I currently work as a Staff Research Scientist at <a href="https://bostondynamics.com/products/atlas/">Boston Dynamics</a> on the Atlas dexterous manipulation team. <br><br>Prior to joining Boston Dynamics I worked for 7 years at <a href="https://www.agilityrobotics.com">Agility Robotics</a> where I was one of the first 20 employees and worked on a variety of topics spanning manifold optimization, whole body inverse kinematics, reinforcement learning, contact simulation, subsystem modeling and p