About Me

I am a Master’s student in Robotics at the Carnegie Mellon Univeristy advised by Prof. Zac Manchester as a member of the Robotic Exploration Lab. I am broadly interested in intelligent robot behaviors and decision making. Currently, I work on optimization-based simulation and control algorithms for contact-rich robotic systems.

Previously, I received my B.S. in Mechanical Engineering from Georgia Tech, where I was advised by Prof. Ye Zhao and Prof. Matthew Gombolay. My undergraduate research focused on trajectory optmization and multi-agent reinforcement learning.

In my free time, I love to cook, golf, hike, and travel, among many other things.

Featured Research

Legged Robot Motion Transfer from Monocular Videos

We proposed an end-to-end algorithm for transferring animal movements captured by casual videos to legged robots.

Physics-informed 3D Reconstruction from Monocular Videos

We leveraged differentiable rendering and differentiable physics simulation to 3D characters and background from casual, monocular videos.

Online Trajectory Planning through Contact

An online trajectory planning algorithm for contact-rich robotic systems, capable of general novel contact sequences online in an MPC.