About Me
I am an MS student in Robotics at Northwestern University. My interests are in motion planning, control theory, optimization, and their applications in Robotics (especially in Human-Robot Interaction).
Education
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Northwestern University 09/2020 - 12/2021 M.S. in Robotics |
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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.
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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
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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