Rafay

Technical University of Munich
Masters of Science Computational Mechanics
Oct 2021 - Apr 2024

Open World 3D Scene Understanding using Foundation Models.

Course Work:

Computation: Advacnced Deep Learning in Physics, Computation in Engineering I (C++), Computation on Engineering II (C++), Cyber-Physical Systems Lab, Elements of Machine Learning, Functional Analysis and Computational Linear Algebra, Numerical Optimization - Robot Design and Control, Professional Software Development, Scientific Visualization, Software Lab

Mechanics: Advanced Fluid Mechanics, AI in Computational Mechanics, Computational Material Modeling I, Computational Material Modeling II, Computational Fluid Dynamics, Continuum Mechanics, Finite Element Methods I

NED University of Engineering and Technology
Bachelors of Science Mechanical Engineering
Dec 2015 - Sep 2019

Numerical Investigation of Heat Transfer Enhancement Methods in Impinging Jets. [1]

	Huawei Munich Masters Thesis Student - Intelligent Clound Technologies Lab Oct 2023 - Apr 2024 Conducted research in the area of zero shot approches for “Open World 3D Scene Understanding” utilizing foundation and large language models; co-supervised by Huawei-ICTL and TUM-CMS. Developed incremental and scalable framework for zero-shot 3D scene understanding utilizing foundation and large language models. Quantitatively and qualitatively demonstrated effectiveness of open vocabulary segmentation and context-based instance retrieval, exceeding state-of-the-art approaches. Explored downstream applications such as 3D instance segmentation, automatic labeling, and spatial reasoning (chat with scene using LLM). Currently, working on research paper to publish findings. Research Intern - Intelligent Clound Technologies Lab Apr 2023 - Oct 2024 Contributed as a Robotics Research Intern at Huawei's Intelligent Cloud Technologies Lab in the area of 3D robotics perception, primarily focusing on LiDAR-based Life Long Localization and Mapping. Research cutting-edge techniques to improve LiDAR-based lifelong localization and mapping systems. Implemented hierarchical bundle adjustment, pose graph optimization, etc. to enhance localization and mapping performance. Refactor and modularize the SLAM pipeline to facilitate scalability, maintainability, and ease of integration with future enhancements. Studied and implemented recent methods, and explored potential research directions in the areas of 3D Robotics Perception, Neural Radiance Field, and Scene Understanding.
	Technical University of Munich Research Assistant - Chair of Computational Modeling and Simulation Apr 2022 - Apr 2023 Contributed to the Intriped Project as a student research assistant and the Additive Manufacturing Project as part of software practicum at the Chair of Computational Modeling and Simulation. Proposed methodology for robust, real-time control of material flow in additive manufacturing for construction using an RGB camera. Successfully deployed this solution on a scaled-down setup based on UR10 robot. Developed a lightweight Blender-based LiDAR simulation tool tailored for large 3D building models. The tool automatically plans paths based on the 3D model and exports LiDAR scans according to configured specifications. Additionally, enhanced the existing 2D BIM-to-SLAM simulation module for 3D environ- ments by incorporating support for Gazebo. Collaborated in the development of mapping system based on GO1 quadruped robot. Streamlined process for sensor calibration, synchronization, communication, and data recording. Dockerized and configured open-sourced ROS-based SLAM libraries for seamless use in indoor and outdoor environments.
	National University of Science and Technology Research Engineer - Integrated Navigation Terrestrial Electromagnetic Lab Jul 2020 - Oct 2021 Contributed to a diverse set of projects focused on the development of aerial robots at the Integrated Navigation Terrestrial Electromagnetic Lab at National University of Science and University. Developed setup for Software in the Loop (SITL) simulation for tuning the flight controller. Integrated the X-Plane flight simulator with the flight controller firmware. Based on aeronautical design, developed models of vertical take-off and fixed-wing aerial vehicles for the simulator. Carried out end-to-end development of vertical take-off and fixed-wing aerial vehicles, from preliminary design (aeronautics calculations), detailed design (detailed CAD assemblies) to the export of manufacturing plans. Optimized design, aerodynamics, and structural components by conducting CFD, FEA, FSI simulations. Provided guidance and mentorship to undergraduate interns to support project development.
	NED University of Engineering and Technology Research Assistant - Department of Mechanical Engineering Jul 2019 - Jan 2020 Assisted research activities in Mechanical Department of NED University under the supervision of Dr.-Ing. Usman Allauddin. Conducted comparative studies to numerically assess different RANS turbulence models for prediction of the secondary peak in Nusselt number resulting from a hydraulic jump in jet impingement cooling. Extensively reviewed literature and conducted numerical simulations related to impinging jets focusing on the influence of different types of fins, surface topology, pulsating/synthetic jets, and nanofluids on heat transfer characteristics. Collaborate on two peer-reviewed research papers based on findings. Mentored undergraduate student groups, on their research project.