About me

Welcome! I am a Robotics Ph.D. Candidate, supervised by Dr. Seth Hutchinson at the Georgia Institute of Technology. Prior to joining Georgia Tech, I earned my B.S. in Mechanical Engineering from the Rose-Hulman Institute of Technology.

I am currently a Visiting Ph.D. researcher at INRIA Paris in the WILLOW team, where I am supervised by Dr. Justin Carpentier. My primary focus is on developing fast and efficient motion planning and control algorithms for complex, high-degree-of-freedom robots. During my time at INRIA, I developed a novel differential inverse kinematics solver that outperforms existing state-of-the-art approaches by leveraging the Pinocchio library. We have released LoIK, a high-performance, open-source differential inverse kinematics solver for robotic systems with complex constraints.

My broader research interest lies in bridging numerical optimization techniques with rigid-body-dynamics algorithms to solve complex robotic motion planning and control problems. My experience spans a wide range of applications: I have created a full-stack trajectory optimization and model predictive control pipeline for agile legged locomotion; designed robust adaptive controllers for manipulator arms to handle dynamic uncertainties; developed hierarchical control policies for wheeled-inverted-pendulum humanoids; and, in my industry work at Georgia Pacific, deployed perception and motion planning algorithms for autonomous warehouse navigation and robotic packaging. Across these diverse platforms, my goal is to develop computationally efficient and mathematically rigorous algorithms that enable robots to interact intelligently and safely with the real world.