Course Projects

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ECE 572 - Fall 2025: Learning-Based Stochastic Optimization for Robotics: Diffusion Policy

Please click here to access the full report.

Diffusion Policy for Push-T Task. Three rows indicate three initializations

TimeStep0

TimeStep24

TimeStep80

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MAE 589 - Fall 2025: Variable-Impedance Optimal Ankle Joint Controller for Humanoid Walking

Demonstration of the Humanoid Walking on Uneven Terrain with Our Variable-Impedance Ankle Controller

Block Diagram of the Variable-Impedance Ankle Joint Controller

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CSC 791 - Spring 2025: Navigation on Triton Robut

Navigation via Adaptive Monte Carlo Localization and Model-Predictive Path-Integral Control

Solving the Mobile Robot Wall-Following Problem by Q-learning

Demonstration of the Wall-Following via Q-Learning

Training Process of Q-Learning

TurtleBot Trajectory Tracking by MPC

Reference Trajectory - N Shape

Trajectory Tracking by MPC

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MAE 589 - Fall 2024: Point-to-point Kinematic Control of the 3-Joint Robotic Arm in the Presence of Obstacles

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Spring 2023: Hand Exoskeleton

Or click here to watch the 1080P video in bilibili.

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Fall 2022: Rotating Elves

Or click here to watch the 1080P video in bilibili.

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