Trajectory Optimization & Planning at DiDi Research America
Re-architected a production C++ trajectory-optimization solver and formulated MAP-based trajectory smoothing/denoising for an end-to-end planning model trained on 1.3B …
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6 min read
Safe Diffusion Policies for Robot Learning
Investigating inference-time safety mechanisms for diffusion policies in long-horizon robot decision-making, with a PyTorch framework spanning navigation and manipulation.
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1 min read
Sampling-Based Constrained Policy Optimization
Proposed a sampling-based weight-space projection framework for enforcing safety constraints during policy updates.
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1 min read
Vehicle Dynamics Simulator (Barc Gym)
Developed a vehicle dynamics simulator based on dynamic bicycle model with standard gymnasium APIs and a CARLA connector.
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40 min read
Safe Imitation Learning at Handling Limits
Designed a constraint-aware imitation learning framework incorporating an actor-critic structure for explicit safety modeling.
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1 min read
Trusted Autonomy for Rapidly Prototyped Uncrewed Ground Vehicles
The Small Quick Integrated Ground Vehicle (SQUIG) vehicle is an autonomous ground vehicle currently under development by the Model Predictive Control (MPC) Lab at the University of …
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3 min read
Vision-based End-to-end Control for Racing
Developed a CNN-based end-to-end controller for high-speed autonomous racing using RGB camera input and velocity feedback.
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1 min read
Goal-Conditioned Learning MPC
Explored a goal-conditioned, data-driven MPC pipeline that learns transition costs between feasible states from closed-loop trajectories via imitation learning.
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1 min read
Autonomous Rover for Solar Panel Fields (Terabase)
Co-implemented a ROS-based perception stack and connected it to an MPC planner and low-level controller to enable evasive maneuvers on a physical rover deployed in solar panel …
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1 min read
Continuous Offset-Based Coverage Paths for Planar Regions
This project was conducted during my undergraduate studies as an exploration of geometric tool-path generation for planar coverage. Motivated by contour-parallel (offset curve) …
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1 min read