Projects

Independent Projects

• Sketch Placement Matters: Equal Stability and Different Bias in Gaussian-Target Langevin Dynamics [pdf] [blog]
• A Calibrated Initialization for Gaussian Mixture Layers [pdf] [blog]

Final Presentation for MATH 216C: Numerical Methods in Data Science (Spring 2025)

• Landmark Localization using Gaussian Flow [presentation]

UCSD Mathematics Directed Reading Program with Qihao Ye (PhD) (Spring 2024)

• Spectral Methods for Dimensionality Reduction [presentation] [report]

ECE 276A: Sensing and Estimation in Robotics (Winter 2024)

• Quaternion based Orientation Tracking [report]
• LiDAR based SLAM and Factor Graph Optimization [report]
• Visual Inertial SLAM [report]

ECE 276B: Planning and Learning in Robotics (Spring 2024)

• Dynamic Programming for Optimal Control [report]
• Motion Planning in 3-D Environments [report]
• Safe Trajectory Tracking with Optimal Control [report]