diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3205befbaf..7b9960160b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Added
+- Add Eigen expression support to evaluate spatial algebra ([#2551](https://github.com/stack-of-tasks/pinocchio/pull/2551))
+
 ### Fixed
 - Fix mjcf Euler angle parsing: use xyz as a default value for eulerseq compiler option ([#2526](https://github.com/stack-of-tasks/pinocchio/pull/2526))
 - Fix aba explicit template instantiation ([#2541](https://github.com/stack-of-tasks/pinocchio/pull/2541))
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0cf38f4075..c1b4cc8744 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -460,7 +460,9 @@ add_subdirectory(unittest)
 add_subdirectory(examples)
 
 # --- BENCHMARKS ---------------------------------------------------------------
-add_subdirectory(benchmark)
+if(BUILD_BENCHMARK)
+  add_subdirectory(benchmark)
+endif()
 
 # --- PACKAGING ----------------------------------------------------------------
 macro(EXPORT_VARIABLE var_name var_value)
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index c8adf74be8..28c462c3d9 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -7,72 +7,65 @@
 # ----------------------------------------------------
 add_custom_target(bench)
 
-macro(ADD_BENCH bench_name)
-  if(BUILD_BENCHMARK)
-    add_executable(${bench_name} ${bench_name}.cpp)
-  else(BUILD_BENCHMARK)
-    add_executable(${bench_name} EXCLUDE_FROM_ALL ${bench_name}.cpp)
-  endif(BUILD_BENCHMARK)
-  set(ExtraMacroArgs ${ARGN})
-  list(LENGTH ExtraMacroArgs NumExtraMacroArgs)
-  if(NumExtraMacroArgs GREATER 0)
-    set(link_to_main_lib ${ARGV1})
-    if(link_to_main_lib)
-      set_target_properties(${bench_name} PROPERTIES COMPILE_DEFINITIONS
-                                                     PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
-      target_link_libraries(${bench_name} PUBLIC ${PROJECT_NAME})
-    endif(link_to_main_lib)
-  endif()
+add_project_private_dependency(benchmark REQUIRED)
 
-  add_dependencies(bench ${bench_name})
-endmacro(ADD_BENCH)
+macro(ADD_PINOCCHIO_BENCH bench_name)
+  set(options HEADER_ONLY GOOGLE_BENCHMARK)
+  set(oneValueArgs)
+  set(multiValueArgs PACKAGES)
+  cmake_parse_arguments(unit_test "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
-macro(ADD_TEST_CFLAGS target flag)
-  set_property(
-    TARGET ${target}
-    APPEND_STRING
-    PROPERTY COMPILE_FLAGS " ${flag}")
-endmacro(ADD_TEST_CFLAGS)
+  add_executable(${bench_name} ${bench_name}.cpp)
 
-if(CPPAD_FOUND)
-  include_directories(${cppad_INCLUDE_DIR})
-endif(CPPAD_FOUND)
+  target_compile_definitions(${bench_name} PRIVATE PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
+  if(NOT unit_test_HEADER_ONLY)
+    target_link_libraries(${bench_name} PRIVATE pinocchio_default)
+  else()
+    target_link_libraries(${bench_name} PRIVATE pinocchio_headers)
+  endif()
 
-if(cppadcg_FOUND)
-  include_directories(${cppadcg_INCLUDE_DIR})
-endif(cppadcg_FOUND)
+  if(unit_test_GOOGLE_BENCHMARK)
+    target_link_libraries(${bench_name} PRIVATE benchmark::benchmark)
+  endif()
+
+  add_dependencies(bench ${bench_name})
+endmacro()
 
 # timings
 #
-add_bench(timings TRUE)
-if(cppadcg_FOUND)
-  add_bench(timings-cg TRUE)
-  target_link_libraries(timings-cg PUBLIC ${CMAKE_DL_LIBS} ${cppad_LIBRARY})
-endif(cppadcg_FOUND)
+add_pinocchio_bench(timings)
+target_link_libraries(timings PRIVATE pinocchio_parsers)
+if(BUILD_WITH_CODEGEN_SUPPORT)
+  add_pinocchio_bench(timings-cg)
+  target_link_libraries(timings-cg PRIVATE pinocchio_parsers pinocchio_cppadcg ${CMAKE_DL_LIBS})
+endif()
 
 if(BUILD_WITH_OPENMP_SUPPORT)
-  add_bench(timings-parallel TRUE)
-endif(BUILD_WITH_OPENMP_SUPPORT)
+  add_pinocchio_bench(timings-parallel)
+  target_link_libraries(timings-parallel PRIVATE pinocchio_parsers pinocchio_parallel
+                                                 pinocchio_collision)
+endif()
 
-# timings
+# timings cholesky
 #
-add_bench(timings-cholesky TRUE)
+add_pinocchio_bench(timings-cholesky)
+target_link_libraries(timings-cholesky PRIVATE pinocchio_parsers)
 
