# Haiming Wang

> Autonomous Driving, Motion Planning and Control, Robotics

Location: Mountain View, California, United States
Profile: https://flows.cv/haiming

* Motivated and highly energetic professional with more than 10 years of experiences in motion planning and control algorithm development, and real-time software implementation for complex mechatronic, robotic and autonomous driving systems; Exceptional expertise with autonomous navigation, path planning, trajectory generation, and linear/nonlinear controller design; Extensive knowledge in system dynamics, actuators, and sensor technologies including in camera, Lidar, encode, accelerometer ...

* Exceptional capabilities in robot simulators and ROS system; Exceptional experiences in motion planning algorithms (A∗, Dijkstra); Outstanding knowledge in model predictive control, adaptive control, linear/nonlinear controller design, system identification, and optimization; Familiarity with vehicle kinematics and dynamics; Excellent experiences in software development using general programming languages such as C/C++ and Python; Exceptional experiences in Linux development environment and fluency in Git.

* Outstanding problem solving and failure mode analysis skills; Recognized ability to translate, statistically analyze data, and effectively report problems to cross-functional teams; Excellent verbal and written communication and presentation skills; Strong cross-functional coordination skills.

* Granted 1 US patent; 8 patents submission; Obtained innovative awards for 6 Invention Disclosures in Western Digital Corp.; Published 15 papers in major journals and international conferences in System and Control area.

## Work Experience
### Staff Software Engineer (Motion Planning) @ DiDi
Jan 2022 – Present | Mountain View, CA
1. Architected and delivered multiple core-planner infrastructure upgrades improving performance, modularity, and reliability of autonomous driving systems.

2. Separated key planner nodes to parallelize execution and mitigate frame-drop bottlenecks.

3. Reorganized Bazel and proto structures into finer-grained modules to accelerate incremental builds and reduce coupling across the planning stack.

4. Developed and implemented a path optimization algorithm using the DDP/iLQR method. Expertly designed cost functions that penalize various vehicle kinematics and dynamics violations, such as curvature, pinch, juke, lateral acceleration, and lateral jerk, along with corridor-based violations like hard corridor, nudge corridor, and in-lane corridor infringements.

5. Successfully integrated a state lattice-based path search algorithm into the autonomous driving system, enhancing path planning's efficiency and ensuring a balance between drivability and search time.

6. Enhanced planner simulation determinism and reproducibility to support regression testing and performance benchmarking.

### Senior Software Engineer (Planning & Control) @ JD.COM
Jan 2017 – Jan 2022 | Mountain View, CA
1. Improved an advanced linear programming solver for customized path-speed optimization and reduced the running time. Implemented it in autonomous driving software system.

2. Implemented an integration of hybrid A-star and clothoid based motion primitives generation algorithm and developed its corresponding improvements for open space scenarios, such as, parking, left turn, reversing-bypassing.

3. Implemented a routing based reference line generation and smoothing (nonlinear optimization) with vehicle kinematics constraint consideration.

4. Designed and implemented MPC and LQR controllers for trajectory tracking in both longitudinal and lateral control for Ackerman steering systems.

5. Developed a Quadratic Programming (QP) based path-speed planning and optimization compromising deviation from guidance line and trajectory smoothness with constraints.

6. Implemented a k-d tree space-partitioning data structure to address time-consuming problem for dynamic obstacles station-time boundaries computation.

### Staff Firmware Engineer @ WD, a Western Digital company
Jan 2013 – Jan 2016 | Irvine, CA
1. Developed a regression algorithm for real-time system identification to do resonance mode calibration and feedback controller tuning, according to system bandwidth, gain margin and phase margin for the motor and PZT dual-stage mechatronics systems.

2. Developed an adaptive IIR notch filter algorithm to compensate resonance mode induced by environment variation; Implemented the control algorithm to products and increased the production yield by 25%.

3. Evaluated different rotational, linear, and shock motion sensors performance, and developed Kalman filtering based sensor fusion technique for an adaptive LMS feedforward control algorithm. Product test results showed position error can be reduced by 20%.

