He works in machine learning and robotics, more specifically on making robots learn from people (apprenticeship learning) and how to make robots learn through their own trial and error (reinforcement learning). His robots have learned advanced helicopter aerobatics, knot-tying, basic assembly, and organizing laundry. He currently advises and mentors 15 undergraduates. In 7 years on the faculty at UC Berkeley, the research opportunities he provided has motivated 33 of his undergraduate mentees to pursue graduate programs in computing, with the majority pursuing or having received a Ph.D.