Biography

Hi! I am Guofei Chen, a Master’s student at RI, Carnegie Mellon University. I love building and iterating solid robotic systems and answering the most interesting research questions I found there. I am particularly insterested in navigation systems that actively interact with the environment and human.

Download my resumé .

Interests
  • Planning & SLAM for Navigation
  • Field Robotics
  • Optimization
Education

  • MS in Robotics, 2025 (expected)

    Carnegie Mellon University, Advisor - Prof. Ji Zhang

  • BE in Automation, 2023

    Zhejiang University, Advisor - Prof. Fei Gao

Skills

Linux
ros
ROS 1/2
lua
Lua
cpp
C++
unity
Unity

Research Experience

 
 
 
 
 
Research Assistant
Zhang’s lab, Field Robotics Center, CMU RI
Sep 2023 – Dec 2025 Pittsburgh, Pennslyvania
  • Autonomous Navigation - Field Robotics
  • Mapping and Planning
  • Navigation System Development: Unitree Go2, Diablo
 
 
 
 
 
Research Assistant
Field Autonoums Systems and compuTing Lab (FAST)
Jul 2022 – Aug 2023 Hangzhou, Zhejiang
  • Certifiable perception
  • Localization in aerial swarm, Sensor Network
 
 
 
 
 
Member
ZJUNlict - ZJU RoboCup Team
Jun 2020 – Nov 2022 Hangzhou, Zhejiang
  • Path Planning and Motion Control
  • Multi-robot Systems

Posts

A Mapping & Planning Algorithm for RoboCup Small Size League
A novel planning algorithm based on visibility of obstacles on the field.
Jun 12, 2022 8 min read
A Mapping & Planning Algorithm for RoboCup Small Size League
Improving the Sampling in Gaussian Mixture Varitional Encoder - An Important but Easy to Ignore Step
The answer is - Gumbel-Softmax!
Jan 23, 2022 12 min read
Improving the Sampling in Gaussian Mixture Varitional Encoder - An Important but Easy to Ignore Step

Projects

Jun 5, 2024
Unitree Go2 Navigation
Unitree Go2 Navigation

A full-stack navigation platform using only original sensors.

Code and Documentation
Jun 5, 2024
Wheel-legged Navigation Platform using Diablo
Wheel-legged Navigation Platform using Diablo

A full-stack navigation platform for Diablo - a legged-wheel robot.

Code and Documentation
Jun 5, 2022
TinySQL
TinySQL

A Relational Database from Scratch

Code Documentation

Publications

AIM-Nav: A FullStack Platform for Data-Driven Navigation Research
Full-stack navigation systems on Unitree Go2 and Diablo, aiming to provide a low-cost and ready-to-use platform for AI navigation research.
Guofei Chen, Botao He, Shibo Zhao, Yiannis Aloimonos, Wenshan Wang, Ji Zhang
PDF Project
Air-FAR: Fast and Adaptable Routing for Aerial Navigation in Large-scale Complex Unknown Environments
A real-time 3D mapping and path planning algorithm for aerial robot that is up-to x1000 times faster than grid-map based strong benchmarks.
Botao He, Guofei Chen, Wenshan Wang, Cornelia Fermuller, Yiannis Aloimonos, Ji Zhang
PDF Code Project
Air-FAR: Fast and Adaptable Routing for Aerial Navigation in Large-scale Complex Unknown Environments
Interactive-FAR: Interactive, Fast and Adaptable Routing for Navigation Among Movable Obstacles in Complex Unknown Environments
An efficient navigation system that combines manipulating movable objects for shorter path, even in complex unknown environments.
Botao He, Guofei Chen, Wenshan Wang, Ji Zhang, Cornelia Fermuller, Yiannis Aloimonos
PDF Code Project Video
Interactive-FAR: Interactive, Fast and Adaptable Routing for Navigation Among Movable Obstacles in Complex Unknown Environments
Search-Based Path Planning among Movable Obstacles
Search based planning algorithms on grid maps for solving path planning among movable obstacles problem.
Zhongqiang Ren, Bunyond Suvonov, Guofei Chen, Botao He, Yijie Liao, Cornelia Fermuller, Ji Zhang
PDF
Search-Based Path Planning among Movable Obstacles
Analyzing and Improving Supervised Nonlinear Dynamical Probabilistic Latent Variable Model for Inferential Sensors
An inference framework using deep network derived closely following optimal control principals for large-scale modeling chemical processes.
Zhichao Chen, Hao Wang, Guofei Chen, Yiran Ma, Le Yao, Zhiqiang Ge, Zhihuan Song
PDF