About Me

I am a Master’s student in Robotics at Carnegie Mellon Univeristy, advised by Prof. Zac Manchester. 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 in 2022, 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.

Real-Time Trajectory Planning through Contact

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