Manuel Lopes. Completed the Doutoramento in PhD in 2006 by Universidade de Lisboa Instituto Superior Técnico and Licenciatura in Engenharia Electrotécnica e de Computadores in 2000 by Universidade de Lisboa Instituto Superior Técnico. Is Associated Professor of Computer Science in Universidade de Lisboa Instituto Superior Técnico and Researcher in Instituto de Engenharia de Sistemas e Computadores Investigação e Desenvolvimento em Lisboa. Published 19 articles in journals. Supervised 3 PhD thesis(es) and co-supervised 2. Has received 4 awards and/or honors. He participated, and coordinate, in various European and national projects. The main topics of research are: active learning approach; (inverse) reinforcement learner; robot; task acquisition; task representations; learning; human-robot interaction; (artificial intelligence); ergonomics; multi-agent systems; multi-robot systems; path planning; optimization formulation.

Identificação pessoal

Nome completo
Manuel Lopes

Identificadores de autor

Ciência ID


Domínios de atuação

  • Ciências da Engenharia e Tecnologias - Engenharia Eletrotécnica, Eletrónica e Informática - Robótica
  • Ciências Exatas - Ciências da Computação e da Informação
Grau Classificação
Matematica e Informatica (Outros)
Université de Bordeaux, França
PhD (Doutoramento)
Especialização em Electrical and Computer Engineering
Universidade de Lisboa Instituto Superior Técnico, Portugal
"A developmental Roadmap for Learning by Imitation in Robots" (TESE/DISSERTAÇÃO)
Engenharia Electrotécnica e de Computadores (Licenciatura)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Reinforcement Learning of Robotic Tasks" (TESE/DISSERTAÇÃO)
Percurso profissional


Categoria Profissional
Instituição de acolhimento
2016/04/01 - Atual Investigador (Investigação) Instituto de Engenharia de Sistemas e Computadores Investigação e Desenvolvimento em Lisboa, Portugal
2010/10/10 - 2016/04/01 Investigador Contratado (Investigação) Inria, França
2006/06/01 - 2006/11/30 Investigador (Investigação) Teknologian tutkimuskeskus VTT Oy, Finlândia
2000/09/01 - 2006/04/30 Investigador (Investigação) Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal

Docência no Ensino Superior

Categoria Profissional
Instituição de acolhimento
2001/09/01 - 2006/04/30 Assistente (Docente Ensino Superior Politécnico) Instituto Politécnico de Setúbal Escola Superior de Tecnologia de Setúbal, Portugal


Categoria Profissional
Instituição de acolhimento
2016/04/01 - Atual Associated Professor of Computer Science Universidade de Lisboa Instituto Superior Técnico, Portugal
2009/09/29 - 2010/09/29 Lecturer in Humanoid Robotics & Intelligent Systems University of Plymouth, Reino Unido


Designação Financiadores
2018/01 - Atual INFOCOS: Intelligent Feedback for Content Students
Fundação para a Ciência e a Tecnologia
2019/10 - 2022/09 Intelligent Verification/Validation for Extended Reality Based Systems European Commission
2019/01 - 2021/12 iLU: Integrative Learning from Urban Data and Situational Context for City Mobility Optimization
Fundação para a Ciência e a Tecnologia
2018/01 - 2021/09 Social Learning for Intelligent CharactErs
Fundação para a Ciência e a Tecnologia
2013/10 - 2017/09 Semi-Autonomous 3rd Hand European Commission
2001/09 - 2004/08 Mirror Neuron based Robot Recognition European Commission


