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Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle’s handling. To train agile control policies for autonomous racing, learning-based approaches largely utilize reinforcement learning, a...

In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid and complete exploration, existing works make assumptions on the density and distribution of landmarks in th...

This project is still under heavy development. This project aims to develop a 3D simulator for learning-based methods, including reinforcement learning and imitation learning, on the F1TENTH platform. The current F1TENTH gym is a 2D environment similar to the OpenAI CarRacing Gym. The physics simulation and perception are limited in the current ...

Vivadoc is a project connecting patients and doctors and making healthcare services more accessible. I started this project and co-founded Qingdao Tian Yi Data Tech, the company behind Vivadoc, as CTO with my friends at the University of Pennsylvania and New York University. In this project, I designed the software architecture and created the ...

Drive Right is an effort to explore human-machine interactions for the next generation of autonomous vehicles and help improve general road safety. This project is supervised by Dr. Rahul Mangharam from the ESE (Electrical and Systems Engineering) Department at the University of Pennsylvania and is affiliated with the autonomous driving start-up...

This project is the final project of ESE 650 Learning in Robotics at the University of Pennsylvania. In this project, I used Deep Reinforcement Learning (DRL) to train an agent to control the locomotion of a quadruped robot. The DRL algorithm used in this project is Proximal Policy Optimization (PPO). The simulation environment was developed us...

This project contains seven assignments and a cumulative final assignment in MEAM620 Advanced Robotics at the University of Pennsylvania. In this course, I implemented a geometric nonlinear controller, two trajectory generators that are based on Dijkstra and A*, a complementary filter for attitude estimation based on data from a six-axis IMU, a...

This project is the final project of CIS545 Big Data Analytics at the University of Pennsylvania. In this project, we aim at predicting the probability of default with data from HomeLoan. The full dataset consists of three parts: application_train.csv, information about the applicant at the application time bureau.csv and bureau_balance....