

I am a first-year CS PhD student at Columbia University, where I am advised by Professor Elias Bareinboim. My general research interests span the intersection of machine learning and robotics.
Previously, I received my bachelor's degree and master's degree in computer science at UC Berkeley, where I was advised by Professor Sergey Levine and mentored by Jianlan Luo in the Robotic AI & Learning Lab (RAIL) as part of BAIR. At Berkeley, I worked on deep reinforcement learning and its applications to robotic manipulation.
I am a first-year CS PhD student at Columbia University, where I am advised by Professor Elias Bareinboim. My general research interests span the intersection of machine learning and robotics.
Previously, I received my bachelor's degree and master's degree in computer science at UC Berkeley, where I was advised by Professor Sergey Levine and mentored by Jianlan Luo in the Robotic AI & Learning Lab (RAIL) as part of BAIR. At Berkeley, I worked on deep reinforcement learning and its applications to robotic manipulation.
Research
-
Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning
arXiv, 2024
TLDR: We present a human-in-the-loop vision-based RL system that demonstrates near-perfect success rates and fast cycle times on a diverse set of dexterous manipulation tasks, including dynamic manipulation, precision assembly, and dual-arm coordination. -
Action-Quantized Offline Reinforcement Learning for Robotic Skill Learning
Conference on Robot Learning (CoRL), 2023
TLDR: We show that state-of-the-art offline RL methods can perform better in discretized action spaces compared to their continuous counterparts by using a VQ-VAE to learn state-conditioned action quantization. -
FMB: A Functional Manipulation Benchmark for Generalizable Robotic Learning
International Journal of Robotics Research (IJRR), 2024
TLDR: We present a benchmark for studying robotic learning for functional manipulation featuring a variety of easily reproducible 3D printed objects, with each one requiring a sequence of grasping, reorientation, and assembly behaviors. -
EE 122: Introduction to Communication Networks
UC Berkeley, Spring 2023 (uGSI)
EECS 127: Optimization Models in Engineering
UC Berkeley, Spring 2022 (Reader) and Fall 2022 (Tutor)