About Me

I am a PhD student at GRASP Lab, University of Pennsylvania advised by Prof. Nadia Figueroa. My research interests lie primarily in the areas of machine learning, control theory, and perception with an emphasis on physical human-robot interaction.

Education

	University of Pennsylvania, GRASP Lab 08/2022 - 05/2027 Ph.D. in Robotics/Mechanical Engineering
	Northwestern University 09/2020 - 12/2021 M.S. in Robotics
	University of Illinois at Urbana-Champaign 08/2016 - 05/2020 B.S. in Aerospace Engineering with Minor in Computer Science

Projects

Real-time KL-Ergodic Distribution-based Model Predictive Control

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Model predictive control with the ability to match or avoid distributions

Using Rethink Sawyer Robot Arm to Play Yoyo

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Developed software and hardware pipeline to play yoyo with visual feedback control on the Sawyer Robot arm

Data-driven Receding Horizon Control with the Koopman Operator

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Performed receding horizon control using data-driven approach with small data in a continuous space

Object Manipulation with Quadrotor Downwash

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Designed controller and planner to blow light-weight object in a specific direction to achieve object manipulation ability.

Planning & Prediction with user preference via deep inverse reinforcement learning

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Using maximum entropy deep IRL to learn agent preference in continuous environment path planning

EKF-SLAM with Machine Learning from Scratch

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Implementation of landmark-based EKF-SLAM with unsupervised learning and unknown data association using ROS in C++ from scratch.

Automated 3D Modeling System

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An automated system for reconstructing real-world objects into CAD model by using turtlebot and real-sense camera

Swarm Multi-Agent Distributed Coordination

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Implemented distributed swarm robotics motion coordination algorithms based on bio-inspired ideas from research papers

Planning Algorithm Visualizations

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Implmentations of search-based and sampling-based path planning algorithm with animation

Self-Balancing Car Racing

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Designed a controller that can balance the segway-like robot as well as running on the racing track as fast as possible

Mobile Manipulator in Simulator

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Using a KUKA youBot mobile manipulator to perform a pick-and-place task for a cube by planning trajectory, performing feedback control, and calculating odometry