I am a computer science Ph.D. student at the University of Southern California, advised by Gaurav Sukhatme. I am funded by a NASA Space Technology Research Fellowship.
My goal is to create Robots of Economic Value that Don't Make the World Worse (REVDMWWs).
Eric Heiden*, David Millard*, Erwin Coumans, Yizhou Sheng, Gaurav S. Sukhatme. NeuralSim: Augmenting Differentiable Simulators with Neural Networks. arXiv preprint. 2020 (pdf)
Eric Heiden, David Millard, Erwin Coumans, Gaurav S. Sukhatme. Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap. In NeurIPS workshop on Differentiable Computer Vision, Graphics, and Physics, 2020 (pdf)
David Millard*, Eric Heiden*, Shubham Agrawal, Gaurav S. Sukhatme. Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics. arXiv preprint. 2020 (pdf)
Eric Heiden*, David Millard*, Hejia Zhang, Gaurav S. Sukhatme. Interactive Differentiable Simulation. arXiv preprint. 2019 (pdf)
Eric Heiden*, David Millard*, Gaurav S. Sukhatme. Real2Sim Transfer using Differentiable Physics. In R:SS Workshop on Closing the Reality Gap in Sim2Real Transfer for Robotic Manipulation, 2019. (pdf)
In 2020, I was a visiting technologist at NASA Ames Research Center, working with the Astrobee team in the Intelligent Robotics Group.
In 2020, I was a research intern at Google Brain, working on high inductive bias methods of robot learning.
In 2019, I worked with Iron Ox on kinodynamically limited arm planning problems using trajectory optimization methods.
From 2015 to 2018, I was a software engineer at Google X working on robotics.
From 2014 to 2015, I was a software engineer at Microsoft.
In July 2013, I worked in Khayelitsha, South Africa, collaborating with the Schools Improvement Initiative at the University of Cape Town to repair and improve computer labs at primary and secondary schools through free software and open knowledge bases, like Wikipedia.
From May to August 2012, I researched multiagent mapping systems in the Computer Networks and Telematics Group at the University of Freiburg, in Freiburg, Germany.
In 2012 and 2013, I served as president of UGA Mathcounts Outreach.
From 2009 to 2013, I was a staff member of Free IT Athens.