Lab for Creative Computation

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Video Gallery

Robotic RL — Gabriel Vallat and Jingwen Wang - CRCL and Sycamore


The Lab for Creative Computation (CRCL) is acting at the interface of design, digital technologies and construction.

We explore new construction modes that combine robotics with human interventions and digital media, in pursuit of more creative solutions to contemporary design and construction challenges.

Showcasing scientific research and the rigour that it requires. With a playful and accessible approach to technical topics, such as programming and robotics, CRCL strives to break down the barriers for novices to enter the field.

Emphasizing and supporting the significant contributions of women in technology, as well as collaboration, open data, and open science, CRCL seeks to redefine innovation: away from conventional mentalities, and towards one that embraces collaboration, building up on current knowledge.

It is truly experimental, including the acknowledging and embracing the failures that inevitably accompany experimentation.


  1. Scientific Chair of AAG 2023
    Stefana Parascho is a Scientific Chair at AAG 2023, a multi-disciplinary conference connecting architects, engineers, and computer scientists in academia and industry. Find the conference proceedings online!
    🪑 👩 🪑
  2. Homepage for AAG 2023
    Congratulations to CRCL PhD Candidate Jingwen Wang, who will be presenting her paper on multi-robotic assembly during AAG 2023!
    🦾 🐚 🦾
  3. Homepage for ACM SCF 2023
    Congratulations to incoming CRCL PhD Candidate Gabriel Vallat, who will be presenting a paper at the 2023 ACM Symposium on Computational Fabrication!
    🤖 🧠 🤖
  4. Web page of the Future of Construction symposium
    The Future of Construction Symposium 2023 will take place from September 13 to 15 and will feature keynotes, poster sessions, and workshops revolving around human-machine collaborations in design and construction. Find out more and register for full access to on-site events!
    🔮 🚧 🔮
  5. Banner for postdoc opening
    CRCL is searching for a postdoctoral researcher for a 2 year project focusing on reconfiguration of timber structures! Learn more about the position opening.
    🪵 ♻ 🪵
  6. Banner for exhibition opening
    CRCL is presenting two projects with the opening of POSITIONS tonight at 18:00. Learn more at the event page.
    🌍 🏫 🌍
  7. Informational banner for the inaugural lecture
    Stefana will be giving her inaugural lecture about design and construction robotics on May 10, from 17:30 to 18:45.
    ⚠ ⚠ ⚠
  8. Photo of the paper access page
    Construction Robotics: From Automation to Collaboration by Prof. Dr. Stefana Parascho is available for download online.
    ️ 📝 ️
  9. Cover of the 2021 ACADIA Publication
    The proceedings from ACADIA 2021 'Realignments: Toward Critical Computation' have been published and are available for free download or purchase in print.
    📚 📥 📚
  10. Edvard Bruun presenting ZeroWaste at ACADIA
    Congratulations to CRCL external advisee Edvard Bruun, who presented research on robotic dis- and reassembly of timber structures at ACADIA 2022.
    🦾 🎤 🏠
  11. Photo of the lightweight bamboo structure BamX
    In collaboration with GCM, ITKE and an independent artist, the CRCL unveils a lightweight bamboo structure, BamX, at the heart of the Architecture faculty building.
    🕸 🎍 🕸
  12. Stefana Parascho presenting at CIS
    Stefana was invited to give a lecture on multi-agent robotic processes at CIS. The recording is now available to watch online.
    🎤 👩‍💻 💬
  13. Robotic assembly prototype
    CRCL presented a robotic assembly prototype of reused concrete for the ENAC 20 years anniversary exhibition.
    ✨ 🎈 🎉
  14. Robotic assembly prototype
    Stefana Parascho was invited to give a lecture at the Smart Living Lab.
    🏡 👩‍💻 💬
  15. Screenshot of Architect Magazine R+D Award website announcement
    Congrats to Isla Han, Edvard Bruun and Stefana Parascho for making this unique collaborative project happen.
    🏆 💎 🏆
  16. Screenshot of ACADIA Workshops website
    We are teaching a workshop at this year’s ACADIA conference together with Gramazio Kohler Research, ETH Zurich - Controlling robots remotely through COMPAS FAB. Join us by registering here!!
    🤖 👩 ‍💻
  17. Screenshot of the Structural Awards website
    LightVault shortlisted for the Structural Awards 2021 - The Institution of Structural Engineers (IStructE)
    🤞 🤩 🤞
  18. Screenshot of Construction Robotics journal article website
    Our paper “Robotic additive construction of bar structures: unified sequence and motion planning” in collaboration with the Digital Structures Group MIT is published in Construction Robotics! Led by Yijiang Huang (MIT)
    👏 👏 👏
  19. Screenshot of the Women in Architecture Festival Berlin website
    Stefana Parascho speaking at the Women in Architecture Festival Berlin, hosted by the CyPhyLab TU Berlin. Watch the recording here.
    🏰 👩 🏰
  20. Screenshot of the ACADIA 2021 conference website
    Stefana Parascho is Co-Chairing this year’s ACADIA Conference: “Realignments: toward critical computation” Nov 3rd - 6th. Save the dates!!
    💃 💃 💃
  21. Screenshot of Automation in Construction journal article website
    Our paper “Three cooperative robotic fabrication methods for the scaffold-free construction of a masonry arch” in collaboration with the Form Finding Lab is published in Automation in Construction Journal! Led by Edvard Bruun.
    🥳 🦾 🥳


