2023

Learning to Manipulate with Scene Graph

May 2023 – Jun 2023, Carnegie Mellon University, Pittsburgh, PA

  • Proposed scene graph representation interprets instructional videos as manipulations of object attributes and relationships
  • Enable RL agents to learn from a single YouTube video and perform tasks in significantly different environments, showing promising results for real-world applications

2022

Imitation of Pushing from Video Demonstrations

Nov 2022 – Dec 2022, Carnegie Mellon University, Pittsburgh, PA

  • Implemented Kalman filter on 6D poses to generate smooth and accurate trajectories of object pushing
  • Created methods to search and simulate robot actions that imitate experts’ pushing behaviors

[report] [code]

Simulated Kitchen Robot Solving Long-horizon Manipulation Tasks with Short Action Library

Feb 2022 – Apr 2022, Carnegie Mellon University, Pittsburgh, PA

  • Proposed a two stage optimization method for learning to solve long-horizon manipulation tasks in a simulated kitchen environment in Mujoco

[report] [code]

2021

Impedance Control on Delta Robots

Sep 2021 – Dec 2021, Carnegie Mellon University, Pittsburgh, PA

  • Implemented an impedance controller on a robot with delta legs to soften impact on free-falling

[report]

Adaptive Gripper for Sorting Electronics Waste

Sep 2021 – Dec 2021, Carnegie Mellon University, Pittsburgh, PA

  • Developed an adaptive gripping policy on a direct-driven gripper to pick up devices of different types and sizes
  • Implemented kinematics, closed-loop position feedback control, and impedance control on the gripper

Robot Arm Manipulation from Hand Motion Commands

Jul 2021 – Sep 2021, Carnegie Mellon University, Pittsburgh, PA
Summer Research Intern, Intelligent Control Lab

  • Implemented a control interface between the computer vision program and the robot arm hardware
  • Conducted real-time demos and experiments that integrate hand motion learning with robot manipulation

Airborne Object Detection and Tracking Challenge

Jul 2021 – Aug 2021, Carnegie Mellon University, Pittsburgh, PA
Summer Research Intern, AirLab

  • Benchmarked state-of-the-art deep learning detection models to select the best ones for the challenge
  • Training deep learning models on airborne datasets with MMDetection to detect airplanes and helicopters

Autonomous Chess-Playing Robot Arm

Jan 2021 – Apr 2021, University of Michigan
Computer Science Capstone Design Project

  • Implemented a computer vision program to identify and locate the pieces with cameras
  • Developed control and path planning strategies to grab and move the pieces with a desktop robot arm

[website]

MBot Setpoint and Escape Challenge

Jan 2021 – Apr 2021, University of Michigan
EECS 467 Team Projects

2020

Tik Tok Crab Dance Challenge

Nov 2020, University of Michigan
EECS 367 Individual Project

TechLab at MCity: Innoviz LiDAR Data Collection

Jan 2020 – May 2020, Ann Arbor, MI
Software Integration Engineer, TechLab at MCity Program sponsored by Innoviz Technologies

  • Predicted the arrival time of autonomous vehicles and pedestrians with LiDAR sensors
  • Integrated the prediction into infrastructure communications to optimize traffic efficiency at intersections

Configurable High-Throughput Puncher

Jan 2020 – May 2020, University of Michigan
Mechanical Engineering Capstone Design Project

  • Prototyped a mechanical apparatus for high-throughput packaging a stem-cell-based microfluidic platform
  • Performed engineering analyses and validation on various design concepts to slump punching cycle time

[report] [slides]

2019

Color Ball Detection and Collection

Jan 2019 – Apr 2019, University of Michigan
ME 350 Team Project

2018

Remote-Controlled Vehicle Competition

Sep 2018 – Dec 2018, University of Michigan
ME 250 Team Project