Artigo em conferência
  1. Guerra, Carla; Francisco S. Melo; Manuel Lopes. Autor correspondente: Manuel Lopes. "Teaching Unknown Learners to Classify via Feature Importance". Trabalho apresentado em AAMAS, 2021.
  2. Martins, Ricardo; Abreu, Rui; Lopes, Manuel; Nadkarni, Joao. "Supervised Learning for Test Suit Selection in Continuous Integration". 2021.
  3. Fernandes, Pedro M.; Lopes, Manuel; Prada, Rui. "Agents for Automated User Experience Testing". 2021.
  4. Fernandes, Pedro M.; Santos, Francisco C.; Lopes, Manuel. "Adoption Dynamics and Societal Impact of AI Systems in Complex Networks". Trabalho apresentado em AAAI/ACM Conference on AI, Ethics, and Society, 2020.
  5. Azeiteiro, Francisco; Lopes, Manuel. "Between Clones and Snow-Flakes: Personalization in Intelligent Tutoring Systems". Trabalho apresentado em EPIA Conference on Artificial Intelligence, 2019.
  6. Capela, Antonio; Mascarenhas, Samuel; Santos, Pedro A.; Lopes, Manuel. "An Adaptive and Transferable Dialog Management System for Social Aware Task Execution". Trabalho apresentado em EPIA Conference on Artificial Intelligence, 2019.
  7. Melo, Francisco S.; Guerra, Carla; Lopes, Manuel. "Interactive Optimal Teaching with Unknown Learners". Trabalho apresentado em International Joint Conference on; Artificial Intelligence, (IJCAI-18), 2018.
  8. Busch, Baptiste; Toussaint, Marc; Lopes, Manuel. "Planning Ergonomic Sequences of Actions in Human-Robot Interaction". Trabalho apresentado em 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018.
  9. Zhu, Xiaojin; Liu, Ji; Lopes, Manuel. "No Learner Left Behind: On the Complexity of Teaching Multiple Learners Simultaneously". Trabalho apresentado em Joint Conference on; Artificial Intelligence (IJCAI-17), 2017.
  10. Lopes, Manuel. "A Comparison of Automatic Teaching Strategies for Heterogeneous Student Populations". Trabalho apresentado em Educational Data Mining (EDM'16), 2016.
  11. Lopes, Manuel. "Calibration-Free BCI Based Control". Trabalho apresentado em AAAI Conf. on Artificial Intelligence (AAAI'14), 2014.
  12. Lopes, Manuel. "Learning Multiple Behaviors from Unlabeled Demonstrations in a Latent Controller Space". Trabalho apresentado em Inter. Conf. on Machine Learning (ICML'13), 2013.
  13. Lopes, Manuel; Cakmak, Maya. "Algorithmic and Human Teaching of Sequential Decision Tasks". Trabalho apresentado em AAAI Conf. on Artificial Intelligence (AAAI'12), 2012.
  14. Lopes, Manuel; Cederbourg, Thomas; Oudeyer, Pierre-Yves. "Simultaneous acquisition of task and feedback models". 2011.
  15. Martinez-Cantin, Ruben; Lopes, Manuel; Montesano, Luis. "Body schema acquisition through active learning". 2010.
  16. Figueira, Dario; Lopes, Manuel; Ventura, Rodrigo; Ruesch, Jonas. "From pixels to objects: Enabling a spatial model for humanoid social robots". 2009.
  17. Ruesch, Jonas; Lopes, Manuel; Bernardino, Alexandre; Hornstein, Jonas; Santos-Victor, Jose; Pfeifer, Rolf. "Multimodal saliency-based bottom-up attention a framework for the humanoid robot iCub". Trabalho apresentado em 2008 IEEE International Conference on Robotics and Automation, 2008.
  18. Lopes, Manuel. "Multimodal Saliency-Based Bottom-Up Attention: A Framework for the Humanoid Robot iCub". 2008.
  19. Lopes, Manuel. "A Learning Framework for Generic Sensory-Motor Maps". 2007.
  20. Lopes, Manuel. "Affordances, development and imitation". 2007.
  21. Lopes, Manuel. "Modeling Affordances using Bayesian networks". 2007.
  22. Lopes, Manuel. "Affordance-based imitation learning in robots". 2007.
  23. Lopes, Manuel. "Jacobian Learning Methods for Task Sequencing in Visual Servoing". 2006.
  24. Lopes, Manuel. "Learning of Sensory-Motor Maps in Redundant Robots". 2006.
  25. Lopes, Manuel. "Sound localization for humanoid robots - building audio-motor maps based on the HRTF". 2006.
  26. Lopes, Manuel. "Design of the Robot-Cub (iCub) Head". 2006.
  27. Lopes, Manuel. "An anthropomorphic robot torso for imitation: design and experiments.". 2004.
Artigo em revista
  1. Lopes, Manuel; Melo, Francisco. "Teaching Multiple Inverse Reinforcement Learners". Frontiers Artificial Intelligence (2021): https://www.frontiersin.org/articles/10.3389/frai.2021.625183/.
    Acesso aberto • No prelo
  2. Fernandes, Pedro M.; Santos, Francisco C.; Lopes, Manuel. "Norms for beneficial A.I.: A computational analysis of the societal value alignment problem". AI Communications 33 3-6 (2020): 155-171. http://dx.doi.org/10.3233/aic-201502.
