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About Me
I received my Ph.D. in Applied Mathematics from UC Davis in December 2015. I worked at the Bosch Center for Artificial Intelligence (BCAI) for 2.5 years, with my primary focus being on developing scalable Graph SLAM solutions for autonomous vehicles. In 2018 I joined Neato Robotics, where I worked on the next generation code base for Neato's latest robot vacuums. In 2021 I joined Zoox, where I'm working on the TeleGuidance team.
My resume
My email
Math and Coding
Graph SLAM solver in Python
A complete, extensible Graph SLAM solver written in Python that combines ease of use with g2o-like functionality.
Publications & Presentations
Selected publications and presentations from my graduate research in applied math.
Math Course Notes
Notes from various courses that I took at UC Davis.
Udacity
Work that I've done for Udacity's self-driving car nanodegree and various data science courses.
Multiscale Transforms for Signals on Graphs (MTSG) Toolbox for MATLAB
This toolbox contains implementations of the transforms and methods that I developed during my graduate research. It can be used to easily reproduce figures from several publications as well as my dissertation. Here is a video demonstration:
Miscellaneous MATLAB Code
Some useful functions and scripts that I've written for MATLAB.
- dct1.m - Perform the DCT-I transform on the column(s) of
f. - idct1.m - Perform the inverse DCT-I transform on the column(s) of
d. - nav.m - This script allows you to easily navigate between directories. It was designed to make navigation easier and faster when using MATLAB via a terminal. This script can also be used to run scripts.
- unique_stable.m -
[c,ia,ic] = unique_stable(a);Returns the values ofcin the same order as ina. This is equivalent to[c,ia,ic] = unique(c,'stable');in newer versions of MATLAB.
Projects
ADB library in Python
To support my androidtv package (see the next item), I developed the adb-shell package that allows for communicating with Android devices via ADB directly from Python. (Note: this is based on the adb package, with the addition of numerous critical fixes and thorough test coverage.)
Android TV package and Home Assistant integration
Back in 2018, my Fire TV integration in Home Assistant broke because a security update now required authentication for ADB connections. One fix led to another, and I ended up creating the androidtv package for controlling both Android TV and Fire TV devices and taking ownership of the Home Assistant integration.
Powerlifting Calculator
The best powerlifting calculator on the internet!
- Calculate your total, Wilks score, and Malone score.
- Converts between lbs and kg behind the scenes so that you know EXACTLY what your total is and what you need to hit.
- After the squat and bench, calculate the deadlift you need to hit your goal total.
- Calculate the deadlift that you need to beat other lifters' Wilks or Malone scores and win the best lifter award!