Leveraging Structure for Efficient and Dexterous Contact-Rich Manipulation

okay let's get started everybody thank you so much for coming to Terry's defense uh this is my chance to take just a few minutes to tell you how awesome Terry is um the word full stack roboticist gets bandied around a bit I have to say that Terry is the real deal so I remember so ke uh Terry came from

keltech he had just absolutely glowing uh letters of recommendation talking about his capacity for algorithmic work and I remember taking a video interview with him and it was clear that he was in his apartment but it also was pretty clear that he had like a full metal shop right behind him I think there was a milling

machine I'm not sure exactly but it was clear at the time that he was incredibly capable mechanically too and over the years I've seen this play out he's he's built robots he's done low-level device drivers he's done high level software he's done Theory and I'd say more than a lot of people he's really uh I've

watched him grow dramatically in his sort of appreciation for some of the more rigorous math and and uh over the years it's been really fun to watch uh so I mean there's lots of projects he's done that uh you won't even get to hear about today some of them I think all of

them are are embodied by the idea of sort of what's the fundamental problem we're trying to to think about and for instance he did some work on control from pixels which was really asking like a fundamental question about maybe pixel spaces doing something uh different like lifting us into a high dimensional space

a bit like cman operators or something like this and actually making the control problem easier right and this was just a really important big question to ask at the time when everybody started doing control from pixels and we didn't really understand what was going on and that didn't even make the cut okay you should know that Terry is our