About Me

I am an undergraduate researcher at the National University of Singapore, advised by Prof. David Hsu. I will be joining Rice University as a graduate student to work with Prof. Lydia Kavraki and Prof. Kaiyu Hang. Previously, I worked at the Advanced Robotics Centre, 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 in various ways. I am interested in applications to robotics domains, especially those that involve 1) reasoning under uncertainty, 2) highly non-linear dynamics, and 3) stringent time constraints amidst a dynamic environemnt.


  1. Yiyuan Lee, Panpan Cai, and David Hsu. MAGIC: Learning Macro‑Actions for Online POMDP Planning using Generator‑Critic, 2020. arXiv:2011.03813 [cs.RO]. Under anonymous review.
  2. Yuanfu Luo, Panpan Cai, Yiyuan Lee, and David Hsu. Simulating Autonomous Driving in Massive Mixed Urban Traffic, 2020. arXiv:2011.05767 [cs.RO].
  3. Panpan Cai, Yiyuan Lee, Yuanfu Luo, and David Hsu. SUMMIT: A Simulator for Urban Driving in Massive Mixed Traffic. In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 4023–4029, 2020. DOi:10.1109/ICRA40945.2020.9197228.