I am an Electrical and Computer Engineering Ph.D. candidate currently focused on biomedical robots and applied control systems.

My research interests lie at the intersection of control/game theory and machine learning. Control theory helps me in formulating mathematical models while machine learning allows me the luxury of making sense of chaotic data in order to drive real-world processes. Game theory helps facilitate answering questions surrounding robustness and rational decision-making by my agents. I try to solve problems that are difficult to model with closed-form analytic methods. I research along the lines of optimal control, adaptive neuro-dynamic systems, as well as stability and robustness of the performance of nonlinear dynamical systems.

This summer, I am tucked away in a research lab out in Japan, where I am working on the stability of nonparametric robot learning policies/controllers. My goal is to inculcate stability in the sense of Lyapunov to robot learning models, particularly in imitation/reinforcement learning policies. The struggle is real! (Phase I of work done; Journal to follow soon. I am back in Texas!)

News

October 07, 2018 It's ICRA paper reviewing season again. This year, I am reviewing for Associate Editor, Mac Schwager.
October 07, 2018 Thanks to the generous support of Google AI, I will be attending the full tutorials, workshops, and program sessions at NIPS 2018. Bonjour Montréal!
September 06, 2018 Deep BOO gets accepted to the Workshop on the Algorithm Foundations of Robotics (WAFR). WAFR has an "established reputation as one, if not the most, important venue for presenting algorithmic work related to robotics". Archival version would appear in the Springer Proceedings in Advanced Robotics (SPAR) series.
Aug. 29, 2018 At the Department of Brain Robot Interface (BRI) of Japan's ATR Computational Neuroscience (CNS) Labs., I presented our minimax iterative dynamic game work.
Aug. 3, 2018 Presented my work on neural networks and adaptive control at the Tech. Info. Session of Preferred Networks Inc., Tokyo this afternoon.
July 15, 2018 I've got some new preprints. How's Deep BOO for a paper title? Paper here.
July 05, 2018 I had the pleasure of presenting my research outlook on stably learning the dynamics of nonlinear robot trajectories to the management team of Preferred Networks, Tokyo earlier this afternoon.
July 2018 I will be attending ROSCon 2018. If you are a ROS developer and would love to meet, please shoot me an email. Nos vemos en Madrid!
June 2018 Our IROS2018 submission is a definite accept. Codes here. Videos on my home page. Hola Madrid!
April 24, 2018 Our Minimax iDG paper gets accepted to the Machine Learning for Planning and Control Workshop at ICRA 2018. Codes here. Videos on my home page. Hallo Brisbane!
April 2018 My AAPM (American Association of Physicists in Medicine) submission got accepted as an oral. See you in the music city, in July.
March 2018 Peer reviewing for Institute of Physics: Measurement Science and Technology (Journal). Editor, Charlotte O'Neale.
March 2018 Peer reviewing for 2018 proceedings of the International Conference on Intelligent Robots and Systems (IROS) under Associate Editor (AE), Jens Kober.
January 2018 Peer reviewing for Neural Computing and Applications Journal, (AE, Milan Stehlik).
October 2017 Peer reviewing for the 2018 proceedings of the International Conference of Robotics and Automation, ICRA (Associate Editor, Pablo Jiménez) and the American Control Conference, ACC, (Associate Editor, Ashwin Dani) .
August 2017 I will be pitching my start-up idea to VCs in Vancouver in October. Yeah, sure. Come in and argue!
August 2017 Awarded the NSF Doctoral Consortium Award.
August 2017 The camera-ready version of Soft-NeuroAdapt, is now on arxiv. Codes are on github.
July 2017 Our submission got accepted to IROS abstract only track. Video here.
July 2017 Awarded the Open Software for Robotics Foundation (OSRF) scholarship.
June 2017 Brandon Amos' OptNet paper was accepted to ICML. I am mentioned in the acknowledgement section alongside Ian Goodfellow.

Recent Blog Posts

Optimality vs. Stability of Feedback Control Systems August 22, 2018
Control Commons August 4, 2018
What Good Research is Not August 2, 2018

View all

Side Projects

+ awesome neuro-control: A curated list of papers that apply neural dynamics to control systems.
+ awesome screw theory: A curated list of papers that apply screw theory for soft and rigid robots control.
+ advice for fellowships, internships, conference grants applications
+ summer'18 reading list: Bellman and Optimal Control
+ summer'17 reading list: RAS Papers
+ bash-scripts: Short and fun bash scripts.
+ control/robotics/ai conference tracker
+ research group resources: Borrowed from Jean Yang. --- Last updated on 2018-10-10