Career Profile
I am currently a postdoctoral fellow at the Robotics Institute, Carnegie Mellon University (CMU). I received the Ph.D. degree from Nanyang Technological University (NTU) Singapore in 2019 and Bachelor degree from Beijing Institute of Technology (BIT) in 2014. I was a senior researcher in Tencent. My research interests include robot perception, vision, and machine learning.
Selected Publications
- The first practical method for continuously learning graph-structured tasks.
- Convert the problem of node classification into graph classification.
- Construct new graph topology to learn feature interaction.
- Selected for Oral presentation (2% acceptance rate).
- Interesting scene prediction for mobile robots.
- Unsupervised online learning via visual memorability.
- Selected for Oral presentation (5.6% acceptance rate).
- Extend convolution to kernel space, while keep linear complexity.
- Reduce the complexity of rotation-scale prediction from O(n log n+mn) to O(n log n).
- Improve an accuracy of 50% compared to the SOTA, i.e., PX4Flow.
- Find the first close-form solution (O(n log n)) to RGB-D-inertial odometry.
- Achieve real-time performance even on an ultra-low power processor.
- Break the theoretic limitations of KCF that is only able to predict translation.
- Predict affine transforms with complexity O(n log n), e.g. translation, rotation, scale, etc.
- Improve accuracy by 15% and reduce computational time by 25% compared to DTW.
- Propose the first UWB-Aided Visual SLAM system.
- Take advantage of local smoothness of visual odometry and global robustness of UWB.
- Receive the Best Paper Award in robotic planning.
* joint first authors
Open Source Projects
Git Helper - This project is extremely helpful when you use Git, especially in Ubuntu and Mac. After simple installation, the tedious leading path in bash environment will be clear. It also reminds your location, modification, and current branch. It has improved my working efficiency dramatically, thus I recommend this project to all Linux and Mac users!
Thesis LaTex Template - This thesis Latex temaplate is designed according to the new submission guidelines of Nanyang Technological University (NTU). It should be useful for both Master and Ph.D students. This version has been verified by the NTU library.
Range-based Localization - To enable fast and accurate localization for micro-robots in GPS-denied environment, we design and implement the range-based localization algorithm using the Graph Optimization Approach. This framework is compitable with ROS and flexible for multi-sensor fusion. This code has been tested for the ultra-wideband(UWB) technology.
Formation/Rendezvous for multi-agent - This ROS package provides a controller for formation and rendezvous using multi-drone. It is designed based on the fastest hunting and surrounding direction relative to a moving target. You may visualize the convergence using RVIZ and Gazebo. You may also test other controllers by modifying a few lines of codes.
Datasets
Interestingness - Supported by the Air Lab at Carnegie Mellon University, we released the visual interestingness dataset based on the DARPA Subterranean Challenge to promote the development of visual interesting scene prediction for mobile robots. You may also find the dataset description, development tools, and our paper for visual interestingness.
TartanAir - TartanAir is a very challenging dataset for visual navigation and more. It is recorded in AirSim containing various light conditions, weather, moving objects, challenging viewpoints, and diverse motion patterns. This dataset provides stereo RGB and deph images, segmentation, optical flow, camera poses, and LiDAR point clouds. This dataset is supported by the Air Lab at Carnegie Mellon University. You may find the dataset description, development tools, and paper.
Patent
Application Number: US16/329,118
Publication Date: Jul 25, 2019
Filing Date: Sep 7, 2017
* joint first authors
All paper source codes are avaiable on GitHub.