About Me

I am currently a Ph.D. student in Computer Science (Robotics) at Rice University, advised by Prof. Lydia Kavraki. My recent interests lie in integrating planning and learning, and topics in task and motion planning.

Previously, I worked as an undergraduate researcher at the National University of Singapore, under the supervision of Prof. David Hsu. I have also interned at the Advanced Robotics Centre, doing research engineering under the supervision of Prof. Marcelo H. Ang Jr.


Rice University 2021 - Present
Doctor of Philosophy in Computer Science

Natinal University of Singapore 2017 - 2021
Bachelor of Computing in Computer Science


[3] GAMMA: A General Agent Motion Model for Autonomous Driving
Y. Luo, P. Cai, Y. Lee, and D. Hsu
In IEEE Robotics and Automation Letters (RAL), 2022
[pdf] [cite] [code]

[2] MAGIC: Learning Macro-Actions for Online POMDP Planning
Y. Lee, P. Cai, and D. Hsu
In Robotics: Science and Systems (RSS), 2021
[pdf] [cite] [code]

[1] SUMMIT: A Simulator for Urban Driving in Massive Mixed Traffic
*P. Cai, *Y. Lee, Y. Luo, and D. Hsu
In IEEE International Conference on Robotics and Automation (ICRA), 2020
[pdf] [cite] [code]