generated from leonidk/leonidk.github.io
-
Notifications
You must be signed in to change notification settings - Fork 0
/
index.html
181 lines (160 loc) · 9.89 KB
/
index.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
<!DOCTYPE HTML>
<html lang="en">
<head>
<title>Ahmed M. Ahmed</title>
<meta content="text/html; charset=utf-8" http-equiv="Content-Type">
<meta name="author" content="Ahmed M. Ahmed" />
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" type="text/css" href="style.css" />
<link rel="canonical" href="{{ page.url | replace:'index.html','' | prepend: site.baseurl | prepend: site.url }}">
<link href="https://fonts.googleapis.com/css?family=Lato:400,700,400italic,700italic" rel="stylesheet" type="text/css">
</head>
<body>
<table style="width:100%;max-width:800px;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<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;">
<tr style="padding:0px">
<td style="padding:2.5%;width:60%;vertical-align:middle">
<h1>
Ahmed M. Ahmed
</h1>
<p>Hi there! I'm currently a Master's student in CS at the <a href="https://ai.stanford.edu/">Stanford AI Lab</a> where I'm fortunate to be advised by
<a href="https://ai.stanford.edu/~cbfinn/">Chelsea Finn</a> and supported by a <a href="https://www.nsfgrfp.org/"> NSF Graduate Research Fellowship </a> .
</p>
<p>
I was also an undergraduate at Stanford, majoring in <a href="https://mcs.stanford.edu/">Mathematical and Computational Science</a> with a minor in African & African American Studies.
I'm incredibly fortunate to have spent time at the <a href="https://www.microsoft.com/en-us/research/group/robot-learning-group/">Robot Learning Group</a> in MSR Redmond under
<a href="https://www.microsoft.com/en-us/research/people/akolobov/">Andrey Kolobov</a> and to have been advised by <a href="https://mykel.kochenderfer.com/">Mykel Kochenderfer</a>
for my honor's thesis.
</p>
<p>
</p>
<p style="text-align:center">
<a href="https://github.com/ahmeda14960">GitHub</a> /
<a href="https://scholar.google.com/citations?user=_W0keMEAAAAJ&hl=en&authuser=1">Google Scholar</a> /
<a href="https://twitter.com/AhmedSQRD">Twitter</a> /
</p>
</td>
<td style="padding:2.5%;width:40%;max-width:40%">
<img style="width:100%;max-width:100%" alt="profile photo" src="images/head_shot_thumbnail.jpg">
</td>
</tr>
</table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tr>
<td style="padding:2.5%;width:100%;vertical-align:middle">
<h2>Research</h2>
<p>
I am broadly interested in applying deep reinforcement learning, imitation learning, and meta-learning towards developing intelligent behavior in robotics
and decision-making agents. To this end I'm actively applying to PhD programs in Fall 2022!
</p>
</td>
</tr>
</table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tr>
<td style="padding:2%;width:25%;vertical-align:middle;min-width:120px">
<img src="/images/Medal_figure.jpg" alt="project image" width="512" height="288"/>
</td>
<td style="padding:2.5%;width:75%;vertical-align:middle">
<h3>A General Pipeline for Autonomous Robotic Reinforcement Learning</h3>
<br>
Archit Sharma*, <strong>Ahmed M. Ahmed*</strong>, Rehaan Ahmad, Chelsea Finn
<br>
<em>Conference on Robot Learning (CoRL) Workshop on Learning to Adapt and Improve in the Real World, 2022</em>
<br>
<a href="https://github.com/ahmeda14960/ahmeda14960.github.io/blob/master/assets/ARL_Real_World.pdf">paper</a> /
<a href="https://sites.google.com/view/roboadapt/papers?authuser=0">poster</a> /
<p>
We present an autonomous system that extends an algorithm for reset-free reinforcement learning known as MEDAL
to using visual inputs, allowing for a real world set-up where we use a small number of demonstrations
to learn reward functions for both solving a given task and resetting the environment.
