Since September 2023, I am an assistant professor at the School of Computation, Informatics, and Technology (CIT) at the Technical University of Munich (TUM). I am also a member of the Munich Institute of Robotics and Machine Intelligence (MIRMI). My research focuses on both theoretical and empirical aspects of robotics, with a focus on locomotion and manipulation. I am mostly interested in generating complex motions for robots using tools from optimization, control theory and machine learning and evaluating these behaviours on real robots. Prior to joining TUM, I was a research scientist in the Empirical Inference department, Max Planck Institute for Intelligent Systems (MPI-IS), led by Prof. Bernhard Schölkopf. From May 2018 to June 2022, I was a postdoctoral researcher in the Machines in Motion laboratory (a joint laboratory between NYU and MPI-IS) led by Prof. Ludovic Righetti. During my postdoc, I contributed to the European project MEMMO as well as the development of the Open Dynamic Robot Initiative (ODRI). I received my PhD from K. N. Toosi University of Technology, Tehran, Iran, in 2017. During my PhD, I visited the Autonomous Motion Department, MPI-IS, for one year. From 2012 to 2015, I was the head of dynamics and control group in the Iranian national humanoid robot project, SURENA III, at the University of Tehran, Iran.