 # timings derivatives
-
-add_bench(timings-derivatives TRUE)
-if(CPPAD_FOUND)
+#
+add_pinocchio_bench(timings-derivatives)
+target_link_libraries(timings-derivatives PRIVATE pinocchio_parsers)
+if(BUILD_WITH_AUTODIFF_SUPPORT)
   # timings-cppad-jit
-  add_bench(timings-cppad-jit TRUE)
-  target_link_libraries(timings-derivatives PUBLIC ${cppad_LIBRARY})
-  target_link_libraries(timings-cppad-jit PUBLIC ${cppad_LIBRARY} ${CMAKE_DL_LIBS})
+  add_pinocchio_bench(timings-cppad-jit)
+  target_link_libraries(timings-derivatives PRIVATE pinocchio_cppad)
+  target_link_libraries(timings-cppad-jit PRIVATE pinocchio_cppad ${CMAKE_DL_LIBS})
   target_compile_definitions(timings-cppad-jit
-                             PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\")
+                             PRIVATE PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\")
 endif()
 
 # timings-eigen
-#
-add_bench(timings-eigen)
+add_pinocchio_bench(timings-eigen)
 modernize_target_link_libraries(
   timings-eigen
   SCOPE PUBLIC
@@ -81,16 +74,23 @@ modernize_target_link_libraries(
 
 # timings-geometry
 #
-if(URDFDOM_FOUND AND hpp-fcl_FOUND)
-  add_bench(timings-geometry TRUE)
-endif(URDFDOM_FOUND AND hpp-fcl_FOUND)
+if(BUILD_WITH_URDF_SUPPORT AND BUILD_WITH_COLLISION_SUPPORT)
+  add_pinocchio_bench(timings-geometry)
+  target_link_libraries(timings-geometry PRIVATE pinocchio_parsers pinocchio_collision)
+endif()
 
 # timings-jacobian
 #
-add_bench(timings-jacobian TRUE)
+add_pinocchio_bench(timings-jacobian)
+target_link_libraries(timings-jacobian PRIVATE pinocchio_parsers)
 
 # timings-contact-dynamics
 #
-add_bench(timings-delassus-operations TRUE)
-add_bench(timings-contact-dynamics TRUE)
-add_bench(timings-constrained-dynamics-derivatives TRUE)
+add_pinocchio_bench(timings-delassus-operations)
+target_link_libraries(timings-delassus-operations PRIVATE pinocchio_parsers)
+add_pinocchio_bench(timings-contact-dynamics)
+target_link_libraries(timings-contact-dynamics PRIVATE pinocchio_parsers)
+add_pinocchio_bench(timings-constrained-dynamics-derivatives)
+target_link_libraries(timings-constrained-dynamics-derivatives PRIVATE pinocchio_parsers)
+
+add_pinocchio_bench(timings-spatial HEADER_ONLY GOOGLE_BENCHMARK)
diff --git a/benchmark/timings-spatial.cpp b/benchmark/timings-spatial.cpp
new file mode 100644
index 0000000000..02142f8c6e
--- /dev/null
+++ b/benchmark/timings-spatial.cpp
@@ -0,0 +1,78 @@
+#include <pinocchio/spatial/se3.hpp>
+
+#include <benchmark/benchmark.h>
+
+using SE3 = pinocchio::SE3Tpl<double>;
+
+// Standard SE3Tpl operation
+struct SE3TplAct
+{
+  EIGEN_DONT_INLINE void operator()(SE3 & amc, const SE3 & amb, const SE3 & bmc)
+  {
+    amc = amb * bmc;
+  }
+};
+
+// Use of SE3Expr without noalias
+struct SE3ExprAct
+{
+  EIGEN_DONT_INLINE void operator()(SE3 & amc, const SE3 & amb, const SE3 & bmc)
+  {
+    amc.expr() = amb.const_expr() * bmc.const_expr();
+  }
+};
+
+// Use of SE3Expr with noalias
+struct SE3ExprNoaliasAct
+{
+  EIGEN_DONT_INLINE void operator()(SE3 & amc, const SE3 & amb, const SE3 & bmc)
+  {
+    amc.expr().noalias() = amb.const_expr() * bmc.const_expr();
+  }
+};
+
+// Apply SE3 manualy with noalias
+struct SE3ManualAct
+{
+  EIGEN_DONT_INLINE void operator()(SE3 & amc, const SE3 & amb, const SE3 & bmc)
+  {
+    amc.rotation().noalias() = amb.rotation() * bmc.rotation();
+    amc.translation().noalias() = amb.translation();
+    amc.translation().noalias() += amb.rotation() * bmc.translation();
+  }
+};
+
+template<class Fun>
+void bench_se3_act(benchmark::State & state)
+{
+  Fun f;
+  SE3 amc;
+  SE3 amb(SE3::Random());
+  SE3 bmc(SE3::Random());
+  for (auto _ : state)
+  {
+    for (int64_t i = 0; i < state.range(0); ++i)
+    {
+      f(amc, amb, bmc);
+      benchmark::DoNotOptimize(amc);
+    }
+  }
+}
+
+static void CustomArguments(benchmark::internal::Benchmark * b)
+{
+  b->ArgNames({"iter"})->MinWarmUpTime(3.);
+  for (int64_t i = 1; i < 4; ++i)
+  {
+    std::vector<int64_t> args;
+    args.push_back(static_cast<int64_t>(std::pow(10, i)));
+    b->Args(args);
+  }
+}
+
+BENCHMARK(bench_se3_act<SE3TplAct>)->Apply(CustomArguments);
+BENCHMARK(bench_se3_act<SE3ExprAct>)->Apply(CustomArguments);
+BENCHMARK(bench_se3_act<SE3ExprNoaliasAct>)->Apply(CustomArguments);
+BENCHMARK(bench_se3_act<SE3ManualAct>)->Apply(CustomArguments);
+
+BENCHMARK_MAIN();
diff --git a/development/scripts/pixi/activation.bat b/development/scripts/pixi/activation.bat
index a0b664c39a..0ad80ba3c6 100644
--- a/development/scripts/pixi/activation.bat
+++ b/development/scripts/pixi/activation.bat
@@ -19,3 +19,4 @@ if not defined PINOCCHIO_OPENMP_SUPPORT (set PINOCCHIO_OPENMP_SUPPORT=OFF)
 if not defined PINOCCHIO_CODEGEN_SUPPORT (set PINOCCHIO_CODEGEN_SUPPORT=OFF)
 if not defined PINOCCHIO_SDF_SUPPORT (set PINOCCHIO_SDF_SUPPORT=OFF)
 if not defined PINOCCHIO_MPFR_SUPPORT (set PINOCCHIO_MPFR_SUPPORT=OFF)
+if not defined PINOCCHIO_BUILD_BENCHMARK (set PINOCCHIO_BUILD_BENCHMARK=OFF)
diff --git a/development/scripts/pixi/activation.sh b/development/scripts/pixi/activation.sh
index 335141f9c8..186724bd7c 100644
--- a/development/scripts/pixi/activation.sh
+++ b/development/scripts/pixi/activation.sh
@@ -43,3 +43,4 @@ export PINOCCHIO_OPENMP_SUPPORT=${PINOCCHIO_OPENMP_SUPPORT:=OFF}
 export PINOCCHIO_CODEGEN_SUPPORT=${PINOCCHIO_CODEGEN_SUPPORT:=OFF}
 export PINOCCHIO_SDF_SUPPORT=${PINOCCHIO_SDF_SUPPORT:=OFF}
 export PINOCCHIO_MPFR_SUPPORT=${PINOCCHIO_MPFR_SUPPORT:=OFF}
+export PINOCCHIO_BUILD_BENCHMARK=${PINOCCHIO_BUILD_BENCHMARK:=OFF}
diff --git a/include/pinocchio/multibody/joint/joint-helical.hpp b/include/pinocchio/multibody/joint/joint-helical.hpp
index dc92b2fb44..f3eb2abd83 100644
--- a/include/pinocchio/multibody/joint/joint-helical.hpp
+++ b/include/pinocchio/multibody/joint/joint-helical.hpp
@@ -84,6 +84,8 @@ namespace pinocchio
     typedef const typename Vector3::ConstantReturnType ConstLinearRef;
     typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
     typedef typename traits<PlainType>::HomogeneousMatrixType HomogeneousMatrixType;
+    typedef typename traits<PlainType>::ExprType ExprType;
+    typedef typename traits<PlainType>::ConstExprType ConstExprType;
   }; // traits TransformHelicalTpl
 
