I am a Senior Research Scientist at the Idiap Research Institute, with research interests covering robot learning, optimal control, geometrical approaches, and human-robot collaboration. I am also a lecturer at the Ecole Polytechnique Fédérale de Lausanne (EPFL). The collaborative projects I am or have been involved in include SWITCH, CODIMAN, COB'HOOK, LEARN-REAL, HEAP, COLLABORATE, MEMMO, ROSALIS, DexROV, I-DRESS, TACT-HAND, PLATFORM-MMD, STIFF-FLOP, PANDORA, SMART-E, SAPHARI, AMARSI, ROBOT@CWE, FEELIX GROWING and COGNIRON, supported by the European Commission, by the Swiss National Science Foundation, and by the Swiss Innovation Agency.

My work focuses on human-centered robotic applications in which the robots can learn new skills by interacting with the end-users. From a machine learning perspective, the challenge is to acquire skills from only few demonstrations and interactions, with strong generalization demands. It requires the development of intuitive active learning interfaces to acquire meaningful demonstrations, the development of models that can exploit the structure and geometry of the acquired data in an efficient way, and the development of adaptive control techniques that can exploit the learned task variations and coordination patterns.

The developed models must serve several purposes (recognition, prediction, online synthesis), and be compatible with different learning strategies (imitation, emulation, incremental refinement or exploration). For the reproduction of skills, these models need to be enriched with force and impedance information to enable human-robot collaboration and to generate safe and natural movements.

These models and algorithms can be applied to a wide range of robotic applications, with robots that are either close to us (e.g., assistive robots in SWITCH), part of us (e.g., prosthetic hands in TACT-HAND), or far away from us (e.g., manipulation skills in deep water with DexROV).

Upcoming or recent invited talks

Sep 27, 2021
Workshop on Variable Impedance Robotics skills: Challenges and Opportunities, IROS'2021, Prague, Czech Republic.
Sep 24, 2021
Workshop on Object Recognition and Manipulation, Intl Conf. on Computer Vision Systems (ICVS).
May 27, 2021
Robotics Seminar, University of Leeds, UK
May 05, 2021
Apr 23, 2021
Robotics Colloquium, University of Washington, USA.
Oct 22, 2020
Jun 18, 2020
Naver Labs Europe, Grenoble, France.
Mar 04, 2020
Workshop on Human-Robot Collaboration & AI for industrial applications, European Robotics Forum (ERF), Malaga, Spain.

Latest news and updates

Jun 04, 2021