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.

I’m teaching the CIS 7000 Vision-Based Robot Learning seminar in Fall 2023. 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

(2023). Vision-Based Contact Localization Without Touch or Force Sensing. CORL.


(2023). LIV: Language-Image Representations and Rewards for Robotic Control. ICML.

Cite arXiv Webpage Code Data

(2023). Learning a Meta-Controller for Dynamic Grasping. arXiv preprint arXiv:2302.08463.

Cite arXiv Video

(2023). Learning Policy-Aware Models for Model-Based Reinforcement Learning via Transition Occupancy Matching. L4DC.

PDF Cite arXiv Webpage Code

(2023). Planning Goals for Exploration. ICLR (top 25 per cent) and CORL 2022 Robot Adaptation Workshop Best Paper Award.

PDF Cite OpenReview Webpage Code