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

	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