Welcome to my homepage!
Hi! I am a fifth year Ph.D. student working with Prof. Jeff Trinkle in the Robotics Lab. My research interests are related to motion planning, manipulation and machine learning. I have been participating the Virtual Robotics Challenge(VRC) held by DARPA and focusing on the arm IK and trajectory planning for the virtual robot, "Atlas". Please refer to my research page for more information. I received my B.S. degree from the Computer Science Department in University of Science and Technology of China. During my undergraduate study, I worked in the Multi-Agent Systems Lab on high-level task planning using Answer Set Programming(ASP). For source code of the base placement paper, please click here.
Ongoing project

DARPA Robotics Challenge

  • Pointing inverse kinematics - Used in the steering wheel / valve turning and also hose inserting - Align an axis in tip frame to an specified axis in base frame of the kinematic chain
  • Null space optimization with redundant DOF - Used to generate humanlike motions when enlarging the workspace with redundant joints - Minimize waist joint values while keeping end effector pose unchanged

Rensselaer Polytechnic Institute, Troy, NY

  • Ph.D. student, Department of Computer Science, August 2012 - Present

University of Science and Technology of China, China

  • B.S. student, Department of Computer Science, August 2008 - June 2012

Courses taken@ RPI

  • Robotics I
  • Robotics II
  • Computability and Complexity
  • Parallel Computing
  • Computer Operating Systems
  • Machine and Computational Learning

Current GPA@ RPI

  • 4.0 / 4.0
  • I love swimming! Swimming is like the way toward success. Take a breath. Hold on. Then do them again and again. We never know where the finishing point is. But we know we are always approaching it as long as it is the right direction.
  • I am also into watching movies! Going to the cinema is something I do almost every weekend.
  • Viewing beautiful scenary is another great fun for me. It helps me relax from complex studying life. I love the feeling when everywhere is filled with the fresh smell of nature.