Welcome to my site! I am a fourth year Ph.D. student at the Robotics Institute at Carnegie Mellon University.  My research focus is on planning for manipulation in clutter using nonprehensile interactions. 

My research adviser is Dr. Siddhartha Srinivasa in the Personal Robotics Laboratory (PRL).  We have demonstrated several of our algorithms on HERB, the Home Exploring Robot Butler developed within the lab. Checkout the videos in my projects and publications to see him in action.

In addition to my work in the PRL, I am a NASA Space Technology Research Fellow collaborating with the NASA Ames Research Center. The aim of my fellowship is to incorporate the same planners for non-prehensile interactions that I have developed for traditional manipulators onto the rovers.  Our hope is to expand the mission capabilities of the rovers by allowing more direct interaction with the environment.

Prior to starting the Ph.D. program I spent 8 years in industry at Northrop Grumman and Lockheed Martin Advanced Technology Laboratories. Please see my CV for a complete list of experience.