Research

Stability of Control Lyapunov Function Guided Reinforcement LearningStability of Control Lyapunov Function Guided Reinforcement Learning
Caltech, 2026
Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid RunningChasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
Caltech, 2026
Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement LearningChasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning
Caltech, 2025
CLF-RL: Control Lyapunov Function Guided Reinforcement LearningCLF-RL: Control Lyapunov Function Guided Reinforcement Learning
Caltech, 2025
Locomotion on Constrained Footholds via Layered Architectures and Model Predictive ControlLocomotion on Constrained Footholds via Layered Architectures and Model Predictive Control
Caltech, 2025
Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid SystemsLayered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems
Caltech, 2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait GenerationBilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
Caltech, 2024
Custom First Responder DroneCustom First Responder Drone
Georgia Tech, 2022
Autonomous Quadrotor Trajectory Planning and Control for In-Flight Aerial Vehicle CaptureAutonomous Quadrotor Trajectory Planning and Control for In-Flight Aerial Vehicle Capture
Georgia Tech, 2021
Drone Dock Cruise ControlDrone Dock Cruise Control
Georgia Tech, 2021
Indoor Flight Lab Synthetic GPSIndoor Flight Lab Synthetic GPS
Georgia Tech, 2021