About Me
I am a robotics master's student at the University of Pennsylvania, working at the intersection of robotics, AI, and high-performance computing. My work focuses on developing efficient, scalable algorithms for motion planning, control, and learning, with an emphasis on real-world robotic systems. I aim to advance robotic autonomy through algorithm design and systems-level optimization.
Basic Info
Experience
Projects
GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent.
- Open-source inverse kinematics library designed for fast real-time motion planning.
- Custom CUDA kernels for batched evaluation at scale.
Reinforcement learning for walking gaits on a custom quadruped robot in simulation.
- Trained a custom-designed quadruped using reinforcement learning in NVIDIA Isaac Sim / Isaac Lab.
ROS 2 mobile robot navigation stack in simulation with Gazebo, LiDAR-based SLAM, online localization, costmap generation, and teleoperation.
- Implemented SLAM using ROS to continuously estimate the robot's pose while incrementally building an occupancy grid mpa of the environment.
Multi-agent RL environment optimizing gameplay strategies for capture the flag.
- Designed a multi-agent RL environment and training setup.
- Implemented the PPO algorithm to have agents learn to optimize for both offensive and defensive strategies.
Education
University of Pennsylvania
Philadelphia, PA
Columbia University
New York, NY
Lahainaluna High School
Lahaina, HI
Certificates
CUDA Programming Masterclass with C++
General Dynamics Information Technology
Machine Learning and Deep Learning Bootcamp in Python
Udemy