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Career

· Research Scientist, MIT Robot Locomotion Group2016–
· Ph.D. candidate, EECS, MIT Robot Locomotion Group2012–

Publications (64)

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Autonomous Robots · 2015
877
cited
Whole-body motion planning with centroidal dynamics and full kinematics
IEEE-RAS International Conference on Humanoid Robots · 2014
448
cited
Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization
IEEE Robotics and Automation Letters · 2017
165
cited
An Architecture for Online Affordance‐based Perception and Whole‐body Planning
J. Field Robotics · 2015
159
cited
Lyapunov-stable neural-network control
Robotics: Science and Systems · 2021
152
cited
Diffusion Policy Policy Optimization
International Conference on Learning Representations · 2024
142
cited
Planning robust walking motion on uneven terrain via convex optimization
IEEE-RAS International Conference on Humanoid Robots · 2016
122
cited
Optimizing robust limit cycles for legged locomotion on unknown terrain
IEEE Conference on Decision and Control · 2012
82
cited
Global inverse kinematics via mixed-integer convex optimization
Int. J. Robotics Res. · 2019
73
cited
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming
International Symposium of Robotics Research · 2015
66
cited
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
arXiv.org · 2025
62
cited
Director: A User Interface Designed for Robot Operation with Shared Autonomy
J. Field Robotics · 2017
61
cited
L2-gain optimization for robust bipedal walking on unknown terrain
IEEE International Conference on Robotics and Automation · 2013
59
cited
Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming
International Symposium of Robotics Research · 2017
57
cited
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints
American Control Conference · 2022
55
cited
Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
IEEE Robotics and Automation Letters · 2017
53
cited
Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems
IEEE Conference on Decision and Control · 2020
48
cited
Whole-body Motion Planning with Simple Dynamics and Full Kinematics
2014
43
cited
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation for Efficient Synthesis and Verification
International Conference on Machine Learning · 2024
34
cited
Certified polyhedral decompositions of collision-free configuration space
Int. J. Robotics Res. · 2023
28
cited
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