Publications

Preprints

(2024). Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC.

PDF Code Website

(2024). Materiality and Risk in the Age of Pervasive AI Sensors.

PDF

(2023). Datasheets for Machine Learning Sensors.

PDF Website

Journal Articles

(2022). Widening Access to Applied Machine Learning with TinyML. In HDSR 2022.

PDF DOI Course Main Page TinyML Open Education Initiative MOOC Website MOOC Course Materials

(2021). The Role of Compute in Autonomous Aerial Vehicles. In TOCS 2021.

PDF Code DOI

(2021). Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA. In RA-L and at ICRA 2021.

PDF Code Slides Video DOI

Refereed Conference Proceedings

(2024). Invited: The Magnificent Seven Challenges and Opportunities in Domain-Specific Accelerator Design for Autonomous Systems. In DAC 2024.

PDF Slides DOI

(2024). TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers. In ICRA 2024.
Best Paper in Automation at IEEE ICRA 2024
Finalist for Best Conference Paper at IEEE ICRA 2024
Finalist for Best Student Paper at IEEE ICRA 2024

PDF Code Poster Video DOI Website

(2024). MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU. In ICRA 2024.
Best Poster Award at the 2024 IEEE TC on Model Based Optimization for Robotics Virtual Poster Session

PDF Code Poster Slides DOI

(2024). Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization. In ICRA 2024.

PDF Code Poster Slides DOI

(2024). Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning. In ICRA 2024.

PDF DOI Code

(2024). RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance. In ICRA 2024.
Best Poster Award for preliminary results at the Workshop on Methods for Objective Comparison of Results in Intelligent Robotics Research at the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (iROS)

PDF Code Poster DOI Extended Abstract Website

(2024). TinyML4D: Scaling Embedded Machine Learning Education in the Developing World. In AAAI IDAIE 2024.

DOI TinyML4D Website Symposium Website

(2023). RoboShape: Using Topology Patterns to Scalably and Flexibly Deploy Accelerators Across Robots. In ISCA 2023.

PDF Video DOI

(2023). Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion. In ICRA 2023.

PDF Video DOI Code

(2022). Stop Reinventing the Wheel! Promoting Community Software in Computing Education. In ITiCSE-WGR 2022.

PDF Slides DOI Website

(2022). RobotCore: An Open Architecture for Hardware Acceleration in ROS 2. In IROS 2022.

PDF DOI Website

(2022). Tiny Robot Learning: Challenges and Directions for Machine Learning in Resource-Constrained Robots. In AICAS 2022.

PDF DOI

(2022). GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients. In ICRA 2022.

PDF Code Poster Slides Video DOI Benchmark Experiments

(2021). RoboRun: A Robot Runtime to Exploit Spatial Heterogeneity. In DAC 2021.

PDF DOI

(2021). Robomorphic Computing: A Design Methodology for Domain-Specific Accelerators Parameterized by Robot Morphology. In ASPLOS 2021.
IEEE Micro Top Picks 2022 Honorable Mention

PDF Slides Video DOI Extended Abstract

(2019). Application of Approximate Matrix Multiplication to Neural Networks and Distributed SLAM. In HPEC 2019.

PDF DOI

(2018). A Performance Analysis of Parallel Differential Dynamic Programming on a GPU. In WAFR 2018.

PDF Code Slides DOI

(2017). Constrained Unscented Dynamic Programming. In IROS 2017.

PDF Code Poster Slides DOI

(2017). Project-based, collaborative, algorithmic robotics for high school students: Programming self-driving race cars at MIT. In ISEC 2017.

PDF DOI

Refereed Magazine Articles and Columns

(2024). Underrepresentation of Women in Robotics Research. In RAM 2024.

DOI

(2023). Machine Learning Sensors: A Design Paradigm for the Future of Intelligent Sensors. In CACM 2023.

DOI Website Full Technical Report

(2023). Is TinyML Sustainable? Assessing the Environmental Impacts of Machine Learning on Microcontrollers. In CACM 2023.

PDF DOI

Refereed Workshop Publications and Posters

(2024). Optimizing at All Scales: Edge (Non)linear Model Predictive Control from MCUs to GPUs. In Frontiers of Optimization at RSS 2024.

PDF Poster Workshop Website TinyMPC Website MPCGPU Website

(2024). Parallel Optimization for Robotics: An Undergraduate Introduction to GPU Parallel Programming and Numerical Optimization Research. In IPDPSW 2024.

PDF DOI EduPar-24 Workshop Website

(2023). Can Large Language Models Reduce the Barriers to Entry for High School Robotics?. In R4L at RO-MAN 2023.

PDF

(2023). Tiny Robot Learning: Expanding Access to Edge ML as a Step Toward Accessible Robotics. In Workshop on Lowering Barriers for Robotics Research at RSS 2023.

PDF Poster

(2023). Bridging the Digital Divide: the Promising Impact of TinyML for Developing Countries. In UN STI Forum 2023.

PDF STI Forum Website

(2022). Leveraging Community Software in CS Education to Avoid Reinventing the Wheel. In ITiCSE 2022.

PDF Slides DOI

(2022). Closing the Sim-to-Real Gap for Ultra-Low-Cost, Resource-Constrained, Quadruped Robot Platforms. In Workshop on Closing the Sim2Real Gap at RSS 2022.

PDF Slides Video

(2022). TinyML: Applied AI for Development. In UN STI Forum 2022.

PDF STI Forum Website

(2022). TinyMLedu: The Tiny Machine Learning Open Education Initiative. In SIGCSE 2022.

PDF Slides Video DOI

(2019). Realtime Model Predictive Control using Parallel DDP on a GPU. In Online Optimal Control Workshop at ICRA 2019.

PDF Code Poster Video

Other Publications and Posters

(2024). AI in the Developing World: How ‘Tiny Machine Learning’ can have a Big Impact. In The Conversation.

Article

Dissertations and Theses

(2022). GPU Acceleration for Real-time, Whole-body, Nonlinear Model Predictive Control. Harvard University PhD Dissertation.

PDF Video

(2018). Parallel and Constrained Differential Dynamic Programming for Model Predictive Control. Harvard University Masters of Engineering Thesis.

PDF

(2013). Hacking the White House: Election Fraud in the Digital Age. Harvard University Bachelors of Arts Thesis.

PDF Slides Harvard Political Review Writeup