I’m enthusiastic about robotics: creating machines that can perceive their environment to acquire task-relevant information of it, plan a course of action towards a desired new environment configuration, and execute the plan in a safe and robust manner, even under uncertainty and noisy actuation. We know a solution is possible just by looking at humans; understanding and getting inspired by human cognition through psychology and cognitive science is part of my methodology. In my research, I integrate artificial perception -mostly, but not only, computer vision- planning and control, and view them as learning problems, where experience should help to improve robot’s abilities. Domains and applications that I find interesting include simple skills such as pick-and-place, navigation or door opening, to more complex tasks like cooking, assembling furniture, or mobile manipulation problems that combine navigation and manipulation.