Realtime State Estimation with tactile and visual sensing. Application to Planar Manipulation.

06/2016-

Advisor: Alberto Rodriguez
We developed a realtime object state estimation system based on both tactile and visual cues. This is for reactive manipulation under large occlusion.
Project Website

Amazon Robotics Challenge (1st in stowing, 5th in combined), Team MIT-Princeton

06/2017-08/2017

Team Lead: Alberto Rodriguez
Pictures and videos

Amazon Picking Challenge (3rd in stowing, 4th in picking), Team MIT-Princeton

01/2016-07/2016

Team Lead: Alberto Rodriguez
Served as software lead and built framework using ROS to integrate perception and motion primitives.
Pictures and videos

More than a Million Ways to Be Pushed: A High-Fidelity Experimental Data Set of Planar Pushing

08/2015-10/2016

Advisor: Alberto Rodriguez
Using an ABB IRB 120 robot arm, a vicon tracking system, and a force torque sensor to collect high fidelity pushing data to study physics-based pushing motion model, and to learn data-driven models.
arXiv Website

Shape and Pose Recovery from Planar Pushing, MIT MCube Lab

10/2014-

Advisor: Alberto Rodriguez & John Leonard
Given a movable planar object on the table, how to find its shape with only one finger attached to a robot arm?
Paper Experiment Video IROS Talk Video

Amazon Picking Challenge (second place), Team MIT

01/2015-06/2015

Team Lead: Alberto Rodriguez
Served as perception and software lead.
Summary and video

DARPA Robotics Challenge, Team MIT

09/2013-01/2015

Team Lead: Russ Tedrake
Exploited tactile sensor, and camera on hand to improve grasping.
Team website

Trajectory Optimization of Dynamic Object Pushing, MIT 6.832 Underactuated Robotics

01/2015

Explore the method of direct trajectory optimization on a dynamic pushing problem, i.e. how to control a pusher to push an object to a target state.
Report 

GoSpark, MIT 6.824

01/2015-06/2015

Programmed Spark using Go Programming language and applied to K-Means clustering of images.
Served as team lead.
Report Code

Manhattan World Stereo Reconstruction, MIT 6.869 Final Project

12/2013

Using Manhattan-world assumption to reconstruct surfaces from multiple monocular images.
Report  Code

Context-Aware Office Service Robot, NTU

09/2011-07/2012

Supervisor: Prof. Li-Chen Fu / Funded by National Science Council of Taiwan
Proposed learning based representation for object recognition.
Developed methods to infer human context in office environment; proposed human context mapping to record human living pattern (Master Thesis)
Video1: Context Mapping
Video2: Office Robot Provides Context-Aware Service

vSLAM – Simultaneous Localization and Mapping using monocular camera, NTU

2010-2011

Supervisor: Prof. Li-Chen Fu / Funded by Industrial Technology Research Institute of Taiwan
Improved vSLAM algorithm by fusing Multi-camera and GPU parallelization (ISR 2012).
Proposed feature selection strategy based top-down and bottom-up saliency (CVGIP 2011)
Video1: Experiment

Mobile Robotics Homework, NTU

Instructor: Prof. Chieh-Chih Wang, Textbook: Probabilistic Robotics by Sebastian Thrun et al.
EKF localization report
Sensor Fusion
Bearing-Only SLAM, FastSLAM

DogBOT - Robotics Intro Class Final Project, NTU

2011

Built a robot that can interact with users using gestures and chase a ball
Served as team leader and implemented ball tracking program using camshift algorithm
Awarded 1^st place out of 8 teams in the on-site demonstration

Video1: Gesture Recognition
Video2: Human Following
Video3: Ball Chasing
Presentation / Report

Multi-label classification with missing data - Machine Learning Class Final Project, NTU

2011

Instructor: Prof. Hsuan-Tien Lin, Textbook: Learning from Data, Abu-Mostafa et al.
Applied SVM, random forest, voting, regression on the classification problem
Ranked 3rd out of 42 teams on the Hamming Loss track
Report

Chirp - Mobile Voice Blogging System, Senior Project, NCTU

2009

Supervisor: Prof. John Kar-kin Zhao / Funded by National Science Council of Taiwan
Developed a voice sharing, and recognition system using Android Client and .NET Server.
Awarded 1^st Place in The 14th Taiwan Collegiate Information Service Innovation Competition
Video1: Concept Introduction (Chinese)
Video2: Demo

SEEDS - Solar Energy-based Embedded Distributed Server farm, Sophomore Project, NCTU

2007-08

Supervisor: Prof. Shiao-Li Tsao / Funded by National Science Council of Taiwan
Advanced into the final 200 teams in Microsoft Imagine Cup Embedded system competition
Proposal

Vision - a self-developed 3D graphics engine and interface, High School Project, NCTU

2007-08

Awarded 2^nd Prize and Intel Excellence in Computer Science Award in Taiwan International Science Fair

Taipei 101 Rendered by my Program