   template<typename Scalar, int Options, int axis>
diff --git a/include/pinocchio/multibody/joint/joint-prismatic.hpp b/include/pinocchio/multibody/joint/joint-prismatic.hpp
index 2a8233cbfc..8a75197868 100644
--- a/include/pinocchio/multibody/joint/joint-prismatic.hpp
+++ b/include/pinocchio/multibody/joint/joint-prismatic.hpp
@@ -220,6 +220,8 @@ namespace pinocchio
     typedef const Vector3 ConstLinearRef;
     typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
     typedef typename traits<PlainType>::HomogeneousMatrixType HomogeneousMatrixType;
+    typedef typename traits<PlainType>::ExprType ExprType;
+    typedef typename traits<PlainType>::ConstExprType ConstExprType;
   }; // traits TransformPrismaticTpl
 
   template<typename Scalar, int Options, int axis>
diff --git a/include/pinocchio/multibody/joint/joint-revolute.hpp b/include/pinocchio/multibody/joint/joint-revolute.hpp
index 9eaeeebe62..6c716e53c1 100644
--- a/include/pinocchio/multibody/joint/joint-revolute.hpp
+++ b/include/pinocchio/multibody/joint/joint-revolute.hpp
@@ -85,6 +85,8 @@ namespace pinocchio
     typedef const typename Vector3::ConstantReturnType ConstLinearRef;
     typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
     typedef typename traits<PlainType>::HomogeneousMatrixType HomogeneousMatrixType;
+    typedef typename traits<PlainType>::ExprType ExprType;
+    typedef typename traits<PlainType>::ConstExprType ConstExprType;
   }; // traits TransformRevoluteTpl
 
   template<typename Scalar, int Options, int axis>
diff --git a/include/pinocchio/multibody/joint/joint-translation.hpp b/include/pinocchio/multibody/joint/joint-translation.hpp
index bf2b113f66..83b1acee42 100644
--- a/include/pinocchio/multibody/joint/joint-translation.hpp
+++ b/include/pinocchio/multibody/joint/joint-translation.hpp
@@ -216,6 +216,8 @@ namespace pinocchio
     typedef const LinearType & ConstLinearRef;
     typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
     typedef typename traits<PlainType>::HomogeneousMatrixType HomogeneousMatrixType;
+    typedef typename traits<PlainType>::ExprType ExprType;
+    typedef typename traits<PlainType>::ConstExprType ConstExprType;
   }; // traits TransformTranslationTpl
 
   template<typename Scalar, int Options>
diff --git a/include/pinocchio/spatial/fwd.hpp b/include/pinocchio/spatial/fwd.hpp
index 25b5ab005b..75d82fa2ff 100644
--- a/include/pinocchio/spatial/fwd.hpp
+++ b/include/pinocchio/spatial/fwd.hpp
@@ -38,6 +38,21 @@ namespace pinocchio
   template<typename Scalar, int Options = context::Options>
   struct SE3Tpl;
 
