About

CV

I'm a Robotics PhD candidate at Rutgers University, working with Professor Jingjin Yu. As a fifth-year Robotics Ph.D. with a Mathematics bachelor's degree, my research focuses on Task and Motion Planning. And During my research projects, I acquired a diverse range of experience in robotics, including perception, deep learning, and utilizing physics engines such as Isaac Gym and Pybullet. I also had the opportunity to build various real-world robot systems. Email: kg627 [AT] scarletmail.rutgers.edu

Selected Certificates

Reinforcement Learning Specialization.

Issued by: Coursera in July 2023

Skills

Programming Languages: Python, Matlab, C++

Tools: Git, ROS, PyBullet, Gazebo, OpenCV, PyTorch, Gurobi, Drake, Isaac Gym

Selected Projects

	[Summitted to ICRA 2024] ORLA*: Mobile Manipulator-Based Object Rearrangement with Lazy A*. [video] [paper] [project page] Co-authored by Yan Ding, Shiqi Zhang, Jingjin Yu
	[IJRR] Minimizing running buffers for tabletop object rearrangement: Complexity, fast algorithms, and applications. [video] [paper] Co-authored by Baichuan Huang, Si Wei Feng, Jingjin Yu
	[IROS 2023] Optimal and Stable Multi-Layer Object Rearrangement on a Tabletop. [video] [paper] [codes] Co-authored by Andy Xu, Si Wei Feng, Jingjin Yu
	[IROS 2023] Effectively Rearranging Heterogeneous Objects on Cluttered Tabletops. [video] [paper] [codes] Co-authored by Justin Yu, Tanay Sandeep Punjabi, Jingjin Yu
	[IROS 2022] Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement. [video] [paper] Supervised by Prof. Jingjin Yu
	[ICRA 2022] Fast High-Quality Tabletop Rearrangement in Bounded Workspace. [video] [paper] [codes] Co-authored by Darren Lau, Baichuan Huang, Kostas E. Bekris, Jingjin Yu
	[RSS 2021] On Minimizing the Number of Running Buffers for Tabletop Rearrangement. [project page] [video] [paper] [codes] Co-authored by Si Wei Feng, Jingjin Yu
	[IROS 2021] Capacitated Vehicle Routing with Target Geometric Constraints. [video] [paper] Supervised by Prof. Jingjin Yu
	Camera Calibration Tool. Collaboration with Justin Yu.

Publications

K. Gao, S. W. Feng, B. Huang and J. Yu. Minimizing Running Buffers for Tabletop Object Rearrangement: Complexity, Fast Algorithms, and Applications. submitted to The International Journal of Robotics Research (IJRR).

K. Gao, J. Yu, T. S. Punjabi, and J. Yu. ``Effectively Rearranging Heterogeneous Objects on Cluttered Tabletops.’’ 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023).

Andy Xu*, K. Gao *, S. W. Feng*, and J. Yu. ``Optimal and Stable Multi-Layer Object Rearrangement on a Tabletop.’’ 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023).

K. Gao, and J. Yu. “On the Utility of Buffers in Pick-n-Swap Based Lattice Rearrangement.” 2023 IEEE International Conference on Robotics and Automation (ICRA 2023).

K. Gao and J. Yu. “Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement.” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022).

K. Gao, D. Lau, B. Huang, K. E. Bekris and J. Yu. “Fast High-Quality Tabletop Rearrangement in Bounded Workspace.” 2022 IEEE International Conference on Robotics and Automation (ICRA 2022).

E. R. Vieira, D. Nakhimovich, K. Gao, R. Wang, J. Yu and K. E. Bekris. “Persistent Homology for Effective Non-Prehensile Manipulation” 2022 IEEE International Conference on Robotics and Automation (ICRA 2022).

R. Wang, K. Gao, J. Yu, and K. E. Bekris. “Lazy Rearrangement Planning in Confined Spaces” the 32nd International Conference on Automated Planning and Scheduling (ICAPS 2022).

K. Gao and J. Yu. “Capacitated Vehicle Routing with Target Geometric Constraints.” 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021).

K. Gao, S. W. Feng, and J Yu. “On Minimizing the Number of Running Buffers for Tabletop Rearrangement.” 2021 Robotics: Science and Systems (RSS 2021).

R. Wang*, K. Gao *, D. Nakhimovich*, J. Yu, and K. E. Bekris. “Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search.” 2021 IEEE International Conference on Robotics and Automation (ICRA 2021).

S. W. Feng, K. Gao, J. Gong, and J. Yu. “Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces.” 2021 IEEE International Conference on Robotics and Automation (ICRA 2021).

S. W. Feng, S. D. Han, K. Gao, and J. Yu. “Efficient Algorithms for Optimal Perimeter Guarding.” 2019 Robotics: Science and Systems (RSS 2019).