Projects

2020

Inverse Reinforcement Learning for Inferring Human-Centered Costmaps [report]

• Course: Computational Human Robot Interaction, Lecturer: Prof. Stefanos Nikolaidis, USC
• A scalable method to collect information on task-basedpersonal space.
• An algorithm for inferring a task-based costmap from adataset of motion capture trajectories of two humans.

2019

Master Thesis: Optimal Navigation System for a Mobile Robot to Execute Dynamical Multiple Social Tasks [pdf]

• Advisor: Dr. Li-Chen Fu, NTUEE
• A navigation system integrated with perception module and decision making system can handle dynamical social tasks during human robot interaction.
• A model that formulates the household environment into discrete graph and task into time-decaying reward function can transfer complex social task planning problem to mathematical optimization problem.
• A task planning algorithm using relative low memory consumption in time such that the robot can deal with scenarios when newly-added social tasks are called from human.

Multi-Agent Path Finding with Simple Temporal Network with Uncertainty (STNU) [slides]

• Course: Coordinate Robotics, Lecturer: Prof. Nora Ayanian, USC
• Apply STNU to MAPF to deal with uncertainty to deal with uncertainty movements during plan execution.

2018

Real-time Human, Object, Pose Detection for Service Robots [link]

• Course: GPU Programming, Lecturer: Prof. Wei-Chao Chen, NTUEE
• Developed a system for robot to execute commands given by human gesture and voice.

Face Recognition with Squeezed Deep Learning Model [poster]

• Course: Deep Learn for Computer Vision, Lecturer: Prof. Yu-Chiang Frank Wang, NTUEE
• Developed a face recognition network with squeezed model combing InceptionNet, Inception-ResNet, and ShuffleNet.
• Trained and tetsted on CelebA Dataset, comparing with VGG-16 with the testing accuracy about 0.6, the testing accuracy of our model is 0.65 with ten times fewer parameters.

2017

Making Latte Art through ITRI Robotic Arm

• Course: Robotics, Lecturer: Prof. Li-Chen Fu, NTUEE
• Manipulated robot arm to generate latte art given a certain pattern while recognizing objects like cups, stir bar with top view camera.

Machine Translation for Native Taiwanese Language on Local Drama Conversation

• Course: Machine Learning, Lecturer: Prof. Hung-Yi Lee, NTUEE
• Developed a word-embedded model trained on Conversation Native Language Dataset with 0.51 accuracy, while the best model on Kaggle is 0.55.

2016

Solving Marble Maze with Universal Robot UR5 [link]

• Course: Introduction to Robotics, Lecturer: Prof. Ruzena Bajcsy, Department of EECS, UC Berkeley
• Encoded the corner of the maze and solve the adequate path for the marble.