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

Publications

Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies

Tianyu Li, Nadia Figueroa

[website]

Accepted to CoRL2023

A dynamical system based motion policy LfD method with stability guarantees that can generalize to new task configurations without new demonstrations

Past Projects

Planning & Prediction with user preference via deep inverse reinforcement learning

[website]

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

Using Rethink Sawyer Robot Arm to Play Yoyo

[website]

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

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

[website]

Model predictive control with the ability to match or avoid distributions

EKF-SLAM with Machine Learning

[website]

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

Data-driven Receding Horizon Control with the Koopman Operator

[website]

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

Swarm Multi-Agent Distributed Coordination

[website]

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