Assistant Professor

University of Pennsylvania


I am an assistant professor at UPenn’s GRASP lab, with a primary appointment in CIS, and a secondary appointment in ESE. I lead the Perception, Action, and Learning (PAL) Research Group, where we work on problems at the intersection of computer vision, machine learning, and robotics.

My research statement explains our research vision.

Here are the past courses I have taught.

For prospective students: If you’re an undergraduate or MS student interested in collaborating with our PAL research group, please complete this form. We monitor responses regularly, and will reach out to you if there’s an opening. Women and underrepresented minorities are especially encouraged to apply.

For prospective PhD students, formal admissions are processed through the university’s various programs. You may send me email too, but please note that I might not be able to respond.

Recent Publications

(2024). Plug-And-Play Object-Centric Representations From “What” and “Where” Foundation Models. ICRA.

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(2024). Can Transformers Capture Spatial Relations between Objects?. ICLR.


(2024). Eureka: Human-Level Reward Design via Coding Large Language Models. ICLR.

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(2024). Long-HOT: A Modular Hierarchical Approach for Long-Horizon Object Transport. ICRA.

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