Portfolio

I enjoy exploring, learning, and creating. Here's some of my work that I'm proud of.

Thinking While Moving

ICLR 2020

Deep reinforcement learning in concurrent action environments, enabling significantly faster and smoother robot policies.

Thinking While Moving

ICLR 2020

This project analyzes deep continuous-time reinforcement learning in the context of concurrent action environmnts.

We introduce a new class of concurrent action deep reinforcement learning algorithms with theoretical learning guarantees.

Evaluations on simulated benchmark tasks and large-scale robotic grasping tasks show that our methods are smoother and faster by over 37%.

Presented at the International Conference on Learning Representations, 2020.

aDOBO

CDC 2017

Dynamics Optimization with Bayesian Optimization. Learning in data-efficient regimes, demonstrated on a quadrotor system.

aDOBO

CDC 2017

This project introduces aDOBO, a framework for learning dynamics in few iterations to maximize controller performance.

The method works in data-efficient regimes, demonstrated on a quadrotor system. The paper was presented at the 56th IEEE Conference on Decision and Control.

This work was also extended as my Master's Thesis.

Quadrotor Control Methods

Literature Review 2016

A comprehensive review of quadrotor control methods, focussing on safety-constrained real-time control scenarios.

Quadrotor Control Methods

Literature Review 2016

This literature review surveys existing work in quadrotor control at a broad level, and then examines two specific approaches in real-time control scenarios: learning-based model predictive control (LBMPC) and reachability-based safe learning.

Real-time safety-constrained scenarios encapsulate challenges that extend to many other research areas.

Machine Learning at Berkeley

Founder and President 2015-2017

A student-run organization focusing on workshops, industry projects, and research.

Machine Learning at Berkeley

Founder and President 2015-2017

I founded a student-run non-profit machine learning organization focusing on workshops, industry projects, and research.

I grew the organization to more than 80 undergraduate and graduate students in 18 months.

1200+

WorkshopAttendees

8

Research Projects

16

Industry Clients

Voyager Consulting

Vice President

A student-run organization that provides strategy consulting services to growth-stage and Fortune 500 companies.

Voyager Consulting

Vice President

I served as Vice President in Fall 2015. I worked with clients, determined strategic project directions, and lead consultants.

Projects I worked on: Valve, National Basketball Assocation, Twitch.tv, Warby Parker

4

Clients

20

Consultants

35

Projects

TweetScript

1st Place Hackathon Winner

A programming language composed entirely of Tweets.

TweetScript

1st Place Hackathon Winner, BearHack 2013

In less than 36 hours, we built a parser and tokenizer to create a programming language out of Tweets.

2013

November

1st

Out of 372 Hackers

5

Team Members

DiversaTech

Technology Advisor

DiversaTech is a UC Berkeley student organization that seeks enable success in the technology sector through diversity.

DiversaTech

Technology Advisor

As a Technology Advisor, I was part of the founding team and saw the organization grow and mature. I designed DiversaTech's website that has been used since Spring 2016.

2016

Spring

HTML/CSS

Bootstrap

1000+

Hits

Learning Latent Plans from Play

CoRL 2019

Self-supervised learning of visual manipulation tasks from unlabeled play data.

Learning Latent Plans from Play

CoRL 2019

This project proposes learning on top of unlabeled teleoperated human play data as a way to scale up multi-task skill learning

We introduce Play-LMP, a self-supervised method that learns to organize play behaviors in a latent space and then reuse them at test time to achieve specific goals.

Presented at the Conference on Robot Learning, 2019.

GANs for Model-based Reinforcement Learning with Tree Search

Term Paper 2017

A project using GANs to learn dynamics models for Tree Search and Deep Value Networks.

GANs for Model-based Reinforcement Learning with Tree Search

Term Paper 2017

Term Paper for CS294-112 Deep Reinforcement Learning, Spring 2017

This project uses Generative Adversarial Networks to learn dynamics models used for Tree Search methods with Deep Value Networks.

4

Models

Tensorflow, Keras

3

Authors

Baseline Power Prediction

Term Paper 2016

A project predicting power usage at the Sutardja Dai Hall in UC Berkeley, using statistical learning methods.

