deformable Gasket Assembly</papertitle></a>
<br>
<!-- AUTHORS -->
Simeon Adebola*, Tara Sadjadpour*, <b>Karim El-Refai*</b>, Will Panitch, Zehan Ma, Roy Lin, Tianshuang Qiu, Shreya Ganti, Charlotte Le, Jaimyn Drake, Ken Goldberg
<br>
<!-- CONFERENCE -->
<em>CASE</em> 2024
<br>
*Equal contribution
<br>
<a href="https://arxiv.org/abs/2408.12593">arXiv</a>
<p></p>
</td>
</tr>
<!-- Twincode -->
<tr onmouseout="twincode_stop()" onmouseover="twincode_start()">
<td style="padding:20px;width:20%;vertical-align:middle">
<!-- IMAGES -->
<div class="one">
<div class="two" id='twincode_under'>
<img src="media/twincode.png" width=100%/>
</div>
<video width=115% height=100% muted autoplay loop id="twincode_splash">
<source src="media/twincode.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<!-- SCRIPT FOR HOVERING -->
<script type="text/javascript">
function twincode_start() {
document.getElementById('twincode_splash').style.opacity = "0";
document.getElementById('twincode_under').style.opacity = "1";
}
function twincode_stop() {
document.getElementById('twincode_splash').style.opacity = "1";
document.getElementById('twincode_under').style.opacity = "0";
}
twincode_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<!-- TITLE -->
<a href="https://twincode.netlify.app"><papertitle>Twincode: An Instrumented Platform for Pair Programming Research</papertitle></a>
<br>
<!-- AUTHORS -->
<b>Karim El-Refai</b>, Daewon Kwon, David Brincau, Asli Akalin, Armando Fox, Pablo Fernández Montes, Amador Durán Toro
<br>
<!-- CONFERENCE -->
<em>SIGCSE</em> 2023 (Demo)
<br>
<a href="https://dl.acm.org/doi/abs/10.1145/3545947.3573239">ACM</a>
<p></p>
</td>
</tr>
</tbody></table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr>
<td style="padding:0px">
<p>
Source code taken from <a href="https://jonbarron.info/">Jon Barron's site.</a>
</p>
</td>
</tr>
</tbody></table>
</td>
</tr>
</table>
</body>
</html>