About me

I work on theory and algorithms at the intersection of machine learning and motion planning. Much of my research has been deployed on real-world robotic systems - full-scale helicopters, self-driving cars and mobile manipulators.

Currently, I'm a researcher at Aurora, where we are solving self-driving at scale. Previously, I was a Postdoctoral fellow at the University of Washington, CSE. I worked at the Personal Robotics Lab with Sidd Srinivasa.

I have a PhD from The Robotics Institute at Carnegie Mellon University, where I was advised by Sebastian Scherer. My thesis showed how robots can learn from prior experience to speed up online planning.

I am a Siebel’s Scholar, class of 2013.

Selected News

Sep 2019 I joined Aurora to work on fundamental research problems in learning and planning for self-driving. Come join (or intern with) our fantastic team!
May 2020 Jonathan presenting our paper on Expert Intervention Learning at RSS 2020.
May 2020 Our paper on Imitation Learning as f-Divergence Minimization accepted at WAFR 2020.
Jan 20202 papers at ICRA 2020 - Brian presenting Posterior Sampling for Anytime Motion Planning and Paloma presenting Incremental Constrained Smoothing.
Oct 2019 RCTA collaboration with ARL finishes with a bang! Check out Roman clearing debris in the wild and articles by Economist and Signal.
Aug 2019Presenting our year-long effort on MuSHR, an open-source robotic racecar! Checkout Allen School News and Geekwire articles, or read the full paper.
Aug 2019I'm giving an invited talk at ONR Science of Autonomy 2019.
May 2019Congratulations to Aditya for Best Student Paper Award for our paper on Generalized Lazy Search at ICAPS 2019!
Apr 2019I'll be teaching a course on Mobile Robotics this quarter at University of Washington featuring brand new lectures and robot cars.
Feb 2018AACUS wins the Howard Hughes Award. Also nominated for Collier Trophy.
Feb 2018I defended my PhD on Adaptive Motion Planning! My thesis and talk are both available.
May 2016I spent a lovely summer at Microsoft Research where I worked with Debadeepta Dey, Ashish Kapoor and Gireeja Ranade on imitation learning for POMDPs. Our IJRR 2018 paper was nominated for the best paper of the year.
May 2014I received the Best Paper Award for my paper on Planner Ensemble in AHS 2014