He holds a BScHons from the University of the Witwatersrand, an MSc from the University of Edinburgh, and a PhD from the University of Massachusetts Amherst, having completed his thesis under the supervision of Professor Andy Barto. Prior to joining Duke, he was a postdoctoral researcher at MIT with Professors Leslie Kaelbling and Tomas Lozano-Perez. Martin Riedmiller, University of Freiburg