Planning under uncertainty, conformant belief-state manipulation, multi-robot coordination, and hardware automation systems.
Robotics & AI
I developed a conformant planning approach to reliable robot manipulation under severe sensing and control uncertainty. Combines fixture-augmented plan optimization and physics-driven belief state transitions to increase assembly reliability from 1.9% to 80.7% on a PR2 robot.
Robotics & AI
I investigated reinforcement learning policies for bimanual and whole-arm grasping of bulky, irregular objects under real-world physical uncertainty. I formulated contact-rich control strategies that use compliant arm surfaces and multi-modal feedback to stabilize grasping without prior geometric part models.
Robotics & Autonomy
An open-source, low-cost robotics education and research platform for autonomous driving, multi-agent fleet coordination, and lane tracking for rubber ducks.
Education
I led instruction and developed curricula for autonomous miniature racecars with labs on visual servoing, motion planning, and ROS (ISEC 2017 & AAAI/EAAI Model AI Publication).
Robotics & Autonomy
Decentralized multi-agent package delivery in dynamic human environments (RSS 2015 Best Paper Finalist & IJRR journal publication).
Robotics & Hardware
I built advanced graduate-level engineering systems at MIT spanning real-time computer vision control, ordinal machine learning ranking, and parameterized hardware accelerators.
Software | 6,000+ Downloads
I developed an iOS app for blind and visually impaired users to detect light levels (from daylight to lamps) and interpret values through sound.
Community Health & Wellness
I launched a campus-wide seasonal affective disorder (SAD) wellness initiative funded by the MindHandHeart Innovation Fund.
Software
I created network monitoring software to analyze lab energy consumption as the Lead Technology Developer in collaboration with MIT Green Labs and MIT Sustainability.
Web
I served as committee chairperson and lead web designer for the inaugural cross-departmental robotics workshop at MIT.
Medical Robotics
I implemented robotic trajectory planning, 6-DOF manipulation, and dynamic registration for autonomous dental crowning and implant preparation with Dr. Jacob Rosen.
Robotics & Hardware
I built foundational undergraduate robotics and embedded hardware projects at UCSC—spanning CMPE 100 logic design, CMPE 121 microprocessor systems, CMPE 118 mechatronics, and custom microcontroller-based LED game side projects.
2021-05-20
My MIT CSAIL PhD dissertation on conformant planning for robot manipulation under uncertainty, featuring fixture-augmented optimization, belief-state transition search, and empirical action noise characterization.
2018-07-01
Instructional curricula and course lead for autonomous miniature racecars utilizing visual servoing, motion planning, and ROS.
2018-04-20
Co-organizing a student-run robotics conference and building its static web platform at MIT.
2017-05-15
Network monitoring software and energy audit infrastructure for fume hood efficiency (MIT Green Labs Innovation Award).
2016-11-12
Campus-wide seasonal affective disorder (SAD) wellness initiative funded by the MindHandHeart Innovation Fund.
2016-08-10
iOS accessibility utility translating ambient light intensity into audible frequencies for visually impaired users (6,000+ downloads).
2016-05-01
An open-source, low-cost robotics education and research platform for autonomous driving, multi-agent fleet coordination, and lane tracking for rubber ducks.
2015-12-05
A showcase of advanced graduate-level engineering systems developed at MIT. These projects span real-time computer vision control, ordinal machine learning ranking, and parameterized hardware accelerators built using Bluespec SystemVerilog.
2015-07-12
Decentralized multi-agent package delivery in dynamic human environments (RSS 2015 Best Paper Finalist & IJRR journal publication).
2014-06-01
Dynamic registration, kinematic calibration, and interactive UI for autonomous dental crowning.
2014-06-01
My Master
2012-06-15
Archive of foundational undergraduate robotics and embedded hardware projects from UCSC—spanning CMPE 100 logic design, CMPE 121 microprocessor systems, CMPE 118 mechatronics, and custom microcontroller-based LED game side projects.