He received his PhD in Computer Science from Stanford University in 2008, bachelor's degrees in Computer Science and Mathematics from UC Berkeley in 2003, and worked as a postdoctoral fellow at UC Berkeley. He then joined the faculty at Indiana University from 2009-2014, where he started the Intelligent Motion Lab, and began his current position at Duke in 2014. He is a recipient of a Stanford Graduate Fellowship, Siebel Scholar Fellowship, Best Paper Award at IEEE Humanoids 2015, and an NSF CAREER award.