I am a Senior Researcher at the Idiap Research Institute, with research interests covering robot learning and human-robot interaction. I am also a lecturer at the Ecole Polytechnique Fédérale de Lausanne (EPFL). The collaborative projects I am or have been involved in include 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 (assistive robots in I-DRESS), part of us (prosthetic hands in TACT-HAND), or far away from us (manipulation skills in deep water with DexROV).

Upcoming or recent invited talks

Nov 15, 2019
Feb 21, 2019
Jan 28, 2019
"Memory of Motion" Winter School, Idiap Research Institute, Switerland. Lectures on movement primitives.

Latest news and updates

Jan 17, 2019
I'm co-organizing a Minisymposium on Algebraic geometry for kinematics and dynamics in robotics with Noémie Jaquier at the SIAM Conference on Applied Algebraic Geometry 2019 in Bern, Switzerland, and a Workshop on Learning for Industry 4.0: Feasibility and Challenges at the IEEE Intl Conf. on Robotics and Automation (ICRA'2019), Montreal, Canada.
Apr 26, 2018
The papers from our special Issue on Learning for Human-Robot Collaboration in Autonomous Robots are online.
Apr 22, 2018
Apr 22, 2018
We will organize a Workshop on "Robots for Assisted Living" at IROS'2018.
Apr 18, 2018
I'll be Academic Instructor in the new Post-Master program AI Move (Artificial Intelligence and Movement in Industries and Creation) at Mines-ParisTech, in collaboration with Idiap, IRCAM, University Paris 8 and Aristotle University of Thessaloniki; see the brochure and booklet of this new Post-Master program.
Jul 03, 2017
Jul 03, 2017
I'm a new member of the Editorial Board of IEEE Transactions on Robotics (T-RO).