+  template<typename Derived>
+  struct SE3ExprBase;
+  template<typename Derived>
+  struct SE3ExprNoalias;
+  template<typename RotProduct, typename TransProduct>
+  struct SE3ExprProduct;
+  template<typename RotProduct, typename TransProduct>
+  SE3ExprProduct<RotProduct, TransProduct>
+  make_se3_expr_product(RotProduct rot_prod, TransProduct trans_prod);
+
+  template<typename _Scalar, int _Options>
+  struct SE3TplExpr;
+  template<typename _Scalar, int _Options>
+  struct SE3TplConstExpr;
+
   template<typename Derived>
   class MotionBase;
   template<typename Derived>
diff --git a/include/pinocchio/spatial/se3-base.hpp b/include/pinocchio/spatial/se3-base.hpp
index 97304ffb33..2d14cbdf46 100644
--- a/include/pinocchio/spatial/se3-base.hpp
+++ b/include/pinocchio/spatial/se3-base.hpp
@@ -214,6 +214,16 @@ namespace pinocchio
       derived().normalized();
     }
 
+    ExprType expr()
+    {
+      return derived().expr_impl();
+    }
+
+    ConstExprType const_expr() const
+    {
+      return derived().const_expr_impl();
+    }
+
   }; // struct SE3Base
 
 } // namespace pinocchio
diff --git a/include/pinocchio/spatial/se3-expr-base.hpp b/include/pinocchio/spatial/se3-expr-base.hpp
new file mode 100644
index 0000000000..b45d13decb
--- /dev/null
+++ b/include/pinocchio/spatial/se3-expr-base.hpp
@@ -0,0 +1,168 @@
+//
+// Copyright (c) 2025 INRIA
+//
+
+#ifndef __pinocchio_spatial_se3_expr_base_hpp__
+#define __pinocchio_spatial_se3_expr_base_hpp__
+
+namespace pinocchio
+{
+  // Forward declaration
+  // TODO: This should go into spatial/fwd.hpp but because of a strange include path
+  // in context/cppadcg.hpp we can include se3.hpp without including spatial/fwd.hpp first.
+  template<typename Derived>
+  struct SE3ExprBase;
+  template<typename Derived>
+  struct SE3ExprNoalias;
+  template<typename RotProduct, typename TransProduct>
+  struct SE3ExprProduct;
+  template<typename RotProduct, typename TransProduct>
+  SE3ExprProduct<RotProduct, TransProduct>
+  make_se3_expr_product(RotProduct rot_prod, TransProduct trans_prod);
+
+// Forward traits typedef
+#define PINOCCHIO_SE3_EXPR_TYPEDEF_TPL(Derived)                                                    \
+  typedef typename traits<Derived>::Scalar Scalar;                                                 \
+  typedef typename traits<Derived>::AngularType AngularType;                                       \
+  typedef typename traits<Derived>::LinearType LinearType;                                         \
+  typedef typename traits<Derived>::AngularRef AngularRef;                                         \
+  typedef typename traits<Derived>::LinearRef LinearRef;                                           \
+  typedef typename traits<Derived>::ConstAngularRef ConstAngularRef;                               \
+  typedef typename traits<Derived>::ConstLinearRef ConstLinearRef;                                 \
+  typedef typename traits<Derived>::PlainType PlainType;                                           \
+  enum                                                                                             \
+  {                                                                                                \
+    Options = traits<Derived>::Options,                                                            \
+  }
+
+  // Use Eigen3 expression to optimize SE3 operations.
+  template<typename Derived>
+  struct SE3ExprBase
+  {
+    PINOCCHIO_SE3_EXPR_TYPEDEF_TPL(Derived);
+
+    Derived & derived()
+    {
+      return *static_cast<Derived *>(this);
+    }
+    const Derived & derived() const
+    {
+      return *static_cast<const Derived *>(this);
+    }
+
+    ConstAngularRef rotation() const
+    {
+      return derived().rotation_impl();
+    }
+    ConstLinearRef translation() const
+    {
+      return derived().translation_impl();
+    }
+    AngularRef rotation()
+    {
+      return derived().rotation_impl();
+    }
+    LinearRef translation()
+    {
+      return derived().translation_impl();
+    }
+
+    template<typename OtherDerived>
+    auto operator*(const SE3ExprBase<OtherDerived> & other) const
+    {
+      return make_se3_expr_product(
+        rotation() * other.rotation(), translation() + rotation() * other.translation());
+    }
+
+    template<typename OtherDerived>
+    Derived & operator=(const SE3ExprBase<OtherDerived> & other)
+    {
+      rotation() = other.rotation();
+      translation() = other.translation();
+      return derived();
+    }
+
+    SE3ExprNoalias<Derived> noalias()
+    {
+      return SE3ExprNoalias<Derived>(derived());
+    }
+  };
+
+  // SE3Noalias use noalias in operator=
+  template<typename Derived>
+  struct SE3ExprNoalias
+  {
+    SE3ExprNoalias(Derived & expr)
+    : expr(expr)
+    {
+    }
+
+    template<typename OtherDerived>
+    Derived & operator=(const SE3ExprBase<OtherDerived> & other)
+    {
+      expr.rotation().noalias() = other.rotation();
+      expr.translation().noalias() = other.translation();
+      return expr;
+    }
+
+    Derived & expr;
+  };
+
+  template<typename RotProduct, typename TransProduct>
+  struct traits<SE3ExprProduct<RotProduct, TransProduct>>
+  {
+    enum
+    {
+      Options = 0
+    };
+    typedef double Scalar;
+    typedef RotProduct AngularType;
+    typedef RotProduct & AngularRef;
+    typedef const RotProduct & ConstAngularRef;
+    typedef TransProduct LinearType;
+    typedef TransProduct & LinearRef;
+    typedef const TransProduct & ConstLinearRef;
+    typedef SE3ExprProduct<RotProduct, TransProduct> PlainType;
+  };
+
+  template<typename RotProduct, typename TransProduct>
+  struct SE3ExprProduct : SE3ExprBase<SE3ExprProduct<RotProduct, TransProduct>>
+  {
+    PINOCCHIO_SE3_EXPR_TYPEDEF_TPL(SE3ExprProduct);
+
+    SE3ExprProduct(RotProduct rot_prod, TransProduct trans_prod)
+    : rot_prod(rot_prod)
+    , trans_prod(trans_prod)
+    {
+    }
+
+    ConstAngularRef rotation_impl() const
+    {
+      return rot_prod;
+    }
+    ConstLinearRef translation_impl() const
+    {
+      return trans_prod;
+    }
+    AngularRef rotation_impl()
+    {
+      return rot_prod;
+    }
+    LinearRef translation_impl()
+    {
+      return trans_prod;
+    }
+
+    RotProduct rot_prod;
+    TransProduct trans_prod;
+  };
+
+  template<typename RotProduct, typename TransProduct>
+  inline SE3ExprProduct<RotProduct, TransProduct>
+  make_se3_expr_product(RotProduct rot_prod, TransProduct trans_prod)
+  {
+    return SE3ExprProduct<RotProduct, TransProduct>(rot_prod, trans_prod);
+  }
+} // namespace pinocchio
+
+#endif // __pinocchio_spatial_se3_expr_base_hpp__
diff --git a/include/pinocchio/spatial/se3-tpl.hpp b/include/pinocchio/spatial/se3-tpl.hpp
index 8eabc5742d..21b5fc80b5 100644
--- a/include/pinocchio/spatial/se3-tpl.hpp
+++ b/include/pinocchio/spatial/se3-tpl.hpp
@@ -17,6 +17,14 @@
 
