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.
|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 2020||2 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 2019||Presenting our year-long effort on MuSHR, an open-source robotic racecar! Checkout Allen School News and Geekwire articles, or read the full paper.|
|Aug 2019||I'm giving an invited talk at ONR Science of Autonomy 2019.|
|May 2019||Congratulations to Aditya for Best Student Paper Award for our paper on Generalized Lazy Search at ICAPS 2019!|
|Apr 2019||I'll be teaching a course on Mobile Robotics this quarter at University of Washington featuring brand new lectures and robot cars.|
|Feb 2018||AACUS wins the Howard Hughes Award. Also nominated for Collier Trophy.|
|Feb 2018||I defended my PhD on Adaptive Motion Planning! My thesis and talk are both available.|
|May 2016||I 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 2014||I received the Best Paper Award for my paper on Planner Ensemble in AHS 2014|