• Robotics Institute

• Aug 2019 - Ongoing

• Advisor: Oliver Kroemer

• Combining model-based planning and learning to complete contact-rich manipulation tasks.

• Computer Science and Artificial Intelligence Laboratory (CSAIL)

• Jan 2018 - Aug 2019

• Advisor: Leslie Kaelbling

• Incorporating learned skills into task and motion planning by learning both the preconditions, and the policy. Investigating how to apply various reinforcement learning techniques to benchmark manipulation tasks.

• Computer Science (Course 6)

• Aug 2014 - Jun 2018

• Advisor: Leslie Kaelbling

• Resolving references through planning in robotic mobile manipulation domains

Microsoft Research

Summer Research Intern

• Used tactile feedback from a BioTac sensor on a Shadow Hand to train policies for manipulation for better generalization

• Implemented BioTac sensor simulation in MuJoCo

• Combining multiple manipulation policies

CMU Robotics Institute

Graduate Researcher

• Planning using multiple models, learned and pre-defined

• Contact-rich manipulation by combining force and position controllers

• Exploring techniques to make model-based planning in manipulation domains more reliable by learning local policies where the model fails

MIT Computer Science and Artificial Intelligence Laboratory

Undergraduate and Graduate Researcher

• Incorporating reference resolution into planning

• Using machine learning to train primitive motor skills such as stirring, erasing, scooping, pushing, and pouring

• Designed an encoding technique to predict success of candidate force sensor traces for generating trajectories with dynamic movement primitives.

MIT Lincoln Laboratory

Summer Undergraduate Researcher

• Clustering algorithms

• Radar automation scripting

Microsoft - Software Engineering Intern

• Summer 2016, Summer 2017

• Customer support ticket clustering

• Anomaly detection using telemetry for server error prediction

• Improving geocoding precision and recall for problematic queries

Elements of Software Construction

• Full time teaching assistant

• Mentored ten project groups for a final project designing a large software application

Foundations of Information Policy

• Mentored two project groups in a semester long research project on Internet of Things (IoT) policy.