I’m the Charles Stark Draper Assistant Professor in the Department of Aeronautics and Astronautics at the Massachusetts Institute of Technology, and Principal Investigator in the MIT Laboratory for Information & Decision Systems (LIDS).

My goal is to enable human-level perception and world understanding on mobile robotics platforms (micro aerial vehicles, self-driving vehicles, ground robots) operating in the real world. Towards this goal, my work involves a combination of rigorous theory and practical implementations. In particular, my research interests include nonlinear estimation and probabilistic inference, numerical and distributed optimization, and computer vision applied to sensing, perception, and decision-making in single and multi-robot systems.

Human-level perception will increase reliability in safety-critical applications of robotics and autonomous vehicles (including self-driving cars and robotics for disaster response), and increase efficiency and effectiveness in service robotics and consumer applications (manufacturing, healthcare, domestic robotics, augmented reality).

NEW! The website of the SPARK lab is online!

Open position [Postdoc]: I’m looking for a Postdoc with extensive expertise in Visual-Inertial Navigation/SLAM, C++ programming, and with experience on deployment and testing on real robots. Feel free to reach out to me via email if interested (attach: CV, 1 relevant publication, link to an open-source implementation).

Research Interests


Certifiable Perception: robust and distributed perception with provable performance guarantees

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High-level Perception: geometric, semantic, and physical understanding


Efficient and Task-driven Perception: lightweight estimation for resource-constrained robots