Projects

Compliant and Rigid Contact Simulation

An unified and efficient approach to solving nonlinear complementary problems in the context of contact simulation.

Differentiable Simulation for Robotics

An end-to-end algorithmic solution for computing the analytical derivatives of robotic simulators.

Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC

A parallel algorithm for solving linear quadratic problems with dual regularization.

An Augmented Lagrangian Perspective on Linear-time Differential Inverse Kinematics

A method to solve equality-constrained differential inverse kinematics problems with linear-time complexity.

A Comparative Analysis of Contact Models in Robotics

A survey of the main contact models and the associated numerical methods used to simulate contact interactions in robotics.

Dense Optical Tracking: Connecting the Dots

DOT unifies point tracking and optical flow techniques, retaining the robustness to occlusions and the accuracy of point tracking techniques while enjoying the spatial consistency and runtimes of optical flow techniques.

Past Projects

Learning and Transferring Mid-Level Image Representations using Convolutional Neural Networks

Learning Video-Conditioned Policies for Unseen Manipulation Tasks

Simple Robotics