  1. Vallat, Gabriel, Jingwen Wang, Anna Maddux, Maryam Kamgarpour, and Stefana Parascho. “Reinforcement Learning for Scaffold-Free Construction of Spanning Structures.” In Proceedings of the 8th ACM Symposium on Computational Fabrication, 1–12. SCF ’23. New York, NY, USA: Association for Computing Machinery, 2023.

    Wang, Jingwen, Wenjun Liu, Gene Ting-Chun Kao, Ioanna Mitropoulou, Francesco Ranaudo, Philippe Block, and Benjamin Dillenburger. “Multi-Robotic Assembly of Discrete Shell Structures.” In Multi-Robotic Assembly of Discrete Shell Structures, 261–74. De Gruyter, 2023.

    Duong, Eric, and Stefana Parascho. “Social Signals: An Adaptive Installation for Mediating Space During COVID-19 and Beyond.” In Computer-Aided Architectural Design. INTERCONNECTIONS: Co-Computing Beyond Boundaries, edited by Michela Turrin, Charalampos Andriotis, and Azarakhsh Rafiee, 547–61. Communications in Computer and Information Science. Cham: Springer Nature Switzerland, 2023.

    Han, Isla Xi, and Stefana Parascho. 2023. ‘Improv-Structure: Exploring Improvisation in Collective Human-Robot Construction’. In Trends on Construction in the Digital Era, edited by António Gomes Correia, Miguel Azenha, Paulo J. S. Cruz, Paulo Novais, and Paulo Pereira, 233–43. Cham: Springer International Publishing.

    Bruun, Edvard, Erin Besler, Sigrid Adriaenssens and Stefana Parascho. 2022. “Towards Computing Cooperative Robotic Sequences for the Disassembly and Reuse of Timber Frame Structures.” In ACADIA 2022 Hybrids and Haeccieties: Proceedings of the 41st Annual Conference of the Association for Computer Aided Design in Architecture.

    Parascho, Stefana. 2022. “From Automation to Collaboration: A Review of Construction Robotics”. In Annual Review of Control, Robotics and Autonomous Systems.

    Pastrana, Rafael, Patrick Ole Ohlbrock, Thomas Oberbichler, Pierluigi D’Acunto, Stefana Parascho. 2022. “Constrained Form-Finding of Tension-Compression Structures using Automatic Differentiation.” In Computer Aided Design.

    Han, Isla Xi, Forrest Meggers and Stefana Parascho. 2021.”Bridging the Collectives: A Review of Collective Human-Robot Construction.” In International Journal of Architectural Computing.

    Huang, Yijiang, Caelan R. Garrett, Ian Ting, Stefana Parascho, and Caitlin T. Mueller. 2021. “Robotic Additive Construction of Bar Structures: Unified Sequence and Motion Planning.” Construction Robotics (2021), Springer.

