For his paper in robotics entitled “Geometric Algebra for Optimal Control with Applications in Manipulation Tasks”, Tobias Löw received Idiap’s Best Paper Award. This article demonstrates that the modelling of cost functions for optimal control can be done uniformly across different geometric primitives, leading to a low symbolic complexity of the resulting expressions and a geometric intuitiveness. The benchmarks provided in the article show that such an approach provides a faster resolution of robot kinematics problems than state-of-the-art software libraries used in robotics. Tobias is part of the Robot Learning & Interaction group.