Philadelphia, Pennsylvania, United States
I am a Ph.D. Student in the GRASP Laboratory at the University of Pennsylvania experienced in machine learning, control theory, and robotics. I am graduating in May 2026 and seeking full-time industry positions.
Develop learning-based algorithms for robot planning and control. Projects include: • Residual Dynamics Learning for Quadrotor Proximity Flight: Learned structured residual dynamics from data to improve controller robustness against unmodeled effects. • Learning Controller-Aware Regularizer for Trajectory Planning: Learned regularizers to adapt trajectory planners to a given low-level controller. • Vision Language Model (VLM)-Guided Trajectory Optimization: Led a team to implement a pipeline to synthesize acrobatic maneuvers for quadrupeds by using VLMs to generate trajectory optimization problems iteratively. • Distributed Learning-Based Control using Graph Neural Networks (GNN): Developed and implemented a GNN-based algorithm in PyTorch for co-learning distributed controllers with their communication network; Conducted rigoroustheoretical analysis of the approach on a class of systems with graph symmetry.
ESE 6050 - Convex Optimization ESE 2040 - Decision and Models
Designed and trained a Graph Neural Network (GNN) policy via reinforcement learning to solve joint multi-robot task allocation and path planning under communication constraints.
- Designed and implemented a ROS2-based software stack integrating large language models with a pre-built map to translate natural language input to navigation commands. - Ran hardware experiments on a Spot quadruped robot.
Algorithms for multi-robot task allocation using game-theoretic methods. Mentor: Prof. Negar Mehr, Prof. Mac Schwager
Algorithms to coordinate robot taxi fleets by combining online model predictive controller with offline reinforcement-learned heuristics. Developed a pruning algorithm to sparsify road networks based on travel demands using network flow optimization. Implemented the algorithm in Python using Gurobi and networkx. Mentor: Dr. Matt Tsao, Dr. Ramon Iglesias, Prof. Marco Pavone