Research

UC San Diego

Location: San Diego, CA

Existential Robotics Laboratory

Duration: September 2023 - Present

• Designing a pipeline to employ optimal scene graph planning using a large language model(LLM) to generate linear temporal logic and use anytime multi-resolution multi-heuristic A* algorithm for planning

• Developed indoor localization and mapping for ERL robot powered by Nvidia Jetson mounted with Hokuyo 2D lidar using ROS, utilized Gazebo simulation and RViz for visualization of indoor navigation

Summer Research Internship

Duration: July 2023 - September 2023

• Integrated learnable lens parameters into the loss function of end-to-end computational imaging system model using pytorch to enable the deep optics model to prevent human face identity from cyber attack

• Designed a DBSCAN clustering pipeline for processing event data captured by a dynamic vision sensor to differentiate fire signature from rest of the dynamic moving object

Graduate Student Researcher

Duration: January 2023 - June 2023

• Developed a slippage correction algorithm specifically for eyeglass-mounted cameras. This algorithm enabled accurate calibration of gaze estimation, resulting in a reduction of real-world gaze mapping errors from 40% to 20%.