 namespace pinocchio
 {
+  // Forward declarations
+  // TODO: This should go into spatial/fwd.hpp but because of a strange include path
+  // in context/cppadcg.hpp we can include se3.hpp without including spatial/fwd.hpp first.
+  template<typename _Scalar, int _Options>
+  struct SE3TplExpr;
+  template<typename _Scalar, int _Options>
+  struct SE3TplConstExpr;
+
   template<typename _Scalar, int _Options>
   struct traits<SE3Tpl<_Scalar, _Options>>
   {
@@ -42,6 +50,8 @@ namespace pinocchio
     typedef Matrix6 ActionMatrixType;
     typedef Matrix4 HomogeneousMatrixType;
     typedef SE3Tpl<Scalar, Options> PlainType;
+    typedef SE3TplExpr<Scalar, Options> ExprType;
+    typedef SE3TplConstExpr<Scalar, Options> ConstExprType;
   }; // traits SE3Tpl
 
   template<typename _Scalar, int _Options>
@@ -404,6 +414,16 @@ namespace pinocchio
       return res;
     }
 
+    ExprType expr_impl()
+    {
+      return ExprType(*this);
+    }
+
+    ConstExprType const_expr_impl() const
+    {
+      return ConstExprType(*this);
+    }
+
     ///
     /// \brief Linear interpolation on the SE3 manifold.
     ///
@@ -451,6 +471,102 @@ namespace pinocchio
 
