Welcome!
I'm a PhD student in the Computer Science and Artificial Intelligence Laboratory (CSAIL) at MIT. My advisors are Leslie Kaelbling and Tomas Lozano-Perez. My research falls broadly under the category of statistical geometry, with my main focus being on applications in robotics, from 3D object recognition to dynamic manipulation. I think a lot about non-Euclidean spaces, such as SO(3) and SE(3), and how to perform probabilistic inference in those spaces. I'm interested in robust control for high-speed robotics. I work with the PR2 robot from Willow Garage. You can click on the research link in the menu bar at the top of the page to see my current research projects. I'll be adding more content soon, so please stay tuned while my new site comes online. Thanks for visiting!