Aug 2024 - Present
Research Engineer, Full time
Adaptive Computing Lab, Smart Systems Institute (SSI), National University of Singapore
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Led an independent research project on visibility-aware mobile
grasping (RSS 2026, in submission): designed a
hypothesis-verification architecture with receding-horizon
whole-body replanning that jointly optimizes gaze direction and
base motion, enabling a robot to grasp objects outside its arm
workspace in unknown, dynamic environments under limited
directional sensing.
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Co-leading two ongoing projects: (1) an object-centric robot
policy that predicts contact points and spatial vectors in
object-centric coordinates to decouple manipulation skills from
robot embodiment and camera viewpoint; (2) a dynamic scene
graph that tracks object state changes via end-effector poses,
supporting long-horizon task planning under partial
observation.
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Initiated an imitation learning system supporting multiple
data-collection modalities (GELLO, VR controllers, joysticks,
hand tracking), diverse robot embodiments (Fetch, Kinova,
Franka), and behavior cloning algorithms (ACT, diffusion
policy). This infrastructure contributed to several research
publications.
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Contributed to a full-stack mobile manipulation system.
Integrated SIMD acceleration enabling 10 Hz whole-body motion
planning on the Fetch robot.
Jul 2020-Jul 2024B.Eng. in Computer Engineering, Distinction HonoursNanyang Technological University, Singapore