  3. Neto, Maria Leonor; Antunes, Marília; Lopes, Manuel; Ferreira, Duarte; Rilling, James; Prata, Diana. "Oxytocin and vasopressin modulation of prisoner’s dilemma strategies". Journal of Psychopharmacology 34 8 (2020): 891-900. http://dx.doi.org/10.1177/0269881120913145.
  4. Munzer, Thibaut; Toussaint, Marc; Lopes, Manuel. "Efficient behavior learning in human–robot collaboration". Autonomous Robots 42 5 (2017): 1103-1115. http://dx.doi.org/10.1007/s10514-017-9674-5.
  5. Foley, Nicholas C.; Kelly, Simon P.; Mhatre, Himanshu; Lopes, Manuel; Gottlieb, Jacqueline. "Parietal neurons encode expected gains in instrumental information". Proceedings of the National Academy of Sciences 114 16 (2017): E3315-E3323. http://dx.doi.org/10.1073/pnas.1613844114.
  6. Busch, Baptiste; Grizou, Jonathan; Lopes, Manuel; Stulp, Freek. "Learning Legible Motion from Human–Robot Interactions". International Journal of Social Robotics 9 5 (2017): 765-779. http://dx.doi.org/10.1007/s12369-017-0400-4.
  7. Daddaoua, Nabil; Lopes, Manuel; Gottlieb, Jacqueline. "Intrinsically motivated oculomotor exploration guided by uncertainty reduction and conditioned reinforcement in non-human primates". Scientific Reports 6 1 (2016): http://dx.doi.org/10.1038/srep20202.
  8. Iturrate, Iñaki; Grizou, Jonathan; Omedes, Jason; Oudeyer, Pierre-Yves; Lopes, Manuel; Montesano, Luis. "Exploiting Task Constraints for Self-Calibrated Brain-Machine Interface Control Using Error-Related Potentials". PLOS ONE 10 7 (2015): e0131491. http://dx.doi.org/10.1371/journal.pone.0131491.
  9. Lopes, Manuel; Clement, Benjamin; Oudeyer, Pierre-Yves. "Multi-Armed Bandits for Intelligent Tutoring Systems". Journal of Educational Data Mining (JEDM) 7 2 (2015): https://jedm.educationaldatamining.org/index.php/JEDM/article/view/JEDM111.
  10. Lopes, Manuel. "Active Learning for Autonomous Intelligent Agents: Exploration, Curiosity, and Interaction". arXiv:1403.1497 [cs.AI] (2014): http://arxiv.org/abs/1403.1497.
  11. Gottlieb, Jacqueline; Oudeyer, Pierre-Yves; Lopes, Manuel; Baranes, Adrien. "Information-seeking, curiosity, and attention: computational and neural mechanisms". Trends in Cognitive Sciences 17 11 (2013): 585-593. http://dx.doi.org/10.1016/j.tics.2013.09.001.
  12. Lopes, Manuel. "Multi-class Generalized Binary Search for Active Inverse Reinforcement Learning". (2013): http://arxiv.org/abs/1301.5488.
  13. Montesano, Luis; Lopes, Manuel. "Active learning of visual descriptors for grasping using non-parametric smoothed beta distributions". Robotics and Autonomous Systems 60 3 (2012): 452-462. http://dx.doi.org/10.1016/j.robot.2011.07.013.
  14. Metta, Giorgio; Natale, Lorenzo; Nori, Francesco; Sandini, Giulio; Vernon, David; Fadiga, Luciano; von Hofsten, Claes; et al. "The iCub humanoid robot: An open-systems platform for research in cognitive development". Neural Networks 23 8-9 (2010): 1125-1134. http://dx.doi.org/10.1016/j.neunet.2010.08.010.
  15. Lopes, Manuel. "Active learning and intrinsically motivated exploration in robots: Advances and challenges". IEEE Transactions on Autonomous Mental Development 2 (2010): 65-69.
  16. Lopes, Manuel; Melo, Francisco S.; Kenward, Ben; Santos-Victor, José. "A Computational Model of Social-Learning Mechanisms". Adaptive Behavior 17 6 (2009): 467-483. http://dx.doi.org/10.1177/1059712309342757.
  17. Montesano, Luis; Lopes, Manuel; Bernardino, Alexandre; Santos-Victor, JosÉ. "Learning Object Affordances: From Sensory--Motor Coordination to Imitation". IEEE Transactions on Robotics 24 1 (2008): 15-26. http://dx.doi.org/10.1109/tro.2007.914848.
  18. Lopes, Manuel; Santos-Victor, Jos. "A Developmental Roadmap for Learning by Imitation in Robots". IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics) 37 2 (2007): 308-321. http://dx.doi.org/10.1109/tsmcb.2006.886949.
  19. Lopes, Manuel. "Visual Learning by Imitation With Motor Representations". IEEE Trans. Systems, Man, and Cybernetics - Part B: Cybernetics 35 3 (2005):
Capítulo de livro
  1. Guerra, Carla; Melo, Francisco S.; Lopes, Manuel. Autor correspondente: Lopes, Manuel. "Interactive Teaching with Groups of Unknown Bayesian Learners". In Artificial Intelligence in Education, 178-182. Springer International Publishing, 2021.


