My research interests span computer animation, robotics, reinforcement learning, physics simulation, optimal control, and computational biomechanics. My colleagues and I developed computational approaches to modeling realistic and natural human movements, learning complex control policies for humanoids and assistive robots, and advancing fundamental numerical simulation and optimal control algorithms. I received a National Science Foundation CAREER Award, an Alfred P. Sloan Fellowship, and was named Young Innovators Under 35 by Technology Review. In 2012, I received the ACM SIGGRAPH Significant New Researcher Award for my contribution in the field of computer graphics. I am the Technical Papers Chair for SIGGRAPH Asia 2019.