   } // namespace internal
 
+  template<typename _Scalar, int _Options>
+  struct traits<SE3TplExpr<_Scalar, _Options>>
+  {
+    enum
+    {
+      Options = 0
+    };
+    typedef _Scalar Scalar;
+    typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
+    typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3;
+    typedef Matrix3 AngularType;
+    typedef Matrix3 & AngularRef;
+    typedef const Matrix3 & ConstAngularRef;
+    typedef Vector3 LinearType;
+    typedef Vector3 & LinearRef;
+    typedef const Vector3 & ConstLinearRef;
+    typedef SE3Tpl<Scalar, Options> PlainType;
+  };
+
+  template<typename _Scalar, int _Options>
+  struct SE3TplExpr : SE3ExprBase<SE3TplExpr<_Scalar, _Options>>
+  {
+    PINOCCHIO_SE3_EXPR_TYPEDEF_TPL(SE3TplExpr);
+
+    SE3TplExpr(PlainType & se3)
+    : se3(se3)
+    {
+    }
+
+    ConstAngularRef rotation_impl() const
+    {
+      return se3.rotation();
+    }
+    ConstLinearRef translation_impl() const
+    {
+      return se3.translation();
+    }
+    AngularRef rotation_impl()
+    {
+      return se3.rotation();
+    }
+    LinearRef translation_impl()
+    {
+      return se3.translation();
+    }
+
+    template<typename OtherDerived>
+    SE3TplExpr & operator=(const SE3ExprBase<OtherDerived> & other)
+    {
+      return SE3ExprBase<SE3TplExpr>::operator=(other);
+    }
+
+    PlainType & se3;
+  };
+
+  template<typename _Scalar, int _Options>
+  struct traits<SE3TplConstExpr<_Scalar, _Options>>
+  {
+    enum
+    {
+      Options = 0
+    };
+    typedef _Scalar Scalar;
+    typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
+    typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3;
+    typedef Matrix3 AngularType;
+    typedef Matrix3 & AngularRef;
+    typedef const Matrix3 & ConstAngularRef;
+    typedef Vector3 LinearType;
+    typedef Vector3 & LinearRef;
+    typedef const Vector3 & ConstLinearRef;
+    typedef SE3Tpl<Scalar, Options> PlainType;
+  };
+
+  template<typename _Scalar, int _Options>
+  struct SE3TplConstExpr : SE3ExprBase<SE3TplConstExpr<_Scalar, _Options>>
+  {
+    PINOCCHIO_SE3_EXPR_TYPEDEF_TPL(SE3TplConstExpr);
+
+    SE3TplConstExpr(const PlainType & se3)
+    : se3(se3)
+    {
+    }
+
+    ConstAngularRef rotation_impl() const
+    {
+      return se3.rotation();
+    }
+    ConstLinearRef translation_impl() const
+    {
+      return se3.translation();
+    }
+
+    const PlainType & se3;
+  };
+
 } // namespace pinocchio
 
 #endif // ifndef __pinocchio_spatial_se3_tpl_hpp__
diff --git a/include/pinocchio/spatial/se3.hpp b/include/pinocchio/spatial/se3.hpp
index 19aee1eb31..544d11250a 100644
--- a/include/pinocchio/spatial/se3.hpp
+++ b/include/pinocchio/spatial/se3.hpp
@@ -19,6 +19,8 @@
   typedef TYPENAME traits<Derived>::ActionMatrixType ActionMatrixType;                             \
   typedef TYPENAME traits<Derived>::HomogeneousMatrixType HomogeneousMatrixType;                   \
   typedef TYPENAME traits<Derived>::PlainType PlainType;                                           \
+  typedef TYPENAME traits<Derived>::ExprType ExprType;                                             \
+  typedef TYPENAME traits<Derived>::ConstExprType ConstExprType;                                   \
   enum                                                                                             \
   {                                                                                                \
     Options = traits<Derived>::Options,                                                            \
@@ -44,6 +46,7 @@ namespace pinocchio
 } // namespace pinocchio
 
 #include "pinocchio/spatial/se3-base.hpp"
+#include "pinocchio/spatial/se3-expr-base.hpp"
 #include "pinocchio/spatial/se3-tpl.hpp"
 
