My research centers around robotics and spans machine learning, perception, planning and control. My group and I develop methods that enable robots to perceive, reason, and act effectively and safely, particularly in dynamic environments and alongside humans. I want to enable people to effectively specify the desired task and behavior of their robots, without requiring them to write code. I also strive to provide safety guarantees during the robot learning process and beyond, during deployment. Application areas of my research include field robotics for environmental monitoring, visual navigation for autonomous vehicles, and mobile manipulation.