Talks

Control Through Contact via Differentiable Optimization
Advanced Mechanical Bipedal Experimental Robotics (AMBER) Laboratory, Caltech.
November 2023
slides

Differentiable Physics Simulation of Dynamics-Augmented Neural Objects
International Conference on Intelligent Robots and Systems, IROS 2023, Detroit.
October 2023
slides poster

Single-Level Differentiable Contact Simulation
International Conference on Intelligent Robots and Systems, IROS 2023, Detroit.
October 2023
slides poster

Towards Efficient Optimization Through Contact: Simulation, Gradients, and Algorithms
Robotics: Science and Systems Pioneers Workshop, RSS Pioneers 2023, Daegu, South Korea.
July 2023
poster abstract

Numerical Optimization for Robotics Control and Simulation
Boston Dynamics AI Institute.
March 2023
slides

Control Through Contact via Differentiable Optimization
Honda Research Institute.
February 2023
slides

Joint Prediction and Planning for Autonomous Vehicles
Nvidia Self-Driving Vehicles.
January 2023
slides

Composable Optimization for Robotics Simulation and Control
PhD Defense, Stanford.
January 2023
slides

Differentiable Physics: Simulation, Planning and Control
Toyota Research Institute (TRI), Los Altos.
November 2022
slides

Dynamics-Augmented Neural Objects
Bay Area Robotics Symposium, BARS 2022, University of California, Berkeley.
November 2022
poster

Dojo: A Differentible Physics Engine for Robotics
Differentiable Physics for Robotics workshop, RSS 2022, New York City. (w/ T. Howell)
July 2022
slides poster

Fast Contact-Implicit Model-Predictive Control
The Science of Bumping into Things workshop, RSS 2022, New York City. (w/ T. Howell)
July 2022
slides poster video

Leveraging Differentiable Physics for Contact-rich Robotic Control
Google Brain Robotics, New York City.
August 2022
National Institute for Research in Digital Science and Technology (INRIA) Willow Team, Paris.
June 2022
Interactive Perception and Robot Learning Laboratory, Stanford University.
May 2022
slides

NeRF-ysics: Dynamics-Augmented Neural Objects
Motion Planning with Implicit Neural Representations of Geometry workshop, ICRA 2022, Philadelphia.
May 2022
poster

Dojo: A Differentiable Simulator for Robotics
Search-based Planning Laboratory, Carnegie Mellon University.
August 2022
Microsoft Research. (w/ T. Howell)
August 2022
Scientific Machine Learning (SciML) webinar, Carnegie Mellon University. (w/ T. Howell)
May 2022
SystemX lunch seminar, Stanford University. (w/ T. Howell)
March 2022
slides video

Contact-Implicit Model-Predictive Control
Machines in Motion Laboratory, New York University. (w/ T. Howell)
December 2021
Locomotion Seminar, Carnegie Mellon University. (w/ T. Howell)
November 2021
slides

Linear Contact-Implicit Model-Predictive Control
Dynamic Walking 2021.
May 2021
poster

ALGAMES: A Fast Solver for Constrained Dynamic Games
Robotics: Science and Systems, RSS 2020.
June 2020
video

ALGAMES: A Fast Solver for Constrained Dynamic Games
Bay Area Robotics Symposium, BARS 2019, University of California, Berkeley.
November 2019
poster