I am a Professor in the Robotics Institute at CMU. I received the M.S. degree in Applied Mathematics (Computer Science) from Harvard University and the Ph.D. degree in Brain and Cognitive Science from M.I.T. I joined the M.I.T. faculty in 1986, moved to the Georgia Institute of Technology College of Computing in 1994, and moved to CMU in 2000. I have received an NSF Presidential Young Investigator Award, a Sloan Research Fellowship, and a Teaching Award from the MIT Graduate Student Council.