I'm a Senior Software Engineer & Tech Lead at Waymo (formerly known as the Google self-driving car project), working on Behavior Prediction problems.

During my PhD at UPenn, I have worked on Machine Learning, specifically Reinforcement Learning and Deep Learning, and their various applications to Robotics.

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Past Featured Projects:


May 2020
Ph.D. in Electrical and System Engineering, University of Pennsylvania
- Daniel D. Lee (Professor of ECE, Cornell Tech / Executive Vice President, Samsung Electronics)
- George J. PappasJoseph Moore Professor and Chair of ESE, UPenn)
May 2016
M.S. in Robotics, University of Pennsylvania
February 2014
B.S. in Physics (major) and in Aerospace Engineering (minor), KAIST, February 2014


Deep Learning for Behavior Prediction

: Visit my Linkedin Profile and see Waymo's recent publications to learn more about my roles and what we do at Waymo to predict agent behaviors for autonomous vehicles. 

03 Experience

"Experience is the best teacher"

April 2020

Ph.D. Dissertation Defense
University of Pennsylvania

Thesis : Off-Policy Temporal Difference Learning for Robotics and Autonomous Systems

May 2020

Ph.D. (Received)
Electrical and Systems Engineering, University of Pennsylvania

November 2019

IROS 2019 Daejeon, Korea
IEEE/RSJ International Conference on Intelligent Robots and Systems

June - September 2019

WAYMO  Mountain View, CA
Software Engineer Intern

Machine Learning for Behavior Prediction

Presented my research "Efficient Learning of Stand-up Motion for Humanoid Robots with Bilateral Symmetry"

August 2019

IJCAI Macao, China

International Joint Conference on Artificial Intelligence

Main Track: "Assumed Density Filtering Q-learning"


June 2019

ICML  Long Beach, CA
International Conference on Machine Learning

Workshop on "AI on Autonomous Driving"

May 2019

Wharton Startup Challenge

Semi-finalist team, Represented at the pitch

April 2019

Guest Lecture on RL  New York, NY
@ Cornell Tech, CS5304

January 2019

Invited Talk New York City, NY

@ Samsung Research

September 2018

Grace Hopper Conference Houston, TX

April 2018

Invited Talk  San Francisco, CA
@ Anki

March 2018

AAAI-SSS-18 Palo Alto, CA
AAAI Spring Symposium Series

Data Efficient Reinforcement Learning : Presentation on "Bayesian Q-learning with Assumed Density Filtering"

December 2017

NIPS-17 Long Beach, CA
Neural Information Processing Systems

Workshop on Advances on Approximate Bayesian Inference : Presentation on "Bayesian Q-learning with Assumed Density Filtering"

May - August 2017

Amazon Robotics Boston, MA
Research Scientist Intern

Applying Deep Reinforcement Learning  in a Pod Storage Problem

July 2016

IJCAI-16 New York City, NY
International Joint Conference on Artificial Intelligence

April 2018

CRA-W Grad Cohort  San Francisco, CA

December 2017

Guest Lecture on RL Philadelphia, PA

In the course, CIS 520 : Machine Learning, at the University of Pennsylvania (course website)

Joint lecture with Steven Chen. Topics on - MDP, Dynamic Programming, Exploration-Exploitation Trade-off, Monte-Carlo Methods, Q-learning, Applications

September 2017

AFOSR Mid-Atlantic Student Research Day Arlington, VA
Air Force Office of Scientific Research

October 2016

IROS 2016 Daejeon, Korea
IEEE/RSJ International Conference on Intelligent Robots and Systems

Presented my research "Efficient Learning of Stand-up Motion for Humanoid Robots with Bilateral Symmetry"

May 2016

Invited Talks
@ KAIST Institute, KAIST, Daejeon, Korea
@ the Dept. of Mechanical and Aerospace Engineering, SNU, Seoul, Korea

May 2016

M.S. in Robotics (Received)

University of Pennsylvania, Philadelphia, PA

School of Engineering and Applied Science

February 2016

January 2016

Wharton Women Business Conference

University of Pennsylvania, Philadelphia, PA

July 2015

RoboCup 2015 Hefei, China

Team THORwIn

Won in the Adult-Size Humanoid League

November 2014

Lunch Talk Seminar Cherry Hill, NJ

@ Lockheed Martin Advanced Technology Lab 

PIBOT Information

February 2014

B.S. in Physics & in Aerospace Engineering (minor) (Received)

Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea

April 2012

28th National Space Symposium     Colorado Springs, CO
Space Generation Fusion Forum
Colorado Springs, CO

SGFF Global Grants

Panelist in SGFF

AAAI-16 Phoenix, AZ
The 30th AAAI Conference on Artificial Intelligence 

Poster Presentation about "Learning Complex Stand-up Motion for Humanoid Robots"

October 2015

The Scientista Symposium
 New York City, NY

June 2015

DARPA Robotics Challenge Finals
Pomona, CA


September 2014

IROS 2014 Chicago, IL
IEEE/RSJ International Conference on Intelligent Robots and Systems

Presentation on "A Robot-Machine Interface for Full-functionality Automation using a Humanoid"

January 2014

AIAA SciTech 2014 Washington, DC
American Institute of Aeronautics And Astronautics (AIAA)
52nd Aerospace Science Meeting

Presented my research "Development of an Optimally Piloted Vehicle using a Humanoid Robot"

August 2010 - August 2012

National Point of Contact in South Korea

Space Generation Advisory Council (SGAC) in support of the United Nations Program on Space Applications

October 2010

Space Generation Congress 
Prague, Czech Republic
Space Generation Advisory Council

October 2009

International Astronautical Congress
Daejeon, Korea