Autonomous Car Drifting

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.

Inverse Rendering

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.

Cost-Based APF-RRTs

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.

Hierarchical Multi-Agent Path Finding

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.

Task and Contact Optimization for Robot Manipulation

Formulate high-level symbolic planning as a smooth optimization problem and combine with low-level CIO framework to optimize over complex contact planning problems.