Baseline Power Prediction

Term Paper 2016

Term Paper for CS281A Statistical Learning Theory, Fall 2016

We leverage expectation-maximization, graphical methods, and Recurrent Neural Networks to achieve state-of-the-art results in building baseline power prediction.

5

Models

Tensorflow, Keras, Scipy

2

Authors

Human-Robot Interaction Experiment

Motion Planning Feedback Controller

Experiment on human behavior in a two-robot system for collaborative tasks

HRI Experiment

Motion Planning Feedback Controller

I implemented the motion planning module for a Pioneer robot for an experiment investigating human-friendly task planning algorithms.

2

Robots

Robot Operating System

10+

Participants

adViz

IBM Challenge Winner

MVP for a safety and navigation application; winner of multiple pitch competitions

adViz

IBM Challenge Winner, Team Lead

I created an MVP for a safety and navigation application.

We won multiple pitch competitions, culminating in presenting at IBM Interconnect 2016 in Las Vegas.

5

Months

$5000

Prize

4

Team Members

CalGuessr

Personal Project

A guessing game where you locate where pictures are taken. 2k+ hits within first week.

CalGuessr

Personal Project

A guessing game inspired by GeoGuessr, personalized for UC Berkeley.

It was the top post on the UC Berkeley subreddit and saw 8GB of traffic in 48 hours.

2015

Summer

Ruby on Rails

1200+

Users

Asian American Assocation

Web Developer

UC Berkeley's Asian American Association is one of UC Berkeley's largest student organizations

Asian American Assocation

Web Developer

Job Description

I designed the Asian American Association's website that was used between Spring 2015 and Spring 2016.

2015

Spring

HTML/CSS

Bootstrap

2000+

Hits

Adversarial Machine Learning

Textbook Chapter 2018

Chapter 17 in "Artificial Intelligence Safety and Security"

Adversarial Machine Learning

Textbook Chapter 2018

This textbook is used for several university AI Safety courses, and includes contributions from field leaders such as Ian Goodfellow, Max Tegmark, and Ian Goodfellow.

The Adversarial Machine Learning chapter provides a technical tutorial on adversarial attacks and defense for deep neural networks.

Deep Frame Rate Upscaling

Term Paper 2016

A project using CNNs, GANs, and VAEs to upscale framerate by interpolating frames.

Deep Frame Rate Upscaling

Term Paper 2016

Term Paper for CS294-129 Deep Neural Networks, Fall 2016

This project attempted to use various architectures to interpolate frames in videos.

4

Models

Tensorflow, Keras

3

Authors

Pursuit-Evasion Reachability

Data Visualization

Visualizing sets gathered from calculating reachability in a game theory application.

Pursuit-Evasion Reachability

Data Visualization

Finding and visualizing reachable sets in a flexible manner. Based on results of a CDC paper by Jaime Fisac

An intuitive and reusable framework for visualizing large datasets from reachability computations. Used at CDC 2015 in Tokyo.

2015

Spring

D3.js, MATLAB

200,000+

Unique Sets

Salonniere

Intelligent Event Planner

Winner of the AI Chatbot competition at the Sutardja Center for Entrepeneurship and Technology.

Salonniere

Chatbot Competition Winner, Team Lead

I created a Messenger Chatbot to help plan events. It suggests ideas, sends invitations, and interacts with guests.

We won the AI Chatbot Collider in Fall 2016 at UC Berkeley.

3

Months

$2500

Prize

3

Team Members

DeCal Platform

Platform Re-make

A web platform for UC Berkeley's DeCal education program, serving 4000 students a semester.

DeCal Platform

Platform Re-make

As part of an Agile team of 6, I worked with the DeCal Education Board to re-make the DeCal web platform from scratch.

I focussed on authentication with OAuth, file uploads with Carrierwave/S3, and behavior tests with Cucumber.

2015

Spring

Ruby on Rails

4000+

Users Per Semester

Kaffeine

Contributor

Kaffeine is an application that pings Heroku sites to prevent them from idling.

Kaffeine

Contributor

Kaffeine is an open-source application that pings Heroku sites to keep them from idling.

I added features to update the application to comply with Heroku's policy changes in 2015.

2015

Summer

Ruby on Rails

9000+

Users