I am a Ph.D. student of the European Laboratory for Learning and Intelligent Systems (ELLIS) doctoral program under the supervision of Dr. Claudio Semini (DLS), Dr. Massimiliano Pontil (CSML), and Dr. Carlos Mastalli (RoMi). I received a Masters’s degree in Artificial Intelligence from the Universitat Politècnica de Catalunya (UPC-Barcelona Tech) and a Bachelors’s degree in Mechatronics Engineering from the Universidad Nacional De Colombia (UNAL).

I am interested in exploiting continuous and discrete symmetries of robotic systems in machine learning applications for robotics, specially for legged locomotion control.

Do not hesitate to contact me if you are interested in doing your Bachelor’s/Master’s thesis on symmetry exploitation methods for robot learning/control, or computational design.

Top Langs

  • Group Theory
  • Geometric Learning
  • Geometric Control
  • Legged Locomotion
  • Optimal Control
  • Reinforcement Learning
  • Ph.D. Student in Bioengineering and Robotics, 2025

    Istituto Italiano di Tecnologia (IIT)

  • M.Sc. in Artificial Intelligence, 2021

    Universitat Politècnica de Catalunya - Barcelona Tech

  • B.Sc. in Mechatronics Engineering, 2019

    Universidad Nacional de Colombia


Institute of Robotics and Industrial Informatics (IRI - CSIC)
Student Researcher
Oct 2019 – Oct 2020 Barcelona - Spain

Assisted in projects of:

  • Human hand motion forecasting and pose discretization for Dr.Júlia Borràs Sol
    • Calibrating and pre-processing of raw sensor data from CyberGloves
    • Visualization tool for pre-recorded hand motions
    • Processing of KINE-ADL and study of motion trajectories and main poses using latent space obtained with a Variational Autoencoder
  • Virtual avatar generation from single RGB images for Dr. Jordi Sanchez Riera
    • Finetunning and extension of the VNect architecture for body parts segmentation and 3D body pose estimation
Invite Research (INVITE - Bayer AG)
Junior Research Assistant
Oct 2018 – Sep 2019 Cologne - Germany

Research project: Manipulation of plastic bags (deformable materials) using a two-arm robot and 3D vision guidance. The system used multi-viewpoint stereographic cameras to detect the 3D structure of the material, infer robot grasping points, and plan and execute robot manipulations to reach the target material topology.

Invite Research (INVITE - Bayer AG)
Robotics Intern
Oct 2017 – Apr 2018 Cologne - Germany

I worked in the manipulation system for handling deformable materials, using a two-arm industrial robot, 3th-party vision guidance, and force feedback. Additionally, I participated in the designing and construction of robot vacuum grippers for plastic bag manipulation and automation of robot tasks for a biotechnology laboratory, force/torque feedback.

Software Developer
Oct 2016 – Sep 2017 Bogota - Colombia
Developed front and back-end of administrative tools that allowed the control and monitoring of Busescool’s realtime database and services
Universidad Nacional de Colombia
Engineering faculty tutor
Mar 2016 – Oct 2016 Bogota - Colombia

Courses tutored:

  • Data structures and algorithms
  • Numerical methods
  • Control theory
  • Object-oriented programming
  • Basic programming

Public Projects

Tools for exploiting Discrete Morphological Symmetries (DMS) in rigid body dynamics using Equivariant Neural Networks
Attacks on Complex Networks
In this work, we examine the resiliance of two complex network types (Erdos Renyi, and Power-Law/Scale free) to potential delivered attacks and random errors.
Spring-loaded Inverted Pendulum (SLIP) Control
Python utility functions for control and visualization of SLIP
INVITE Robotics research platform
ROS packages to simulate and operate all of INVITE’s robotics hardware
Robotiq 2-Finger Grippers Controller
ROS package to control and simulate robotiq grippers series C
6DoF Force Sensor ROS Utils
ROS package with utility functions for the processing of geometry_msgs/WrenchStamped and geometry_msgs/Wrench messages coming from any 6DoF force torque sensor.