I am currently a Ph.D. student and researcher (FCT grant: 2022.11470.BD) at the University of Porto, in the Department of Electrical and Computer Engineering, under the supervision of Prof. A. Pedro Aguiar. I hold a Master’s degree in Control Engineering (2014–2016) from Shahrood University of Technology (SUT), Iran, where I graduated with a GPA of 18.6/20 and was ranked first among 27 classmates. I also earned my Bachelor’s degree in Robotics Engineering from SUT (2005–2009), graduating with a GPA of 16.38/20 and ranking second among 61 students. My Ph.D. thesis is titled: "Reinforcement Learning with Formal Guarantees by Design for Variable Impedance Control of Mobile Manipulators in Unknown Environments." With a background in robotics, nonlinear control, impedance control, and fuzzy logic systems, I have proposed and developed control strategies focused on impedance and robot interaction control. The outcomes of this work have been published in peer-reviewed journals and international conference proceedings. My current research focuses on mobile manipulators, robotic arms, impedance control, and reinforcement learning algorithms. I have several years of practical experience working with robots and am proficient in simulation environments and programming tools such as Python and MATLAB. During my Ph.D., I completed a four-month research internship with the Intelligent Autonomous Systems group in the Department of Computer Science at TU Darmstadt, Germany. Collaborating with researchers experienced in reinforcement learning and its real-world applications was a valuable and enriching experience that significantly contributed to my research.