Andy Ching-an Wu- Master Student

I am a second year graduate student from Systems, Control and Robotics program at KTH. I am currently doing my thesis at Robotics, Perception and Learning Lab. I am focusing on different approaches in deep reinforcement learning (DPL) such as DQN, DDPG and PPO.
Interests. Deep Reinforcement Learning, Machine Learning and Robotics

Projects

Reinforcement Learning for Robotic Manipulation, KTH [code] Carried out research in reinforcement learning for robotic manipulation tasks at Robotics, Perception and Learning Lab, KTH. Investigated sample efficiency for reinforcement learning given different observation and action spaces on a manipulation task. Improved sample efficiency by adding pre-and-post- preprocessing blocks based on established methods such as object detection and inverse kinematics.
A Convolutional Neural Network model for Robot Grasp Evaluation, KTH [code] [report] Built a robot grasp evaluation function with a convolutional neural network. Designed a data pipeline to handle the imbalanced datasets by using data augmentation techniques such as random sampling. Assessed two models with different model settings based on their accuracy and f1-score.
Character-Level Text Classification with Different RNN Architectures, KTH [code] [report] Built a character-level recurrent neural network to classify text to the respective categories. Introduced different layers such as LSTM and GRU and benchmarked performance. Evaluated the performance using different optimizers such as SGD, Adam and AdaGrad.
Robot with Multiple Dynamic Movement Patterns, NTU [report] Developed a bio-inspired bipedal robot with the Teensy board with Professor Pei-Chun Lin. Built mathematical models using Lagrange equations. Analyzed and simulated the dynamics of the robot using MATLAB. Project received the National Science Council Research Creativity Award.
Air-Cushion Vehicle, NTU Manufactured propellers using diverse materials including fiber-reinforced plastic, aluminum and wood. Assembled a Delta 3D printer for producing the vehicle frame and other components. Gained practical experience from hands-on work such as manufacturing and soldering.