I am a postdoctoral associate working with Prof. Aaron M. Dollar at the GRAB lab, Yale University. I received my Ph.D. in Computer Science, specialized in Robotics and Computer Vision, under the supervision of Prof. Danica Kragic in 2016 from KTH Royal Institute of Technology, Stockholm, Sweden. Before joining the GRAB lab, I was a Research Assistant Professor at the Department of Computer Science and Engineering, and a Junior Fellow of the Insititute of Advanced Study, Hong Kong University of Science and Technology.

Research Interests

  • Representations for precision/fingertip grasping
  • Adaptive grasping and in-hand manipulation
  • Dexterous Manipulation using underactuated robotic hands
  • Dual-arm manipulation
  • Mobile Manipulation
 

News

2019-03-13
Our paper "Perching and resting -- A paradigm for UAV maneuvering with modularized landing gears" has been published by Science Robotics.

2018-12-26
Our paper "Pre-Grasp Sliding Manipulation of Thin Objects Using Soft, Compliant, or Underactuated Hands" has been accepted for publication in IEEE Robotics and Automation Letters.

2018-06-29
Our paper "Dexterous Manipulation Graphs" has been accepted for publication at IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018.

2018-05-18
Check out our new work on Learning Manipulation States and Actions for Efficient Non-prehensile Rearrangement Planning

2018-04-20
Our workshop Examining Sensing Modalities for Robust and Dexterous Object Manipulation has been accepted and will be organized at IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018. We look forward to seeing you in Madrid!

2018-01-12
Our paper "Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning" has been accepted for publication by IEEE International Conference on Robotics and Automation, Brisbane, Australia, 2018.

2018-01-12
Our paper "Fingertip Surface Optimization for Robust Grasping on Contact Primitives" has been accepted for presentation at IEEE International Conference on Robotics and Automation, Brisbane, Australia, 2018.