I’m an enthusiastic of robotics: creating machines that can perceive their environment, understand part of it, plan a course of action towards a desired new environment configuration, and execute the plan in a safely and robust manner under uncertainty. All these components are part of my research, from artificial perception -especially, but not only, vision- to planning and control. Interesting tasks include simple skills such as pick-and-place or opening doors, to more complex sequences like cooking or assembling furniture. These tasks are part of the duties a general purpose service robot may encounter in a house or a logistic center. To deal with the large variety of environments and conditions such a robot could find, the solutions I explore in my research incorporate machine learning that allows the robot to learn and improve from its own experiences.