I'm an graduate student in Electrical and Computer Engineering at the UIUC.
My work focuses on robotics, control, and embodied AI, especially integrating
reinforcement learning with real-world robotic systems and bio-inspired sensors.

• Reinforcement Learning for robotic control
• Dexterous manipulation (Shadow Hand)
• Nonholonomic robot navigation & cul-de-sac escape
• Bio-inspired underwater whisker sensors
• Embodied AI / humanoid robotics

Bio-inspired PDMS + silicon-gauge whisker sensor for underwater flow sensing under turbidity and darkness.

• mlp-final-paper-code

📄 Paper:
A Bio-Inspired Whisker Sensor toward Underwater Flow Sensing in Darkness and Turbidity

🖼️ Image:

A deep RL controller that enables a nonholonomic car-like robot to escape narrow cul-de-sacs using forward–reverse maneuver sequencing.

• cisDRL-robotnav

📄 Paper:
Nonholonomic Narrow Dead-End Escape with Deep RL

Training a 24-DoF Shadow Dexterous Hand using PPO for grasping and in-hand manipulation.

• Gym-Robo

Developed a real-world mobile manipulation system integrating ROS 2 navigation, dual-arm manipulation, multi-camera perception, SmolVLA, and Qwen-based task planning.

Code: xlerobot_lerobot

Towel Folding	Full Workflow · View 1	Full Workflow · View 2

• Email: denghan2@illinois.edu

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