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Career

· Doctor of Philosophy - PhD Computer Science, Massachusetts Institute of Technology2019–2024
· Robotics + ML | Atlas, Boston Dynamics
· Research Intern, Disney Research Los Angeles
· S.M. in EECS, Massachusetts Institute of Technology
· Research Intern, Seattle Robotics Lab, NVIDIA
· B.S. in Mechanical Engineering, UC San Diego

Publications (44)

Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation
IEEE International Conference on Robotics and Automation · 2021
286
cited
Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners
IEEE Transactions on robotics · 2019
279
cited
Diffusion Policy Policy Optimization
International Conference on Learning Representations · 2024
142
cited
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation
Robotics: Science and Systems · 2024
125
cited
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
Conference on Robot Learning · 2022
68
cited
Modeling and Inverse Compensation of Hysteresis in Supercoiled Polymer Artificial Muscles
IEEE Robotics and Automation Letters · 2017
63
cited
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
Conference on Robot Learning · 2020
56
cited
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement
Conference on Robot Learning · 2023
51
cited
From Imitation to Refinement - Residual Rl for Precise Assembly
IEEE International Conference on Robotics and Automation · 2024
46
cited
Bundled Super-Coiled Polymer Artificial Muscles: Design, Characterization, and Modeling
IEEE Robotics and Automation Letters · 2018
40
cited
JUICER: Data-Efficient Imitation Learning for Robotic Assembly
IEEE/RJS International Conference on Intelligent RObots and Systems · 2024
40
cited
Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation
IEEE International Conference on Robotics and Automation · 2023
34
cited
Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles
2018
28
cited
Lifelong Robot Learning with Human Assisted Language Planners
IEEE International Conference on Robotics and Automation · 2023
24
cited
From Imitation to Refinement - Residual RL for Precise Visual Assembly
arXiv.org · 2024
22
cited
Robot Learning with Super-Linear Scaling
Robotics · 2024
11
cited
Stickman: Towards a Human Scale Acrobatic Robot
IEEE International Conference on Robotics and Automation · 2018
10
cited
Human-Assisted Continual Robot Learning with Foundation Models
arXiv.org · 2023
6
cited
Learning to Plan with Pointcloud Affordances for General-Purpose Dexterous Manipulation
2010
1
cited
An optimum regime of the flight of the space devices moving on a curvilinear trajectory
1977
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