Título / Tema
Papel desempenhado
Curso (Tipo)
Instituição / Organização
2020 - Atual Optimization of User Experience in Interactive Systems
Universidade de Lisboa Instituto Superior Técnico, Portugal
2018/09/01 - Atual Algorithmic Teaching and Adaptation
Universidade de Lisboa Instituto Superior Técnico, Portugal
2015 - 2018 Optimization techniques for an ergonomic human-robot interaction
Orientador de Baptiste Busch
Université de Bordeaux, França
2014 - 2017 Représentations relationnelles et apprentissage interactif pour l'apprentissage efficace du comportement coopératif
Université de Bordeaux, França
2011 - 2014 Apprentissage simultané d'une tâche nouvelle et de l'interprétation de signaux sociaux d'un humain en robotique
Orientador de Jonathan Grizou
Université de Bordeaux, França

Comissão de avaliação

Descrição da atividade
Tipo de assessoria
Instituição / Organização Entidade financiadora
2020 - Atual Evaluator for the European Commission ICT projects

Curso / Disciplina lecionado

Disciplina Curso (Tipo) Instituição / Organização
2016 - 2022 Inteligência Artificial (Licenciatura) Universidade de Lisboa Instituto Superior Técnico, Portugal

Outra distinção

2014 Prize of Research Excellence
Inria, França
2009 Ciência 2008 Research Contract
2006 "Alain Bensoussan" Fellowship Programme
European Research Consortium for Informatics and Mathematics, França
2001 Bolsa de Doutoramento
Universidade do Algarve Faculdade de Ciências e Tecnologia, Portugal