Ayah Ahmad — accepted AI-conference papers

2024

Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2

Adam Rashid, Chung Min Kim, Justin Kerr, Letian Fu, Kush Hari, Ayah Ahmad +8

ICRA 2024poster

Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method that allows a mobile robot with minimal compute to jointly optimize a dense language and geometric representation of it…

Cited by 6 Source ↗Scholar ↗

2023

Bagging by Learning to Singulate Layers Using Interactive Perception

Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng +3

IROS 2023poster

Many fabric handling and 2D deformable material tasks in homes and industries require singulating layers of material such as opening a bag or arranging garments for sewing. In contrast to methods requiring specialized sensing or end effectors, we use only visual observations with ordinary parallel j…

Cited by 12 Source ↗Scholar ↗