About Me

I am currently a Ph.D. student in Computer Science (Robotics) at Rice University, advised by Prof. Lydia Kavraki and Prof. Kaiyu Hang.

Previously, I worked as an undergraduate reearcher 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.

Research Interest

My recent interests lie in integrating planning and learning - specifically, how to utilize learning to aid model-based planners. These include 1) learning biases to speed up planning algorithms, 2) learning representations for use in planning, and 3) using planning as an algorithmic prior to model human behavior.


[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]