 #endif // ifndef __pinocchio_spatial_se3_hpp__
diff --git a/pixi.lock b/pixi.lock
index 4188cb594c..29ea3e9534 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1339,10 +1339,1488 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/zeromq-4.3.5-ha9f60a1_7.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/zlib-1.3.1-h2466b09_2.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda
-  all-clang-cl:
+  all-benchmark:
     channels:
     - url: https://conda.anaconda.org/conda-forge/
     packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/_x86_64-microarch-level-1-2_x86_64.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.13-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-asl-1.0.0-h5888daf_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-3.0.0-pyhd8ed1ab_1.conda
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@@ -19856,8 +20321,6 @@ packages:
   - __osx >=10.13
   - python >=3.9,<3.10.0a0
   - python_abi 3.9.* *_cp39
-  arch: x86_64
-  platform: osx
   license: Apache-2.0
   license_family: Apache
   size: 364198
@@ -19870,8 +20333,6 @@ packages:
   - python >=3.12,<3.13.0a0
   - python >=3.12,<3.13.0a0 *_cpython
   - python_abi 3.12.* *_cp312
-  arch: arm64
-  platform: osx
   license: Apache-2.0
   license_family: Apache
   size: 372492
@@ -19884,8 +20345,6 @@ packages:
   - python >=3.9,<3.10.0a0
   - python >=3.9,<3.10.0a0 *_cpython
   - python_abi 3.9.* *_cp39
-  arch: arm64
-  platform: osx
   license: Apache-2.0
   license_family: Apache
   size: 373638
@@ -19899,8 +20358,6 @@ packages:
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
-  arch: x86_64
-  platform: win
   license: Apache-2.0
   license_family: Apache
   size: 365482
@@ -19914,8 +20371,6 @@ packages:
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
-  arch: x86_64
-  platform: win
   license: Apache-2.0
   license_family: Apache
   size: 365699
@@ -19930,8 +20385,6 @@ packages:
   - libstdcxx >=13
   - tinyxml2 >=10.0.0,<11.0a0
   - urdfdom_headers
-  arch: x86_64
-  platform: linux
   license: BSD-3-Clause
   license_family: BSD
   size: 107840
@@ -19945,8 +20398,6 @@ packages:
   - libcxx >=17
   - tinyxml2 >=10.0.0,<11.0a0
   - urdfdom_headers
-  arch: x86_64
-  platform: osx
   license: BSD-3-Clause
   license_family: BSD
   size: 93387
@@ -19960,8 +20411,6 @@ packages:
   - libcxx >=17
   - tinyxml2 >=10.0.0,<11.0a0
   - urdfdom_headers
-  arch: arm64
-  platform: osx
   license: BSD-3-Clause
   license_family: BSD
   size: 93591
@@ -19976,8 +20425,6 @@ packages:
   - urdfdom_headers
   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
-  arch: x86_64
-  platform: win
   license: BSD-3-Clause
   license_family: BSD
   size: 94662
@@ -19989,8 +20436,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - libstdcxx >=13
-  arch: x86_64
-  platform: linux
   license: BSD-3-Clause
   license_family: BSD
   size: 19201
@@ -20001,8 +20446,6 @@ packages:
   depends:
   - __osx >=10.13
   - libcxx >=17
-  arch: x86_64
-  platform: osx
   license: BSD-3-Clause
   license_family: BSD
   size: 19297
@@ -20013,8 +20456,6 @@ packages:
   depends:
   - __osx >=11.0
   - libcxx >=17
-  arch: arm64
-  platform: osx
   license: BSD-3-Clause
   license_family: BSD
   size: 19265
@@ -20026,8 +20467,6 @@ packages:
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
-  arch: x86_64
-  platform: win
   license: BSD-3-Clause
   license_family: BSD
   size: 19489
@@ -20037,8 +20476,6 @@ packages:
   md5: 7c10ec3158d1eb4ddff7007c9101adb0
   depends:
   - vc14_runtime >=14.38.33135
-  arch: x86_64
-  platform: win
   track_features:
   - vc14
   license: BSD-3-Clause
@@ -20052,8 +20489,6 @@ packages:
   - ucrt >=10.0.20348.0
   constrains:
   - vs2015_runtime 14.42.34433.* *_23
-  arch: x86_64
-  platform: win
   license: LicenseRef-MicrosoftVisualCpp2015-2022Runtime
   license_family: Proprietary
   size: 754247
@@ -20075,8 +20510,6 @@ packages:
   md5: 5c176975ca2b8366abad3c97b3cd1e83
   depends:
   - vc14_runtime >=14.42.34433
-  arch: x86_64
-  platform: win
   license: BSD-3-Clause
   license_family: BSD
   size: 17572
@@ -20088,8 +20521,6 @@ packages:
   - vswhere
   constrains:
   - vs_win-64 2019.11
-  arch: x86_64
-  platform: win
   track_features:
   - vc14
   license: BSD-3-Clause
@@ -20099,8 +20530,6 @@ packages:
 - conda: https://conda.anaconda.org/conda-forge/win-64/vswhere-3.1.7-h57928b3_0.conda
   sha256: 8caeda9c0898cb8ee2cf4f45640dbbbdf772ddc01345cfb0f7b352c58b4d8025
   md5: ba83df93b48acfc528f5464c9a882baa
-  arch: x86_64
-  platform: win
   license: MIT
   license_family: MIT
   size: 219013
@@ -20114,8 +20543,6 @@ packages:
   - libffi >=3.4,<4.0a0
   - libgcc-ng >=13
   - libstdcxx-ng >=13
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 321561
@@ -20135,8 +20562,6 @@ packages:
   depends:
   - libgcc-ng >=12
   - libxcb >=1.16,<2.0.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 19965
@@ -20151,8 +20576,6 @@ packages:
   - libxcb >=1.16,<2.0.0a0
   - xcb-util-image >=0.4.0,<0.5.0a0
   - xcb-util-renderutil >=0.3.10,<0.4.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 20296
@@ -20164,8 +20587,6 @@ packages:
   - libgcc-ng >=12
   - libxcb >=1.16,<2.0.0a0
   - xcb-util >=0.4.1,<0.5.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 24551
@@ -20176,8 +20597,6 @@ packages:
   depends:
   - libgcc-ng >=12
   - libxcb >=1.16,<2.0.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 14314
@@ -20188,8 +20607,6 @@ packages:
   depends:
   - libgcc-ng >=12
   - libxcb >=1.16,<2.0.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 16978
@@ -20200,8 +20617,6 @@ packages:
   depends:
   - libgcc-ng >=12
