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
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Education
University of Pennsylvania
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Focus
GPU IK + Robot Learning
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Stack
CUDA · C/C++ · PyTorch · Python
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.
Multi-agent RL environment optimizing gameplay strategies for capture the flag.
- Designed a multi-agent RL environment and training setup.
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