I am a PhD student in Computer Science at Cornell University advised by Professor Tapomayukh Bhattacharjee. I am currently interested in enabling robots to better understand and leverage human intention through multimodal sensing for seamless human-robot interaction and assistance in day-to-day lives. During my time at Stanford University as a MS student, I was fortunate to have worked with Professors Jiajun Wu and Yunzhu Li on robot learning. Prior to that, I worked with Professors Gaurav Sukhatme, Stefanos Nikolaidis, and Sven Koenig at the University of Southern California, focusing on motion planning, inverse rendering, and multi-agent pathfinding.
My goal is to build robots that perceive, understand, reason, and interact in the physical world to better assist people with day-to-day tasks, leveraing inspiration from human cognition.
I am honored to be nominated by Stanford CS and appointed as a Siebel Scholar for 2023!
MS in Computer Science, 2023
Stanford University
BS in Computer Science, 2021
University of Southern California
BS in Applied and Computational Mathematics, 2021
University of Southern California
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Projects
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Projects
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Projects
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.Optimize car trajectory in constrained time frame using dynamic/kinematic limits and collision as constraints for non-linear optimization problem. Localize with LiDAR scan matching and feed estimated pose to MPC.
Create realistic sensor model that enables optimization of sensor model parameters and reasoning about scene geometry.
Because the moutain is there. I hiked Mt. San Gorgonio, Mt. San Jacinto, and Mt. San Antonio. I don’t have the best physical endurance to stay happy during the hike but I very much enjoy the summit.
Speed up RRT with artifical potential field while being able to escape local minima.
To discover, to capture, to share. I record the unseen world to keep the most beautiful memories.
I miss the mountains, and hope that I’ll be back on the snow soon.
Spatially divide large maps into sub-regions and find high-level paths to provide guidance to low-level ECBS solvers in each sub-region.
I am a twitcher who is crazy about birds. I love walking in the wilderness with a pair of binoculars looking for birds and wild animals. I have observed 937 species of birds in Asia, and have just started birding in the US (currently 94 species observed).
I started playing the piano when I was 10. Currently I’m practicing Liebestraum No. 3 by Liszt and Etude Op. 10 No. 3 by Chopin.
Formulate high-level symbolic planning as a smooth optimization problem and combine with low-level CIO framework to optimize over complex contact planning problems.
Accurately model LiDAR sensor in a differentiable framework supporting gradient-based optimizations
Benchmark state-of-the-art motion planners and techniques for wheeled mobile robots to highlight their strengths and weaknesses.
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An example of using the in-built project page.