Previously, he was a postdoctoral scholar with Fei-Fei Li at Stanford University. Before that, he completed his PhD at Massachusetts Institute of Technology under the guidance of Antonio Torralba, and also had a half-year long postdoc with William Freeman. He received his undergraduate degree at the University of California - Berkeley, where he worked with Jitendra Malik. His research interests are in computer vision and machine learning. He is particularly interested in deep learning, reinforcement learning, structure learning, and multi-modal data, especially for teaching machines how to interact with their physical surroundings.