    Bruun, Edvard, Rafael Pastrana, Vittorio Paris, Alessandro Beghini, Attilio Pizzigoni, Stefana Parascho and Sigrid Adriaenssens. 2021. “Three cooperative robotic fabrication methods for the scaffold-free construction of a masonry arch.” In Automation in Construction 129(6), Elsevier.

    Parascho, Stefana, Isla Xi Han, Samantha Walker, Alessandro Beghini, Edvard Bruun and Sigrid Adriaenssens. 2020. “A Cooperative Robotic Assembly Method for Compression-Only Vault Construction.” In Construction Robotics 4 (2020), pp. 117- 126, Springer.

    Bruun, Edvard P. G., Ian Ting, Sigrid Adriaenssens, and Stefana Parascho. 2020. “Human– Robot Collaboration: A Fabrication Framework for the Sequential Design and Construction of Unplanned Spatial Structures.” Digital Creativity 31 (4): 320–36.

    Han, Isla Xi, Edvard Bruun, Alessandro Beghini, Samantha Walker, Sigrid Adriaenssens and Stefana Parascho. 2020. “From Concept to Construction: A Transferable Design and Robotic Fabrication Method for a Building-Scale Vault.” In ACADIA 2020: Distributed Proximities, Proceedings of the 40th Annual Conference of the Association for Computer Aided Design in Architecture.

    Parascho, Stefana, Isla Xi Han, Alessandro Beghini, Masaaki Miki, Samantha Walker, Edvard Bruun and Sigrid Adriaenssens. 2021. “LightVault.” In AAG 2020: Advances in Architectural Geometry.

    Vittorio, Paris, M. Lepora, Alessandro Beghini, Stefana Parascho and Sigrid Adriaenssens, 2020. “Robotic construction of a self-balancing glass masonry vault: DEM study of the stability during the construction stages.”, In IASS Annual Symposium and Spatial Structures Conference 2020/21

    Beghini, Alessandro, Samantha Walker, Masaaki Miki, Isla Xi Han, Sigird Adriaenssens and Stefana Parascho, 2021. “Robotic construction of a self-balancing glass masonry vault: Design and Tessellation.” In IASS Annual Symposium and Spatial Structures Conference 2020/21 (accepted)

    Gandia Augusto, Stefana Parascho, Romana Rust, Gonzalo Casas, Fabio Gramazio, Matthias Kohler (2019) “Towards Automatic Path Planning for Robotically Assembled Spatial Structures.” In ROBARCH - Robotic Fabrication in Architecture, Art and Design, edited by Willmann J., Block P., Hutter M., Byrne K., Schork T. Springer, Cham.

    Piškorec Luka, David Jenny, Stefana Parascho, Hannes Mayer, Fabio Gramazio, Matthias Kohler (2019) “The Brick Labyrinth.” In ROBARCH - Robotic Fabrication in Architecture, Art and Design, edited by Willmann J., Block P., Hutter M., Byrne K., Schork T. Springer, Cham.

    Parascho, Stefana, Thomas Kohlhammer, Stelian Coros, Fabio Gramazio and Matthias Kohler. 2018. “Computational Design of Multi-Robotically Assembled Spatial Structures.” In AAG - Advances in Architectural Geometry 2018, pp. 112–139, edited by Lars Hesselgren, Axel Kilian, Olga Sorkine Hornung, Samar Malek, Karl-Gunnar Olsson, and Christopher John Kenneth Williams, Göteborg, Sweden: Klein Publishing GmbH.

    Parascho, Stefana, Augusto Gandia, Ammar Mirjan, Fabio Gramazio and Matthias Kohler. 2017. “Cooperative Fabrication of Spatial Metal Structures.” In Fabricate 2017, pp. 24-29, edited by Achim Menges, Bob Sheil, Ruairi Glynn and Marilena Skavara, London: UCL press, ISBN: 978-1-78735-001-4,

    Parascho, Stefana, Jan Knippers, Moritz Dörstelmann, Marshall Prado and Achim Menges. 2014. “Modular Fibrous Morphologies: Computational Design, Simulation and Fabrication of Differentiated Fibre Composite Building Components.” In AAG - Advances in Architectural Geometry 2014, pp. 29-45, edited by Philippe Block, Jan Knippers, Niloy J. Mitra, Wenping Wang, Springer, ISBN 978-3-319-11418-7, DOI:

