Robot Learning from Video Demonstrations in Kitchen

Jan 2022 – Present, Carnegie Mellon University, Pittsburgh, PA
Supervisor: Prof. Chris Atkeson

  • Improved object pose estimation results with multi-view voting, filters, and hand-object relationships
  • Set up a data collection system in kitchen to record dish washing videos with eight RGB-D cameras
  • Implementing optimal control algorithms to detect and classify motor primitives in videos


Walking-to-Rolling Robot Automatic Feedback Controls

Sep 2019 – Apr 2021, University of Michigan, Ann Arbor, MI
Supervisor: Prof. Kenn Oldham

  • Prototyped a robot with four 10-cm curved-beam legs as a testbed for small scale locomotion and control
  • Developed control strategies to achieve smooth walking-to-rolling transitions with only two degrees of freedom
  • Developed control circuitry to fit motors, encoders, batteries, and an Arduino board into the small robot body
  • Implemented adaptive outer loop control of the robot with PID control on legs to maximize forward velocity

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Uncertainty Quantification in Machine Learning Models

Sep 2018 – Dec 2020, University of Michigan, Ann Arbor, MI
Supervisor: Prof. Xun Huan

  • Analyzed sensitivity and robustness of deep neural network models for medical diagnosis
  • Developed systematic capabilities to assess ML models on high-performance computing (HPC) systems
  • Optimized and validated a practical inference algorithm for Bayesian neural networks

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Mountain Hazards and Environment Analysis

Jun 2016 – Jul 2016, Chinese Academy of Science, Chengdu, China
Supervisor: Prof. Siming He

  • Analyzed hypsographic images with AutoCAD to assess risks of disasters
  • Conducted a field trip around a dam to evaluate potential disasters
  • Worked with professors to translate files and edit presentation slides