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Yifei Tang
Intern Machine Learning Engineer specializing in vision-language models and robotics
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About
Robotics software engineer with hands-on experience building a vision-guided grasping pipeline on a 7-DOF Franka arm, implementing gradient-based IK with null-space optimization and RRT* motion planning in ROS1. Strong in sim-to-real deployment and real-world debugging—addressed frame misalignment via hand-eye calibration and centralized TF configuration, and reduced replanning/jitter by tuning a weighted pose filter using rosbag replay and variance/grasp-time metrics. Also built an ESP32-based mobile robot architecture combining embedded decision-tree control with WiFi/web high-level commands.
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Key Strengths
- End-to-end manipulation stack implementation (IK + RRT* planning) on real Franka arm
- Diagnosing and fixing real-world frame/calibration issues (hand-eye recalibration, centralized TF config)
- Null-space-aware planning to avoid strange paths and reduce self-collision risk
- Systematic real-time debugging using rosbag replay and quantitative validation (pose variance, grasp time)
- Sim-to-real workflow using Gazebo validation before deployment
- Distributed robot control design (embedded low-level behaviors with web-based high-level commands)
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