    Dörstelmann, Moritz, Stefana Parascho, Marshall Prado, Jan Knippers and Achim Menges. 2014. “Integrative Computational Design Methodologies for Modular Architectural Fiber Composite Morphologies.” In ACADIA 2014 Design Agency: Proceedings of the 34th Annual Conference of the Association for Computer Aided Design in Architecture, pp. 219-228, edited by David Gerber, Alvin Huang and Jose Sanchez, ACADIA and Riverside Architectural Press, ISBN 978-1-926724-49-2, DOI:

  2. Parascho Stefana. 2023. “Beyond Optimization: Interaction as a Means to Resituate Digital Fabrication.” book chapter, in Homing the Machine.

    Parascho Stefana. “Design Space Explorations: On the role of visualisation in architectural fabrication and design.” book chapter, in Bio/Matter/Techno/Synthetics, University of Pennsylvania.

    Bruun, Edvard, Stefana Parascho and Sigrid Adriaenssens. 2023. “Cooperative Robotic Fabrication for a Circular Economy.” book chapter, in Circular Built Environment in the Digital Age. Edited by Catherine De Wolf, Sultan Çetin, and Nancy Bocken.

    “Toward Critical Computation - Proceedings of ACADIA 2021.” book, published 2022. Edited by Kathrin Doerfler, Stefana Parascho and Jane Scott. Role: Editor.

    Parascho Stefana. 2021. “Home Position”, book chapter, in Design Studio Vol. 2: Intelligent Control 2021: Disruptive Technologies: 2021, edited by Rob Hyde and Filippos Filippidis, RIBA Publishing.

  3. Parascho, Stefana “Cooperative Robotic Assembly. Computational Design and Robotic Fabrication of Spatial Metal Structures.” ETH Zurich, 2019. DOI:

  4. Parascho Stefana. 2023. “Invisible Motions” Drawing Codes – Experimental Protocols of Architectural Representation, Applied Research + Design.

    Parascho Stefana. 2019. “def help(): technical support” Pidgin Magazine, nr. 26. Princeton University.

    Parascho Stefana. 2018. “Integrative Architekturmodelle” Kunst + Architektur, nr. 2018.4. Gesellschaft für Schweizerische Kunstgeschichte, Berne, Switzerland. ISBN: 978-3- 03797-345-5

    Parascho, Stefana. 2017. “Un labirint de caramida.” igloo habitat & architectura, nr. 179, Aug- Sep 2017. pp. 138-141. Igloo Media, Bucharest, Romania.


  1. Manuscript image
    An upcoming manuscript on the unrealized dream of construction automation.
    ♀ ♀ ♀
  2. Web page of the Future of Construction symposium
    An interactive installation that brings together building occupancy analysis methods, trajectory prediction, and digital media to understand and mediate shared spaces.
    🔮 🚧 🔮
  3. Web page of the Future of Construction symposium
    A platform dedicated to beginner-friendly creative coding tutorials and exercises for building architecture with robots
    🏫 🤖 🏫


  1. Ziqi Wang

    Profile photo of Ziqi

    Coming soon!

  2. Gabriel Vallat

    Profile photo of Gabriel Vallat

    Gabriel is a PhD student at CRCL and Sycamore lab. He’s working on multi-agent reinforcement learning in a collaborative setting. 🦾🫂 He has obtained a bachelor’s degree in micro-engineering and a master’s in robotics, both at the EPFL. During his civilian service, he worked as a data analyst in aquatic ecology at EAWAG, where he used deep neural networks to predict the evolution of plankton populations. 🦠🦆 If you don’t see him in the office, you could try to catch him climbing or running outside 🧗‍♂️👣, or at Unipoly, where he tries to avoid conflicts by working as a mediator. 🕊️

  3. Alexandra Pittiglio

    Profile photo of Alexandra Pittiglio

    Alexandra is a Ph.D. candidate at CRCL, working on human-robot collaboration through a lens of materiality, psychology of teamwork, and interaction design. 🤖

    With a Bachelor in Engineering from McMaster University (Canada) and a Master of Science from Universität Stuttgart (ITECH Programme, Germany), Alexandra’s work intersects design, humanities, and applied science. She is interested in exploring non-standard materials enabled through emerging technologies, and is excited by the potential for collaborative robotics to challenge the status quo of the architecture-engineering-construction world! 🚀

    Alexandra loves being in the mountains - whether it’s snow, grass, or rock under her board or boots 🚵‍♀️ 🏂 🏕️. She has put way too many kilometres on her commuter + weekender fun bicycle, and is in constant awe of how pretty Lausanne is!

