01 — NEWS
Sep. 2026Our paper on correct-by-construction behavior tree synthesis was accepted for publication in IEEE Robotics and Automation Letters (RA-L); final materials submitted.
Jan. 2026Started working as a Research Assistant at Beihang University (Hangzhou Campus).
Jun. 2024Graduated from Beihang University with a Master's degree.
Oct. 2022Paper accepted to China Automation Conference (CAC).
02 — EXPERIENCE
03 — RESEARCH
Path Planning Method Using Dyna-Q Algorithm under Complex Urban Environment
Dyna-Q reinforcement learning for obstacle avoidance and path planning of UGV in urban environments, with air-ground collaboration via PID-controlled UAV.
Abstract
Path planning and obstacle avoidance problems are now the focus of robotics research. This paper uses the Dyna-Q reinforcement learning algorithm to implement an obstacle avoidance and a path planning algorithm for unmanned ground vehicle (UGV) under urban environment. Using the reinforcement learning algorithm, we calculate the waypoints of the unmanned vehicle and achieve obstacle avoidance tasks and path planning using a vector field. Finally, we use a PID controller on unmanned aerial vehicle (UAV) to realize the air-ground collaboration task. The algorithms and the agents' modeling in this paper are implemented in the lab's simulation platform.
04 — SELECTED PROJECTS
Challenge Cup — Multi-Agent Decision Control
Multi-agent decision control model for regional information gathering. Grand Prize (特等奖). Responsible for obstacle avoidance (APF → A*), path planning, and convex hull utilities. [detail] [paper]
Large-scale heterogeneous swarm simulation platform (MOST project). Developed ground vehicle dynamics, path follower, and PID autopilot. [detail] [paper]
Course for sophomores on UAV/UGV planning and control using DJI RoboMaster TT/EP and lab simulation platform (Potato-mini). [detail]
Hands-on PID controller demo on simulation platform for undergraduates. [detail]
05 — NOTES
Study notes on modeling and control — in Chinese, with interactive demos.
Study notes on quadrotor modeling based on Small Unmanned Aircraft: Theory and Practice — coordinate frames, rotation matrices, Euler angles & quaternions, rigid-body dynamics and linearization, with interactive 3D demos. [read]
06 — TALKS
Literature and AI topic sharing at group meetings — papers, workflows, and methods I found worth discussing.
AI Engineering Workflow — From Idea to Implementation with Software Engineering Fundamentals. A practical workflow for AI-assisted software development, from planning through testing and codebase ownership. [slides]
A self-rotating, single-actuated UAV with extended sensor FOV for autonomous navigation, Science Robotics, 2023 [slides]
A Survey on Large-Population Systems and Scalable MARL, arXiv, 2022 [slides]
Trajectory Planning for Autonomous Vehicles Using Hierarchical RL, ITSC, 2021 [slides]
Fractal Trajectories for Online Non-Uniform Aerial Coverage, ICRA, 2015 [slides]
07 — PHOTOGRAPHY
Travel inspires my photography — places, people, and moments through the lens. [gallery] [instagram]
08 — MISC.
Badminton has been a longstanding interest of mine. I am also an avid reader of economics and social sciences literature, and I am proficient in English and French. I have had the opportunity to travel extensively across Europe, visiting France, Germany, Spain, Belgium, Italy, Switzerland, and Malta.