I am a Postdoctoral Scholar in the Robot Learning Lab at the University of Washington. My work focuses on developing efficient learning and inference methods for perception and control of robotic systems, usually in the context of manipulation or navigation problems.

This research has included structured approaches to learning and combining visual and tactile perceptual models for handling partial observability, and performing fast uncertainty estimation. I have also worked on modern non-parameteric inference methods and their application to model predictive control, motion planning, online model adaptation and model-based reinforcement learning. Most recently, I’ve been investigating the application of imitation learning for autonomous vehicles driving in challenging, off-road terrain.

I received my Ph.D in Robotics from Georgia Tech, where I was advised by Byron Boots. I also completed my M.S. degree in Aerospace Engineering at Georgia Tech, and my undergraduate degree in Mechanical Engineering at McGill University.

Over the course of my Ph.D, I have had the opportunity to intern and work with various industrial partners, including the Honda Research Institute, and the NVIDIA Seattle Robotics Lab.

News!

[01/2023] Our paper on Modelling Complex Terrain for High-speed, Off-road Navigation was accepted to RSS 2023! [paper link], [project page]

[06/2022] Our paper on Learning Implicit Priors for Motion Optimization was accepted to IROS 2022! [paper link], [project page]

[01/2022] Our paper on Stein PRMs was accepted to ICRA 2022! [paper link]

[01/2022] Press-release and article on the RACER progam, sponsored by DARPA, just came out! Go team UW! [article], [PR]

[07/2021] I will be presenting recent work at the RSS Workshop on Integrating Planning and Learning. [paper link]

[06/2021] Selected to the 2021 cohort of RSS Pioneers. Links: [research statement], [poster].

[05/2021] Successfully defended my Ph.D thesis!

[05/2021] Our paper on online parameter estimation for MPC for was accepted to RSS 2021. [paper link]

[10/2020] Our paper on Stein variational MPC was accepted to CoRL 2020. [paper link]

[07/2020] Presented paper at the RSS SARL Workshop.

[07/2020] Started working at the University of Washington.

[06/2020] Presented paper at the ICRA MLPC Workshop.

[05/2020] Successfully presented my Ph.D proposal to the thesis committee!

[05/2019] Starting my second summer internship at the NVIDIA Seattle Robotics Lab.

[01/2019] Our paper on learning robust tactile sensors was accepted to ICRA 2019!

[01/2019] Our paper on joint inference for visuo-tactile sensing was accepted to ICRA 2019!

[05/2018] Starting my summer internship at the NVIDIA Seattle Robotics Lab.

[01/2018] Our paper on learning deep forward and inverse models was accepted to ICRA 2018!