About Me

I’m a CS Ph.D. student at Rice University, advised by Prof. Lydia Kavraki. I work on integrating planning and learning, and task and motion planning for robots.

I received my bachelor’s in Computer Science at the National University of Singapore, where I was advised by Prof. David Hsu. I worked on planning under uncertainty, integrating planning and learning, and simulation for self-driving cars.

I have also interned at the Advanced Robotics Centre and the Institute for Infocomm Research.


Rice University
Doctor of Philosophy in Computer Science
2021 - Present

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


Adaptive Experience Sampling for Motion Planning using the Generator-Critic Framework
Y. Lee, C. Chamzas, and L. E. Kavraki
IEEE Robotics and Automation Letters (RA-L), 2022
[pdf] [cite]

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

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

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