I am currently a robotics researcher at Toyota Research Institute. I was a PhD student at Robot Locomotion Group at MIT, working with Prof. Russ Tedrake. During my PhD, I worked on robust motion planning and control for highly dynamical robots, using model-based optimization approach. I applied the approach on bipedal walking robots, humanoids and grasping. During 2012 to 2015, I was also a core member of MIT DARPA Robotics Challenge Team.