Our lab’s work is usually focused on the design of robotic algorithms and implementations at the intersection of computer systems / architecture and numerical optimization (with a little ML thrown in there as well). Historically we’ve done a lot of work on GPU acceleration of numerical optimal control algorithms in the pursuit of whole body nonlinear model predictive control for locomotion. Over the next few years we will likely be continuing with that line of work as well as exploring smaller scale solvers on microcontrollers for tiny robots. At the same time we care deeply about expanding access to robotics and STEM education more broadly. As such, our work is currently focused on four main projects: Hardware Acceleration for Robotics, Tiny Robots, Accessible STEM Education, and Robust Nonlinear Trajectory Optimization.