We validate our approach in simulation and show that it can autonomously improve on manipulation tasks
for 24+ hours with limited initial resets and no additional reward specification on a Franka Panda Robot
</p>
</td>
</tr>
</table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tr>
<td style="padding:2%;width:25%;vertical-align:middle;min-width:120px">
<img src="/images/ctrl_2022.jpg" alt="project image" width="460" height="171"/>
</td>
<td style="padding:8%;width:75%;vertical-align:middle">
<h3>Cross-Trajectory Representation Learning for Zero-Shot Generalization in RL</h3>
<br>
Bogdan Mazoure*, <strong>Ahmed M. Ahmed*</strong>, Patrick MacAlpine, R Devon Hjelm, Andrey Kolobov
<br>
<em>International Conference on Learning Representations (ICLR), 2022</em>
<br>
<a href="https://arxiv.org/pdf/2106.02193">arxiv</a> /
<a href="https://github.com/bmazoure/ctrl_public">code</a> /
<a href="https://iclr.cc/virtual/2022/poster/6350">poster</a> /
<p>
We propose Cross-Trajectory Representation Learning (CTRL) a novel self-supervised learning
objective that maintains a set of trajectories embeddings representative of different behaviors
onto which we can project any given trajectory from the transition dynamics. This allows CTRL to avoid
overfitting to rewards in the encoder and improved generalization on the challenging Procgen Benchmark compared
to prior work. We also show a connection to psuedo-bisimulation metrics in Reinforcement Learning.
</p>
</td>
</tr>
</table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tr>
<td style="padding:2%;width:25%;vertical-align:middle;min-width:120px">
<img src="/images/MASEIL.jpg" alt="project image" align="left" width="520" height="333" />
</td>
<td style="padding:2.5%;width:75%;vertical-align:middle">
<h3>Hierarchical Imitation via Bayesian Meta-Learning</h3>
<br>
<strong>Ahmed M. Ahmed</strong>, James Harrison, Chelsea Finn
<br>
<em>Black in AI NeurIPS Workshop, 2021</em>
<br>
<a href="https://github.com/ahmeda14960/CS_236_final_project/blob/master/CS_236_Final_Project.pdf">paper</a> /
<a href="https://github.com/ahmeda14960/CS_236_final_project">code</a> /
<a href="https://neurips.cc/virtual/2021/affinity-workshop/22885">workshop</a> /
<p>
Devised a novel approach for hierarchical imitation learning through bayesian meta-learning algorithms. The
goal is to learn a multi-skill policy from expert demonstrations which are segmented through a adapted changepoint
detection scheme. Selected for an oral presentation at the Black in AI workshop and best theoretical course
project for Stanford's CS 236: Deep Generative Models
</p>
</td>
</tr>
</table>
<br>
<br>
<br>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tr>
<td style="padding:2.5%;width:100%;vertical-align:middle">
<h2>Outreach</h2>
<p>
Outside of my research, I'm passionate about addressing issues of diversity and inclusion in academia at large. To this end I've worked on improving outreach
and inclusion in CS research through my work as mentor <a href="https://curis.stanford.edu/">CURIS</a>, the Stanford CS department's REU program. I helped spearhead initatives
such as the <a href="https://sing.stanford.edu/curis-fellowships/"> CURIS fellows program</a>, aimed to provide research opportunities for historically underrepresented students and <a href="https://curis.stanford.edu/pure_student/"> PURE</a>
which provides research funding for First-Generation/Low-Income students.
</p>
<img style="width:100%;max-width:100%" alt="Stanford CS DEI Town Hall" src="images/dei_town_hall_photo.jpg" title="Stanford CS DEI Town Hall">
</td>
</tr>
</table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tr>
<td style="padding:0px">
<br>
<p style="text-align:center;font-size:small;">
Design and source code from <a style="font-size:small;" href="https://jonbarron.info">Jon Barron's website</a>,
with the Jekyll template from <a style="font-size:small;" href="https://leonidk.com/">Leonid Keselman's website</a>
</p>
</td>
</tr>
</table>
</td>
</tr>
</table>
</body>
</html>