About

I'm a Robotics PhD candidate at Rutgers University, working with Professor Jingjin Yu. As a fourth-year Robotics Ph.D. with a Mathematics bachelor's degree, my research focuses on the combinatorial problems in Robotics. And During my research projects, I acquired a diverse range of experience in robotics, including perception, deep learning, and utilizing physics engines such as ROS and Pybullet. I also had the opportunity to build various real-world robot systems.

Email: kg627 [AT] scarletmail.rutgers.edu

Selected Projects

	[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, 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).

Papers Under Review

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

E. R. Vieira, K. Gao, D. Nakhimovich, J. Yu and K. E. Bekris. ``Effective and Robust Non-Prehensile Manipulation via Persistent Homology Guided Monte-Carlo Tree Search.’’ submitted to 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023).

R. Wang, K. Gao, Y. Miao, J. Yu and K. E. Bekris. ``Improving Feasibility, Efficiency and Quality for Rearranging Uniform Objects in Confined Spaces.’’ submitted to IEEE Transactions on Robotics (T-RO).