  4. Jingwen Wang

    Profile photo of Jingwen Wang
    📸 Eric Duong

    Jingwen is a Ph.D. student at the CRCL. She is trained as a structural engineer and holds a B.Eng degree from HKUST and a M.Eng degree from MIT, both in Civil and Environmental engineering. After graduation, she worked in the New York office of Skidmore, Owings and Merrill for three years as a structural engineer, where she contributed to 15 projects worldwide. Notable projects she has worked on include Kempegowda International Airport Terminal II, MIT – Stephen A. Schwarzman College of Computing, NYC Penn Station Entrance Canopy.

    In 2021, she decided to pursue her interest in fabrication-related research. She came to Europe and did a Master of Advanced Studies in Architecture and Digital Fabrication at ETH Zurich. She still considers herself as a structural engineer at heart, but also loves design, robotics and architecture.

    In her free time, she likes walking around the city, taking photographs and watching films.

  5. Eleni Skevaki

    Profile photo of Eleni Skevaki

    Eleni Skevaki is a doctoral researcher at the Lab for Creative Computation (CRCL) of EPFL Lausanne and associated with the National Centre for Competence in Research – Digital Fabrication, where she explores human-robot interaction within heterogeneous construction teams. 🤖 She holds an integrated Master in Architectural Engineering from the National Technical University of Athens and an MAS in Architecture and Digital Fabrication from ETH Zurich.🎓 Her working shoes are still dirty from spending too much time next to a 3D concrete printing robot. 🥾

  6. Eric Duong

    Profile photo of Eric Duong
    📸 Ian Ting

    Eric is a scientific assistant at CRCL working on human interfaces and interactive installations. He studied architecture and computer science at the University of Virginia, where he discovered creative coding through Processing. 🖌 Today he bounces between visual toolkits, computer vision libraries, and robotics toward building spatial experiences and experimental applications. 🚧 Because of the unhealthy amount of time he spends staring at a monitor, he enjoys backpacking, cycling, and climbing outside of his time at the lab. 🏕

  7. Marirena Kladeftira

    Profile photo of Marirena

    Coming soon!

  8. Isabelle Cogotti

    Profile photo of Isabelle Cogotti

    As our new administrative specialist at CRCL, Isabelle brings her unique blend of organizational skills and adventurous spirit to every task. When she’s not busy keeping the lab running like a well-oiled machine, Isabelle can be found exploring new paths, getting lost in a good book or belting out tunes at the top of her lungs in her car. Whether she’s learning a new skill or perfecting a recipe, she approaches everything with enthusiasm and a can-do attitude.

  9. Maxence Grangeot

    Profile photo of Maxence Grangeot

    “ChatGPT, please write a funny short bio with emojis of a young phd researcher interested in the duality of architecture and structural engineering, of material properties and structural form, of vernacular crafts and scientific research, of construction processes and available technologies, and playing with all kind of tools, from bespoke analog jigs to robotics arms and cranes, desperately trying to discover novel architectural tectonics and structural typologies from reclaimed materials. Thank you!”

  10. Marie-Pierre Zufferey

    Profile photo of Marie-Pierre

    Marie-Pierre Zufferey is an architect dipl. EPFL, Doctor of Science, and scientific collaborator at CRCL. She has focused on geometry and stereotomy (stone-cutting) for a long time. Now she aims to tame robots and use them as tools that directly extend the human hand and spirit as pencil, brush, bow, and chisel toward investigating the links between representing and creating, and how to make these new technologies accessible for non-specialists. 

    Unexepected interactions could emerge with her many outside activities, like martial arts, carving, painting, entomological and botanical observations, and reading!

