From 2014 to 2017, he was a postdoctoral researcher in General Robotics, Automation, Sensing & Perception Laboratory (GRASP lab) at University of Pennsylvania. He obtained his Ph.D. in Electrical and Computer Engineering from Carnegie Mellon University and Instituto Superior Técnico, through the CMU-Portugal program, in 2014. Previously, he received his B.Sc. and M.Sc. in Applied Mathematics from the Instituto Superior Técnico in 2007 and 2009, respectively.