News

I gave a talk titled Representing Robot Tasks via Graded Subspaces at the IROS 2026 Workshop on Geometric Representations in Robotics in Pittsburgh, which I co-organized together with Luis Figueredo, Riddhiman Laha, and Yuhe Gong.

I presented our work on cooperative task spaces for multi-arm manipulation in the Talking Robotics seminar series.

I co-organized the workshop Geometry in the Age of Data-Driven Robotics at ICRA 2026 in Vienna.

Our paper Dual-arm admittance control using conformal geometric algebra has been published in Frontiers in Robotics and AI.

I started as a Postdoctoral Scholar in the Personal Robotics Lab at the University of Washington in Seattle, advised by Siddhartha Srinivasa.

Our paper Object-centric task representation and transfer using diffused orientation fields, led by Cem Bilaloglu, has been published in Science Robotics.

G-MAPP: GPU-Accelerated Multi-Agent Planning and Perception for Reactive Motion Generation has been accepted for publication in IEEE Robotics and Automation Letters.

Our paper Cooperative Task Spaces for Multi-Arm Manipulation Control based on Similarity Transformations is now published in the International Journal of Robotics Research. It presents the theoretical foundations for representing multi-arm systems analogously to single-arm systems using conformal geometric algebra.

I gave an invited talk titled Robot Manipulation with Geometric Algebra at the NVIDIA Seattle Robotics Lab.

gafro: Geometric Algebra for Robotics appears in the September issue of the IEEE Robotics and Automation Magazine. The paper introduces the gafro C++ library and benchmarks it against other robotics libraries.

I successfully defended my PhD thesis Robot Manipulation with Geometric Algebra: A Unified Geometric Framework for Control and Optimization at EPFL. Many thanks to my advisor Sylvain Calinon, the jury, and everyone at the Idiap Research Institute.

Our paper Tactile Ergodic Coverage on Curved Surfaces, led by Cem Bilaloglu, has been published in IEEE Transactions on Robotics. It later received the 2025 Idiap Best Paper Award.

I presented Recursive Forward Dynamics for Serial Kinematic Chains using Conformal Geometric Algebra at the Workshop on the Algorithmic Foundations of Robotics (WAFR) in Chicago. The paper appears as a chapter in Algorithmic Foundations of Robotics XVI.

I presented Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra at ICRA 2024 in Yokohama.

Tensor Train for Global Optimization Problems in Robotics, led by Suhan Shetty, has been published in the International Journal of Robotics Research. The paper later received the Best Paper Award of the IEEE RAS Technical Committee on Model-Based Optimization for Robotics.

I am happy to anounce the initial version of the sackmesser library. It is a c++ library that contains a collection of useful tools for programming, such as lightweight interfacing to different frameworks. You can find more information here and the source code here.

I co-organized the ICRA 2023 workshop Geometric Representations: The Roles of Modern Screw Theory, Lie Algebra, and Geometric Algebra in Robotics in London.

Our paper Geometric Algebra for Optimal Control with Applications in Manipulation Tasks has been published in IEEE Transactions on Robotics. It received the 2023 Idiap Best Paper Award.

I am happy to anounce the initial version 0.1.0 of the scatter library. It is a library that allows you to create scientific plots in c++. You can find more information here and the source code here.