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

  • Representation and Optimization for Robotic Manipulation
  • Motion Planning
  • Machine Learning
  • Adaptive Grasping and In-Hand Manipulation
  • Dexterous Manipulation using Underactuated Robotic Hands
  • Dual-Arm Manipulation
  • Mobile Manipulation


Check out our recently published benchmarks on: Grasp Planning, In-Hand Manipulation, and Pick-and-Place.

Our paper "Hand–object configuration estimation using particle filters for dexterous in-hand manipulation" has been published by International Journal of Robotics Research.

Our paper "Dual-Arm In-Hand Manipulation Using Visual Feedback" has been nominated for the Best Oral Paper Award, and the Mike Stillman Award at the International Conference on Humanoid Robots (Humanoids), 2019.

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

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.