Allen (Zhiyi) Ren     任至意

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Ph.D. Student
Intelligent Robot Motion (IRoM) Lab
Department of Mechanical and Aerospace Engineering
Princeton University

Advisor: Prof. Anirudha Majumdar

Email: allen.ren@princeton.edu

Ph.D. Research

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  • Generalization Guarantees for Multi-Modal Imitation Learning
    Allen Z. Ren, Sushant Veer, Anirudha Majumdar
    Conference on Robot Learning (CoRL) 2020 (accepted) Arxiv Code Video

  • Quantifying distributional shift between training and test environments for robotic tasks

  • Integrating model-based and learning methods to improve formal generalization guarantees of robotic manipulation

  • Providing generalization guarantees for online adaptation in model-based RL

Education

  • Ph.D. Student in Mechanical Engineering, Princeton University, 2019-Present

  • M.S.E. Robotics, Johns Hopkins University, 2018-2019

  • B.S. Mechanical Engineering, Minor in Mathematics, Johns Hopkins University, 2015-2019
    Advisor: Prof. Chen Li

Awards and Scholarships

  • James F. Bell Award, for outstanding research and scholarly achievement in mechanical engineering, JHU, 2018

  • Robotics Institute Summer Scholars, CMU, 2018

  • Robert George Gerstmyer Award, for outstanding undergraduate achievement in mechanical engineering, JHU, 2019

  • ASME Best Senior Design Project, JHU, 2019

Undergraduate Research

  • Built insect-inspired legged robots and investigated general principles of terrestrial locomotion through robophysical experiments APS 2018, BB 2019

  • Developed a proprioceptive contact-detection leg observer for Minitaur robot and applied it to disturbance and touchdown detection during stair climbing, with Prof. Aaron Johnson RISS 2018

  • Built a “smart” guitar that measures forces applied by the fingers at 72 locations on the fretboard IEEE Sensor 2019, More details

About Me

I was born in Jiangsu, China and grew up there until 16 when I came to the U.S. by myself to continue high school studies. I can speak Mandarin, English, and Wu fluently. I enjoy soccer (both watching and playing) and traveling/backpacking. I am also getting a private pilot license.