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 to legged locomotion control.

Top Langs

  • Legged Locomotion
  • Optimal Control
  • Reinforcement Learning
  • Model Predictive Control
  • Geometric Deep Learning
  • Group Theory
  • 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

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.