Weihang Guo

I am a master's student at Rice University advised by Prof. Lydia Kavraki. My research centers on long-horizon task and motion planning. I am inspired by scenarios like “making a cup of tea in every room,” where the robot operates under partial observability, faces uncertainty in transitions, and no domain-specific model, combined with non-trivial motion planning challenges. The robot must efficiently generate task plans grounded in motion, recover from failures, and autonomously explore within its known environment. I am thrilled to explore the valuable potential that lies at the intersection of learning-based and model-based approaches. I am also honored to collaborate with Prof. Zak Kingston and Prof. Kaiyu Hang.

I obtained my B.S. in Mathematics and Computer Science from Lehigh University under the supervision of Prof. Rosa Zheng. There, I worked on perception and control, led an autonomous racing team, and co-founded the Lehigh Underwater Robotics team. Those works earned me the Donald J. Hillman Memorial Award, which is awarded to the most outstanding senior in AI at Lehigh University.

I enjoy rock climbing, road trips, listening to K-pop.

News

🎓 Seeking a PhD in Robotics for the 2025 Academic Year

I am applying for PhD programs in Robotics for the 2025 academic year.

🌟 Two Paper Submissions

I submitted one paper to ICRA 2025 and another to RA-L, both as the first author.

🥳 2nd Price on International Autonomous Racing Competition

I led a team of four members to win 2nd place at the F1TENTH Competition Head-to-Head Race at ICRA 2022.

Selected Projects

Multi-Arm Planning
CaStL: Constraints as Specifications through LLM Translation for Long-Horizon Task and Motion Planning

Weihang Guo, Zachary Kingston, and Lydia E. Kavraki

Multi-Robot Motion Planning
Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation

Weihang Guo, Zachary Kingston, Kaiyu Hang, and Lydia E. Kavraki

  • The preprint will be available on arXiv soon.
Autonomous Driving and Robotic Racing
Autonomous Driving and Robotic Racing

Team Leader, Instructed by Prof. Rosa Zheng

  • Proposed and implemented an autonomous system that can detect opponent vehicles and switch between overtaking and optimal path; Implemented and tuned a PID control; Utilized particle filter and Google Cartographer for localization and SLAM.
Underwater Robotics Development
Autonomous Underwater Robotics Development

Software Team Leader, Instructed by Prof. Rosa Zheng

  • Collected and augmented data on underwater left/right turn signs, and tuned a YOLO model to detect them; Deployed the model on Nvidia Jetson Nano.

Selected Honors

Donald J. Hillman Memorial Award: Awarded to the most outstanding senior in AI at Lehigh University.
Certificate of Recognition for Outstanding Academic Achievement: Recognition for Outstanding Academic Achievement, awarded to students in the top 2% GPA at Lehigh
2nd place at 10th F1TENTH Autonomous Grand Prix at ICRA 2022
Blue Robotics Special Awards, Robosub 2022

Teaching Experience

TA for COMP 450: Algorithmic Robotics | Fall 2024
TA for ECE 450: Internet of Things (Graduate Level) | Spring 2023
Head TA for ENGR 005: Autonomous Driving and Robotic Racing | Fall 2022
TA for CSE 498: Computer Vision (Graduate Level) | Spring 2022
Class Grader
  • CSE140: Foundations of Discrete Structures and Algorithms: Spring & Fall 2022, Spring 2023
  • CSE202: Computer Organization and Architecture: Spring 2022

A picture of me from February 2020.

wg25rice.edu