PhD Candidate of Computer ScienceComputer Graphics LaboratoryGeorgia Institute of Technologyjtan34 AT gatech.edu
My research focuses on developing computational tools to understand, simulate and control human and animal locomotion in a complex environment. I developed fast and stable computer programs to simulate complex dynamic systems, such as fluid, soft body and articulated rigid bodies. I am interested in applying optimal control and machine learning techniques to enable computers to automatically learn locomotion skills inside a complex physical environment.
I am also interested in transfering the controllers that are learned in simulations to real robots. Controllers learned in a simulation usually perform poorly on real robots due to the discrepancies between the simulated and the real system. I am developing tools to understand and model such discrepancies. I augmented the physical simulation using real-world data, which not only increases the simulation accuracy, but also improves the real-world performance of the controllers.