About
A curious learner and a passionate explorer in the fields of AI, robotics, and automation
Motional AD
Working on ML-based trajectory planning for L4 self-driving cars.
Meta Reality Lab Research
Worked on the Codec Avatar project, generating photo-realistic avatars. Led the calibration production and developed a fully automated capture system calibration pipeline and software.
Aurora Innovation
Worked on decision making and trajectory sampling for L4 self-driving cars. The challenge of sample efficiency led me to ML-based approaches.
Uber ATG
Worked on trajectory generation, solving three major challenges: 1) runtime performance 2) behavior formulation and tuning and 3) cost function learning. Created the first Inverse RL training pipeline and demonstrated its effectiveness.
Robotics Institute — Carnegie Mellon University
Worked on full-body motion planning and control for humanoid robots. Participated in the DARPA Robotics Challenge with Team WPI-CMU, leading the egress task. The team completed the task in under four minutes with a 100% success rate and were the only Atlas team that never fell.
Robotics Institute — Carnegie Mellon University
Pioneered the use of optimal trajectory library for robot planning and control. The trajectory optimization method I used, called DDP and its variants, later became the most popular trajectory optimization method.
S3 Graphics
Worked on GPU (Graphics Processing Unit) logic design, which sparked my interest in harnessing computational power to drive advanced AI.