I am a PhD student at Carnegie Mellon's Robotics Institute and a member of the Personal Robotics Lab, advised by Sidd Srinivasa. My research lies at the intersection of robotics, machine learning, and human-robot interaction. I am interested in enabling robots to work with and around people, and I employ a combination of optimal control, Bayesian inference, and cognitive psychology techniques to make robots more and more capable of this end-goal.