4. Invented different compensation algorithms for saturation nonlinearity, hysteresis, and lightly damped dynamics of motor and piezoelectric actuator and implemented them into the embedded control systems.

5. Evaluated piezo-actuator (PZT) sensing capability under didisturbance; Proposed an effective algorithm to extract PZT sensing signal from contamination; Used this signal for disturbance compensation.

6. Developed all kinds of Matlab-based time/frequency domain simulation tool for servo control and design of electromechanical systems, and developed different simulation tool for test automation.

7. Developed an enhanced Bode algorithm to improve SNR; Completed the firmware and product deployment with this algorithm; Compared with classic Bode, the production yield can be improved by 20%.

### Robotics and Controls Research Assistant, @ Rutgers University
Jan 2008 – Jan 2013 | Piscataway, NJ
1. Developed a novel control algorithm based on the B-spline decomposition method integrating with feedback; Demonstrated the motion control performance by nanomanipulation simulation and
experiments using Matlab/Simulink/xPC Target/C++/Labview; Optimazed the mechanical systems
and overcame the system uncertainty and online computation related challenges in robotics applications.

2. Invented a highly-efficient iterative control algorithm for multi-axis precision tracking applications;
Illustrated the efficacy of the advanced technique through a nanofabrication application using AFM and Matlab/Simulink/xPC Target/C++/Labview tools; Eliminated the cross-coupling effects in multi-axis systems and improved the simplicity and efficacy in practical implementations. 

3. Developed a new optimal control approach for the nonperiodic output trackingtransition switching
applications including HDD and robot manipulation; Simulated the method through a piezoelectric
actuator model for robot manipulation applications; Successfully rejected the post vibration/shock of precision positioning during the tracking-transition switching in experiments using AFM.

### Algorithm Engineer (Intern) @ Bruker-Nano Inc
Jan 2012 – Jan 2012
1. Developed a novel motion control algorithm for piezo actuators in atomic force microscopy (AFM) systems; Implemented control algorithm by writing embedded real-time code (Matlab/C++); Increased image scanning speed by 90% for defect review applications; Obtained big profits from important Demos.

2. Analyzed the system noise by power spectral density; Designed an optimized noise rejection method based on noise control algorithm and vibration analysis by CAD and FEA; Successfully eliminated 80% environment noise for roughness measurement using AFM; Contributed over $5 million annual profits.

3. Integrated a B-spline based control algorithm with feedback-feedforward control theory for x-y lateral motion control in complex multi-axis AFM systems; Optimized the operation effectiveness and performance in AFM systems; Reduced the waiting time between operation switchings by 50%.

### Robotics Research Assistant @ University of Science and Technology of China
Jan 2005 – Jan 2008 | Hefei, Anhui, China
1. Modeled, analyzed, and designed the mechanism of 3-dof chinese chess robot arm using Solidworks and ANSYS. Developed a real-time embedded system based on a feedback controller and a human-robot communication technique using C++/RS232. Successfully implemented control algorithms in the micro-controller for the servo motors control.

2. Analyzed and model the kinematics and dynamics of a multi-joint robot arm (ABB-IRB140). Developed a novel inverse kinematics algorithm based on the robot arm and implemented it on the ABB-IRB140. Increased the efficacy and the performance of precision positioning in practical applications.


## Education
### Doctor of Philosophy (Ph.D.) in Motion Control, Optimization, Robotics, Electro-mechanical Engineering
Rutgers University

### Master's degree in Mechatronics, Robotics, and Control Engineering
University of Science and Technology of China

### Bachelor's degree in Electrical Engineering
Hefei University of Technology


## Contact & Social
- LinkedIn: https://linkedin.com/in/haiming-wang-88724b26
- Portfolio: https://sites.google.com/site/haimingw24/

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Source: https://flows.cv/haiming
JSON Resume: https://flows.cv/haiming/resume.json
Last updated: 2026-04-12