I'm a Research Scientist at Google Research where I work on the Robotics team. My mission is to build intelligent embodied agents that can interact with complex and unstructured real-world environments, with applications to home robotics. I have been approaching this problem from 3 aspects: 1) Large scale and transferrable simulation for Robotics. 2) Learning algorithms for long-horizon tasks. 3) Combining geometric and semantic representation for environments. Most recently, I have been exploring using foundation models for robot decision making.