Allen Z. Ren     任至意

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

Distributionally Robust Policy Learning via Adversarial Environment Generation Allen Z. Ren, Anirudha Majumdar Under review, 2021 Arxiv | Video

Generalization Guarantees for (Multi-Modal) Imitation Learning Allen Z. Ren, Sushant Veer, Anirudha Majumdar Conference on Robot Learning (CoRL), 2020 Arxiv | Code | Experiment Video | 5min Presentation

• Combining statistical generalization guarantees with safe reinforcement learning and shielding

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

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

Others

• Service:

  • Co-organizer, Princeton Robotics Seminar

  • Webmaster, Robotics at Princeton

About Me

I was born in Jiangsu, China and grew up there until 16 when I continued high school in the U.S.. I can speak Mandarin, English, and Wu fluently. I enjoy watching and playing soccer, hitting the gym, and traveling/backpacking. I am also getting a private pilot license.