Current projects and collaborations

Stable gradient learning in continuous games

saddle Machine learning models with competing losses are notoriously challenging to train, e.g. zero-sum generative adversarial networks (GANs) or non-zero-sum reinforcement learning (RL) agents. We analyze and design learning algorithms used in these settings.

code, papers, slides

Human/machine sensorimotor games

bpm In tasks involving adaptive algorithms and continuously-learning humans, rich dynamic behaviors can prevent the system from reaching consensus.

code, papers, slides, video

Optimization interface for human autonomy

drone The aggressive dynamics of high-performance quadcopters demand agents to constantly be aware of the feedforward (planning) and feedback (reaction) policies of others.

code, slides

Past projects

Snapshot of my projects before graduate school

Autonomous underwater vehicle (2016)

auv Underwater vehicle with acoustic receivers used to track leopard sharks.

Hybrid rocket motor (2015)

hybrid A rocket motor powered by acrylic and nitrous oxide.

Vibrational modes of a rocket in supersonic flight (2014)

vibrations Experiments with an amateur rocket to model its structural vibration.


Cistern mapping with ROVs (2013)

cistern Remotely operated vehicles (ROVs) for scanning underwater cisterns.