About Me


I’m an incoming PhD student at University of Pennsylvania. I’m currently working as a Research Associate at mLab (Real-Time and Embedded Systems Lab). Previously, I obtained my MS in Robotics at University of Pennsylvania, and my BS in Computer Science and Mechanical Engineering at Georgia Institute of Technology.

  1. Github
  2. LinkedIn
  3. Google Scholar

Research Interest


Many foundational components of autonomy (e.g. machine vision, planning, and control) are available to researchers and industry, yet creating a safe system from these building blocks remains a labor intensive and often ad-hoc integration task. I focus my research on building the tools and theoretical foundations necessary to scale the design of safe-autonomous systems which reliably improve the processes and people they support.

My research projects heavily involve the f1tenth platform.


Publications

FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis

*A Sinha, *M O’Kelly, *H Zheng, R Mangharam, J Duchi, R Tedrake (* Equal Contribution)

BibTex Preprint
@article{sinha2020formulazero,
  title={FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis},
  author={Sinha, Aman and O'Kelly, Matthew and Zheng, Hongrui and Mangharam, Rahul and Duchi, John and Tedrake, Russ},
  journal={arXiv preprint arXiv:2003.03900},
  year={2020}
}

TunerCar: A Superoptimization Toolchain for Autonomous Racing

*M O’Kelly, *H Zheng, *A Jain, J Auckley, K Luong, R Mangharam (* Equal Contribution)

2020 IEEE International Conference on Robotics and Automation (ICRA 2020)

BibTex Link
@article{otunercar,
  title={TUNERCAR: A Superoptimization Toolchain for Autonomous Racing},
  author={O’Kelly, Matthew and Zheng, Hongrui and Auckley, Joseph and Jain, Achin and Luong, Kim and Mangharam, Rahul}
}

Monocular vision-based human following on miniature robotic blimp

N Yao, E Anaya, Q Tao, S Cho, H Zheng, F Zhang

2017 IEEE International Conference on Robotics and Automation (ICRA 2017)

BibTex Link
@inproceedings{yao2017monocular,
  title={Monocular vision-based human following on miniature robotic blimp},
  author={Yao, Ningshi and Anaya, Emily and Tao, Qiuyang and Cho, Sungjin and Zheng, Hongrui and Zhang, Fumin},
  booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={3244--3249},
  year={2017},
  organization={IEEE}
}