CV

Education

• B.S. in GitHub, GitHub University, 2012
• M.S. in Jekyll, GitHub University, 2014
• Ph.D in Version Control Theory, GitHub University, 2018 (expected)

Work experience

• Summer 2015: Research Assistant
  • Github University
  • Duties included: Tagging issues
  • Supervisor: Professor Git
• Fall 2015: Research Assistant
  • Github University
  • Duties included: Merging pull requests
  • Supervisor: Professor Hub

Skills

• Skill 1
• Skill 2
  • Sub-skill 2.1
  • Sub-skill 2.2
  • Sub-skill 2.3
• Skill 3

Publications

Adaptive Continuous Visual Odometry from RGB-D Images

Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras

Progress in symmetry preserving robot perception and control through geometry and learning

Proprioceptive Invariant Robot State Estimation

A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios

Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer

Legged Robot State Estimation within Non-inertial Environments

Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras

Tensegrity Robot Proprioceptive State Estimation With Geometric Constraints

Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics

Invariant Filtering for Full-State Estimation of Ground Robots in Non-Inertial Environments

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups

A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future

Equivariant Neural Networks for General Linear Symmetries on Lie Algebras

Hierarchical Reactive Grasping via Task-Space Velocity Fields and Joint-Space Quadratic Programming

High-Bandwidth Tactile-Reactive Control for Grasp Adjustment

Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers

Talks

Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

March 21, 2022

Talk at NVIDIA GTC AI Conference 2022, Online

It’s the Same Everywhere: Leveraging Symmetry for Robot Perception and Localization

June 04, 2024

Talk at University of Notre Dame Robotics Seminar, South Bend, Indiana, USA

Computational Symmetry and Learning for Robotics

October 14, 2024

Talk at IROS 2024 Equivariant RoboticsWorkshop Keynote, Abu Dhabi, United Arab Emirates

Teaching

ME 1003: Engineering Graphics

ME 2001: Engineering Mathematics

ME 2004: Machine Design Theory

ME 2005: Thermodynamics

NAVARCH/EECS 568/ROB 530: Mobile Robotics: Methods and Algorithms

NAVARCH/EECS 568/ROB 530: Mobile Robotics: Methods and Algorithms

NAVARCH/EECS 568/ROB 530: Mobile Robotics: Methods and Algorithms

Service and leadership

• Currently signed in to 43 different slack teams