I am an Assistant Professor at the Harvard John A. Paulson School of Engineering and Applied Sciences and the director of the Harvard Agile Robotics Laboratory. Previously, I was a postdoc in the Robot Locomotion Group at MIT CSAIL and the Planning and Control Lead for the MIT DARPA Robotics Challenge team.

My research is about increasing the efficiency, robustness, and versatility of highly dynamic and underactuated robots. I design algorithms that exploit convexity, sparsity, or statistical structure to solve optimal planning and control problems and improve the capabilities of complex physical systems. My work has been implemented on a variety of amazing robots including the Boston Dynamics Atlas, the uBot-5, and NASA's Robonaut 2For more information, please check out our publications, videos, or download my CV.

Latest News

Paper accepted to CDC 2016

August 18, 2016

Check out our new paper entitled "Derivative-Free Trajectory Optimization with Unscented Dynamic Programming" here!

Upcoming talk at IOS INFORMS

February 29, 2016

I will be giving an invited talk at IOS INFORMS entitled Controlling Robot Motions Through Contact With Optimization at Princeton University on March 18. Hope to see you there!

Paper accepted to ICRA 2016

January 20, 2016

Our paper entitled "Optimization and Stabilization of Trajectories for Constrained Dynamical Systems" is available here.

New robotics course in Spring 2016

August 20, 2015

I will be teaching a new course entitled CS 284: Optimization Algorithms for Robotics in Spring 2016. Harvard students interested in taking it can find the syllabus in the course catalog. 

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