I am a Ph.D. student at Robotics Systems Lab, ETH Zürich. I primarily work on learning-based agile control of legged mobile manipulators.

I grew up in Nanjing, and went to Singapore for high school. Missing the four seasons, I decided to go to Imperial College London for my bachelor’s degree in Mechanical Engineering. Then I studied Robotics, Systems, and Control at ETH Zürich for my master’s degree, and stayed to start my Ph.D.

I see agile control as a crucial factor in broadening the functionality of robots. Learning-based approaches are promising in this direction due to less model simplifications, design heuristics, and runtime computational cost. I am currently working on ALMA robot in this direction.

Recent posts

Learning agile and dynamic badminton skills

We are trying to let ALMA play badminton.

Arm-Assisted Fall Damage Reduction and Recovery

We’ve trained ALMA to adaptively recover using its arm.

Combining MPC-controlled arm and RL-controlled legs

Bringing ALMA to rough terrain.