Talks

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