Recent Posts

1/21/2020 – My NVIDIA summer internship work (“Camera-to-Robot Pose Estimation from a Single Image”) has been accepted to ICRA 2020!

11/22/2019 – My NVIDIA summer internship work (“Camera-to-Robot Pose Estimation from a Single Image”) is now publically released on arXiv. It is currently under review for ICRA 2020. Thanks to my collaborators at NVIDIA’s Seattle Robotics Lab, especially my mentors Jonathan Tremblay and Stan Birchfield, for the wonderful opportunity!

12/10/2018 – I have accepted a summer research internship with NVIDIA at the Seattle Robotics Lab, headed by Prof. Dieter Fox.

10/18/2018 – I have joined Prof. Oliver Kroemer and the IAM Lab for my Ph.D. research.

Recent Publications

My 13 publications (10 as first author) span the fields of robotics science and unmanned systems. Below are my most recent publications in robotics. More information about my publication history is available in my CV, including 1 master’s thesis, 2 journal publications, and 3 conference proceedings on aerodynamics science for unmanned aerial robots.

Publications:

. Camera-to-Robot Pose Estimation from a Single Image. ICRA, 2020.

PDF Project

. Celebrating the Past, Present, and Future of Computing. AI Matters, 2017.

PDF

. Automated, Integrated UAV Health Monitoring System: Flight Test Case Study. AHS Unmanned Rotorcraft and Network Centric Operations Specialists’ Meeting, 2013.

PDF Project

Selected Projects

Camera-to-Robot Pose Estimation from a Single Image

Developed an approach for camera calibration from a single RGB image of a robot manipulator. This was my internship project at NVIDIA during Summer 2019.

Self-Driving Car Localization

Developed localization algorithms and capabilities for Uber ATG’s self-driving cars as an intern during Summer 2018.

Vision-Based Localization for Robotic Inspection of Nuclear Reactors

Using a pan-tilt-zoom camera, a remotely operated vehicle (ROV) was accurately localized within a nuclear reactor, providing greater utility and assurance for reactor inspection operations. This project was my M.S. in Robotics thesis research.

Automated Health Monitoring for an Unmanned Helicopter

An automated, integrated health monitoring system was developed to improve the efficiency of flight test operations. I led this project while working for Boeing.

Selected Classes

Robot Cognition and Statistical Modeling

  • Artificial Intelligence: Principles and Techniques (Stanford: C. Piech)
  • Artificial Intelligence: Planning, Execution, and Learning (CMU: M. Veloso & M. Likhachev)
  • Machine Learning (Stanford: A. Ng)
  • Deep Reinforcement Learning and Control (CMU: K. Fragkiadaki & T. Mitchell)
  • Statistical Techniques in Robotics (CMU: K. Kitani & M. Kaess)
  • Logic and Automated Reasoning (Stanford: M. Genesereth)

Perception

  • Computer Vision: From 3D Reconstruction to Recognition (Stanford: S. Savarese)
  • Geometry-Based Methods in Computer Vision (CMU: M. Hebert)

Mobile Robot Autonomy

  • Mobile Robotics (CMU: A. Kelly)

Dynamic Systems and Mechanics

  • Kinematics, Dynamic Systems, and Control (CMU: H. Geyer)

Curriculum Vitae

My CV is available here. (Last update: ~2017)

Contact