The power of touch in human-robot systems for a connected world
Poster at AI for Good, Geneva, Switzerland
CV
Download my full CV: Download CV (PDF)
Objective
My research pursuits thus far have revolved around three key concepts: tactile sensing, deformable object modeling, and motion planning. The primary goal of my Ph.D. is to integrate these ideas to improve the dynamic control of deformable objects, particularly by incorporating feedback from tactile sensors to gain a more nuanced understanding of the internal state of these objects. Through this approach, my aim is to illustrate that by leveraging both visual and force feedback, we can successfully bridge the Sim2Real gap in the manipulation of deformable objects.
Education
- Ph.D. in Mechanical Engineering (Design Robotics and Manufacturing), University of California, Los Angeles, Samueli School of Engineering, August 2021–Present
- Advisor: Prof. Veronica Santos
- M.S. in Robotics, Carnegie Mellon University, School of Computer Science, May 2019–August 2021
- Advisor: Prof. Howie Choset
- Thesis: Stiffness Mapping of Deformable Objects Through Supervised Embedding and Gaussian Process Regression
- B.S. in Physics (Applied Physics), Carnegie Mellon University, Mellon College of Science, August 2015–May 2019
Awards
- Amazon 2024 Fellow: Awarded the Amazon Fellowship as part of the UCLA Science Hub for Humanity and Artificial Intelligence
- ICRA 2022 Outstanding Mechanisms and Design Paper: Award in recognition for work on “Design of a Biomimetic Tactile Sensor for Material Classification”
- ISMR 2021 Nominated for Best Paper: Award in recognition for work on “Toward Robotically Automated Femoral Vascular Access”
- CMU 2019 Senior Leadership Award: Awarded for founding and managing the Carnegie Mellon Physics steering committee
- Mellon College of Science 2019 Graduation Honors: Recognition for a high undergraduate GPA and extended research beyond the curriculum’s requirement
- CMU Summer 2016 Internship Experience Fund: Received grant to fund a summer of research with Prof. Dan Goldman at Georgia Tech
Research Experience
- August 2021 - Current: Research Assistant
- University of California, Los Angeles Biomechatronics Lab
- Duties included: Deformable Object Motion Planning - designed a real2sim2real-based pipeline for dynamically controlling the tip of a rope, utilizing both force and visual feedback. Tactile Sensor Design - mentored a team of undergraduates and early PhD students in developing a robust, manufacturable optical tactile sensor
- Supervisor: Prof. Veronica Santos
- Jan 2024 – Sept 2024: Ground Robotics Team Lead
- Human Fusions Institute (HFI): Case Western Reserve University (CWRU), University of California, Los Angeles (UCLA), University of Washington (UW), and Cleveland State University (CSU)
- Duties included: Led a multidisciplinary team of approximately 10 graduate and undergraduate students in designing, manufacturing, and testing a dual-arm teleoperated robotic system
- Supervisor: Prof. Veronica Santos
- June 2023 - Sept 2023: Applied Scientist II Intern
- Amazon Robotics
- Duties included: Developed a probabilistic analysis tool that utilizes simulation to identify specific areas within a process where efforts to improve reliability should be concentrated
- Managers: Vanessa Metcalf
- Jan 2023 - April 2023: Graduate Technology Intern
- Disney Research
- Duties included: Created an offline dynamics optimization tool designed for artists, allowing them to fine-tune animated motions that align closely with their creative vision while preserving dynamic stability
- Managers: Dr. Morgan Pope and Tony Dohi
- December 2016 - August 2021: Research Assistant
- Carnegie Mellon University’s Biorobotics Lab
- Duties included: Developed supervised machine learning strategy for palpation and stiffness mapping of deformable objects, managed generalized tactile sensing framework, and led medical robotics projects including TRAuma Care In a Rucksack (TRACIR)
- Supervisor: Prof. Howie Choset
- Summer 2018: Software Engineer Intern
- Bito Robotics Inc.
- Duties included: Designed experimental real-time dynamic multiagent robotic path planners that relied on a decentralized approach to obstacle avoidance
- Summer 2016: Research Assistant
- Georgia Institute of Technology’s Complex Rheology and Biomechanics Lab
- Duties included: Designed and manufactured robots for testing biologically inspired algorithms for use in decentralized planning
- Supervisor: Prof. Daniel Goldman
T<!– alks ======
OptiStrain: A vision- and microfluidics-based tactile sensor with high spatial and temporal resolution
Poster at IEEE World Haptics Conference, Suwon, Korea
Precision in Dynamic Rope Manipulation: The Advantage of Force Feedback
Poster at UCLA Mechanical and Aerospace Engineering Industrial Advisory Board Symposium, Los Angeles, CA, USA
Precision in Dynamic Rope Manipulation: The Advantage of Force Feedback
Lightning Talk at Amazon Fellows Lightning Talks, Los Angeles, CA, USA
Storytelling Through Characters at Disney Parks
Talk at South by Southwest (SXSW), Austin, TX, USA
Key Presentations (Manual List)
- “Optistrain: A vision- and microfluidics-based tactile sensor with high spatial and temporal resolution,” IEEE World Haptics Conference, 2025, Poster
- “Precision in Dynamic Rope Manipulation: The Advantage of Force Feedback,” UCLA MAE Industrial Advisory Board Symposium, March 2025, Poster
- “Precision in Dynamic Rope Manipulation: The Advantage of Force Feedback,” Amazon Fellows Lightning Talks, December 2024, Podium
Teaching
Teaching Experience (Manual List)
- Fall 2022: Teaching Assistant - Dynamics of Particle and Rigid Bodies, University of California, Los Angeles
- Fall 2018, Fall 2019, Fall 2020: Teaching Assistant - Robotic Kinematics and Dynamics, Carnegie Mellon University –> Service and Leadership ======
- Spring 2025-Spring 2026: Student Member, IEEE Haptics Technical Committee
- Spring 2024: Graduate Committee Member, Samuelli School of Engineering Faculty Executive Committee
- Spring 2022 - Present: Co-President, Mechanical and Aerospace Engineering Graduate Interest Council - Lead a team of 10+ graduate students to host accessible events for the 300+ graduate students in the UCLA Department of Mechanical and Aerospace Engineering
- Summer 2021: Mentor, Robotics Institute Summer Scholars
- Fall 2018 – Spring 2019: Co-Founder and Co-President, Physics Steering Committee - Co-founded and led a student committee dedicated to enhancing the undergraduate experience within the physics department, with a particular emphasis on supporting underrepresented groups
- Fall 2017 - Spring 2018: Social Chair, Fringe
- Fall 2016 - Spring 2017: Mentor, Physics Outreach Program