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A list of all the posts and pages found on the site. For you robots out there, there’s an XML version available for digesting as well.
Pages
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Posts
11 Lessons from 2025
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10 Lessons from 2024
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10 Lessons from 2023
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My Love Letter to Advanta
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Memories from Advanta
Running Poem
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Run!
Welcome
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to my personal blog! I will be posting about my research, art, photography, personal musings, and more!
publications
Development of New Baseline Models for U.S. Medium Office Buildings Based on Commercial Buildings Energy Consumption Survey Data
Published in Science and Technology for the Built Environment, Volume 26, Issue 9, 2020
The construction of new models for energy usage prediction for medium office buildings in various environments.
Enabling Close Proximity Human Robot Collaboration via Distributed, Self-Calibrating Robotic Skin
Published in University of Colorado Boulder Undergraduate Thesis in Computer Science, 2021
My undergraduate thesis covering my prior 2 years of robotics research.
Contact Anticipation for Physical Human-Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors
Published in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS], 2021
A system for enabling robotic manipulators with onboard proximity sensors to anticipate and react on contact.
Self-Contained Kinematic Calibration of a Novel Whole-Body Artificial Skin for Human-Robot Collaboration
Published in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS], 2021
A system for calibrating and implementing a arbitrally placed robotic skin for physical human-robot interaction.
Volumetric Data Fusion of External Depth and Onboard Proximity Data For Occluded Space Reduction
Published in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] 4th Workshop on Proximity Perception, 2021
A probabilistic fusion of external depth and onboard proximity data into a volumetric 3-D map of a robot’s environment, reducing the space a manipulator must treat as unknown.
Evaluating Performance of Different Generative Adversarial Networks for Large-Scale Building Power Demand Prediction
Published in Energy and Buildings, 2022
A comprehensive evaluation of different types of GANs at scale for building power demand prediction.
Individualized Empirical Baselines for Evaluating the Energy Performance of Existing Buildings
Published in Science and Technology for the Built Environment, 2022
The evaluation of empirical baselines for evaluating the energy performance of multiple buildings.
SHIRO: Soft Hierarchical Reinforcement Learning
Published in Arxiv, 2022
A method for soft hierarchical reinforcement learning to accelerate learning for challenging locomotion tasks
Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Touch-GS combines the power of vision and touch to generate high-quality few-shot and challenging scenes, such as few-view object centric scenes, mirrors, and transparent objects.
J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators
Published in ArXiv, 2025
J-PARSE is a method for smooth first-order inverse kinematic control of serial manipulators near kinematic singularities, expanding the available workspace for applications in servoing, teleoperation, and learning.
Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting
Published in IEEE International Conference on Robotics and Automation (ICRA), 2025
Next Best Sense draws upon state of the art vision models to train few-shot Gaussian Splatting scenes, and turns to impressive next best view selection methods to guide robotic manipulator next best view and touch sel...
DexFruit: Dexterous Manipulation and Gaussian Splatting Inspection of Fruit
Published in IEEE Robotics and Automation Letters (RA-L), 2025
DexFruit is a robotic manipulation framework that enables gentle, autonomous handling of fragile fruit using optical tactile sensing and introduces FruitSplat, a novel technique to represent and quantify visual damage...
SPACeR: Self-Play Anchoring with Centralized Reference Models
Published in International Conference on Learning Representations (ICLR), 2026
SPACeR uses a pretrained tokenized autoregressive motion model as a centralized reference policy to guide decentralized self-play RL, matching human driving distributions with 10x faster inference and 50x fewer parame...
TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation
Published in IEEE Transactions on Robotics (T-RO), 2026
TensorTouch is a comprehensive framework for stress tensor estimation from 3D optical tactile sensors, combining finite element analysis with deep learning to extract detailed contact information including stress tens...
Learning to Drive is a Free Gift: Large-Scale Label-Free Autonomy Pretraining from Unposed In-The-Wild Videos
Published in IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026
LFG learns a unified pseudo-4D representation of geometry, semantics, motion, and short-term future evolution directly from unposed, unlabeled single-view driving videos, reaching state-of-the-art planning with a sing...
MR. CRABS: Mobile RGB-D Camera-LIDAR Robot for Autonomous Bimanual Manipulation & Sensing
Published in ICRA Workshop on Act to Sense to Act Better, 2026
A fully integrated perception system for near-ground bimanual mobile manipulation: a holonomic bimanual robot with dual RealSense depth cameras, a small LIDAR, and a pan-and-tilt bottom camera that improves mapping an...
UniQueR: Unified Query-based Feedforward 3D Reconstruction
Published in European Conference on Computer Vision (ECCV), 2026
UniQueR formulates feedforward reconstruction as sparse 3D query inference, learning compact 3D anchor points that infer scene structure including occluded geometry in a single forward pass.
VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations
Published in arXiv, 2026
VisTacAlign co-trains 3D-visual-tactile dexterous policies on human and robot demonstrations by closing the human-robot gap in every modality: glove-tracked hand motion is retargeted to the robot hand, the human hand ...
talks
Slingshot Interview Series: Introduction to Robotics
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For a startup, I was invited as a workshop speaker to give a talk on an Introduction to Robotics. This was an interview with a Slingshot ambassador.
PhD Forum: 4th Workshop on Proximity Perception in Robotics
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At the IROS 2021 4th Workshop on Proximity Perception in Robotics, Caleb Escobedo (my colleague in the HIRO group) and I presented a talk on Contact Anticipation for Physical Human-Robot Interaction with Robotic Manip...
HackCU Workshop Invited Speaker: A Gentler Introduction to Robotics
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At HackCU 2022, I was invited as a workshop speaker to give a talk on an Introduction to Robotics.
HackCU Workshop Invited Speaker: Introduction to AI
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At HackCU 2024, I was invited as a workshop speaker to give a talk on an Introduction to AI.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.