  11. Stefana Parascho

    Profile photo of Prof. Dr. Stefana Parascho
    📸 Shenhan Zhu

    Stefana Parascho is the Director of the Lab for Creative Computation (CRCL).

    Stefana studied in Stuttgart and received her Doctorate degree from ETH Zurich, Gramazio Kohler Research. She is an Assistant Professor at EPFL and makes sure that the robots and students in the lab don’t get bored. 💃 🤖 🕺 When she’s not in the lab, she is probably in a dance class or travelling (except during pandemics). She fights to see more recognition for women in STEM fields and hopes to never get stuck on a fixed research idea.


    Stefana Parascho is a researcher, architect, and educator whose work lies at the intersection of architecture, digital fabrication and computational design. She is currently an Assistant Professor at EPFL where she founded the Lab for Creative Computation. Through her research, she has explored multi-robotic fabrication methods and their relationship to architectural design. Stefana investigated computational design techniques ranging from agent-based systems to sequential design and optimisation methods. Her goal is to strengthen the connection between design, structure, and fabrication, and boost the interdisciplinary nature of architecture through the development of accessible computational tools and robotic fabrication methods. Before joining EPFL, Stefana was an Assistant Professor at Princeton University, where she led the CREATE Lab Princeton. She completed her doctorate in 2019 at ETH Zurich, Gramazio Kohler Research. Previously, she received her Diploma in Architectural Engineering from the University of Stuttgart and worked with DesignToProduction Stuttgart and Knippers Helbig Advanced Engineering.


  1. Edvard Bruun

    Profile photo of Edvard Bruun

    Edvard Bruun is a PhD candidate in the Civil and Environmental Engineering Department at Princeton. He is co-advised by Prof. Adriaenssens (Form Finding Lab) and Prof. Parascho. He has a BASc and MASc in Structural Engineering from the University of Toronto, where he researched reinforced concrete mechanics. He performed the world’s first pure torsion tests on large-scale shell specimens (~2 tons in weight) and used the results to derive a novel finite element for the rapid analysis of reinforced concrete structures. He is also a licensed professional engineer in Ontario, where he worked for Arup in the Building Structures group before starting his PhD in 2019. In his PhD research Edvard is working on interdisciplinary topics at the intersection of structural engineering and robotic fabrication. Specifically on applying graph theoretic principles to determine stability and plan the robotic fabrication sequence for discrete element structures. The goal is to develop a fabrication-informed framework to ensure that structures are designed to be materially efficient during all steps in an assembly and disassembly sequence 🏗. In his spare time, he enjoys long walks on the beach 🏖 , listening to JJ Cale, making espressos, and operating chainsaws 🪚.

  2. Isla Xi Han

    Profile photo of Isla Xi Han
    📸 Shenhan Zhu

    Isla is a PhD student in Architecture (Technology Track) at Princeton University . She earned her Bachelor’s Degree in Architecture and Economics from UVa and her professional Master’s Degree in Architecture from Princeton. 🍀 She’s very lucky and proud to be the very first member recruited into the CREATE Laboratory Princeton - firstly through Assistantship in Instruction for Stefana‘s course, then hired as Research Specialist II for the LightVault Project, and now as a PhD student in the lab.

    When she’s not around robots 🤖, she enjoys brainstorming and collaborating with friends across disciplines for all sorts of playful projects (music, e-textile, ML and app development … you name it). She would love to better include robots as a flexible and robust collaborator🤝with human teams in architectural design and construction settings in the near future.✨


  1. Former team members:

    Lisa Ramsburg - MArch student

    Emmanuel Osorno - MArch student

    Chris Myefski - MArch student

    Jeff Tao - MArch student

    Lauren Dreier - PhD student

    John Mikesh - MArch student

    Rafael Pastrana - PhD student

    Laura Fegely - MArch student

    Matteo Pacher - Scientific collaborator

    Ian Ting - PhD student

    Adam Joseph Ghadi-Delgado – MArch student

  2. Friends of the lab:

    Mathias Bernhard

    Maria Yablonina

    Kathrin Dörfler

    Besler & Daughter

  3. Cats!

    Penelope Priscilla & Perseus Paulus 🐈‍⬛

    More @penny.and.percy