   - libxcb >=1.16,<2.0.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 51689
@@ -20213,8 +20628,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 389475
@@ -20225,8 +20638,6 @@ packages:
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 58628
@@ -20239,8 +20650,6 @@ packages:
   - libgcc >=13
   - libuuid >=2.38.1,<3.0a0
   - xorg-libice >=1.1.2,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 27198
@@ -20252,8 +20661,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - libxcb >=1.17.0,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 837524
@@ -20264,8 +20671,6 @@ packages:
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 14780
@@ -20275,8 +20680,6 @@ packages:
   md5: 4cf40e60b444d56512a64f39d12c20bd
   depends:
   - __osx >=10.13
-  arch: x86_64
-  platform: osx
   license: MIT
   license_family: MIT
   size: 13290
@@ -20286,8 +20689,6 @@ packages:
   md5: 50901e0764b7701d8ed7343496f4f301
   depends:
   - __osx >=11.0
-  arch: arm64
-  platform: osx
   license: MIT
   license_family: MIT
   size: 13593
@@ -20299,8 +20700,6 @@ packages:
   - libgcc >=13
   - libwinpthread >=12.0.0.r4.gg4f2fc60ca
   - ucrt >=10.0.20348.0
-  arch: x86_64
-  platform: win
   license: MIT
   license_family: MIT
   size: 108013
@@ -20313,8 +20712,6 @@ packages:
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxfixes >=6.0.1,<7.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 13603
@@ -20328,8 +20725,6 @@ packages:
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxfixes >=6.0.1,<7.0a0
   - xorg-libxrender >=0.9.11,<0.10.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 32533
@@ -20343,8 +20738,6 @@ packages:
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - xorg-libxfixes >=6.0.1,<7.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 13217
@@ -20355,8 +20748,6 @@ packages:
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 19901
@@ -20366,8 +20757,6 @@ packages:
   md5: 9f438e1b6f4e73fd9e6d78bfe7c36743
   depends:
   - __osx >=10.13
-  arch: x86_64
-  platform: osx
   license: MIT
   license_family: MIT
   size: 18465
@@ -20377,8 +20766,6 @@ packages:
   md5: 77c447f48cab5d3a15ac224edb86a968
   depends:
   - __osx >=11.0
-  arch: arm64
-  platform: osx
   license: MIT
   license_family: MIT
   size: 18487
@@ -20390,8 +20777,6 @@ packages:
   - libgcc >=13
   - libwinpthread >=12.0.0.r4.gg4f2fc60ca
   - ucrt >=10.0.20348.0
-  arch: x86_64
-  platform: win
   license: MIT
   license_family: MIT
   size: 69920
@@ -20403,8 +20788,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 50060
@@ -20416,8 +20799,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 19575
@@ -20431,8 +20812,6 @@ packages:
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - xorg-libxfixes >=6.0.1,<7.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 47179
@@ -20446,8 +20825,6 @@ packages:
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - xorg-libxrender >=0.9.11,<0.10.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 29599
@@ -20459,8 +20836,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 33005
@@ -20474,8 +20849,6 @@ packages:
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - xorg-libxi >=1.7.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 32808
@@ -20488,8 +20861,6 @@ packages:
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 17819
@@ -20504,8 +20875,6 @@ packages:
   - liblzma-devel 5.6.3 hb9d3cd8_1
   - xz-gpl-tools 5.6.3 hbcc6ac9_1
   - xz-tools 5.6.3 hb9d3cd8_1
-  arch: x86_64
-  platform: linux
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
   size: 23477
   timestamp: 1733407455801
@@ -20516,8 +20885,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - liblzma 5.6.3 hb9d3cd8_1
-  arch: x86_64
-  platform: linux
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
   size: 33354
   timestamp: 1733407444641
@@ -20528,8 +20895,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - liblzma 5.6.3 hb9d3cd8_1
-  arch: x86_64
-  platform: linux
   license: 0BSD AND LGPL-2.1-or-later
   size: 90354
   timestamp: 1733407433418
@@ -20538,8 +20903,6 @@ packages:
   md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae
   depends:
   - libgcc-ng >=9.4.0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 89141
@@ -20547,8 +20910,6 @@ packages:
 - conda: https://conda.anaconda.org/conda-forge/osx-64/yaml-0.2.5-h0d85af4_2.tar.bz2
   sha256: 5301417e2c8dea45b401ffee8df3957d2447d4ce80c83c5ff151fc6bfe1c4148
   md5: d7e08fcf8259d742156188e8762b4d20
-  arch: x86_64
-  platform: osx
   license: MIT
   license_family: MIT
   size: 84237
@@ -20556,8 +20917,6 @@ packages:
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/yaml-0.2.5-h3422bc3_2.tar.bz2
   sha256: 93181a04ba8cfecfdfb162fc958436d868cc37db504c58078eab4c1a3e57fbb7
   md5: 4bb3f014845110883a3c5ee811fd84b4
-  arch: arm64
-  platform: osx
   license: MIT
   license_family: MIT
   size: 88016
@@ -20568,8 +20927,6 @@ packages:
   depends:
   - vc >=14.1,<15.0a0
   - vs2015_runtime >=14.16.27012
-  arch: x86_64
-  platform: win
   license: MIT
   license_family: MIT
   size: 63274
@@ -20583,8 +20940,6 @@ packages:
   - libgcc >=13
   - libsodium >=1.0.20,<1.0.21.0a0
   - libstdcxx >=13
-  arch: x86_64
-  platform: linux
   license: MPL-2.0
   license_family: MOZILLA
   size: 335400
@@ -20597,8 +20952,6 @@ packages:
   - krb5 >=1.21.3,<1.22.0a0
   - libcxx >=18
   - libsodium >=1.0.20,<1.0.21.0a0
-  arch: x86_64
-  platform: osx
   license: MPL-2.0
   license_family: MOZILLA
   size: 292112
@@ -20611,8 +20964,6 @@ packages:
   - krb5 >=1.21.3,<1.22.0a0
   - libcxx >=18
   - libsodium >=1.0.20,<1.0.21.0a0
-  arch: arm64
-  platform: osx
   license: MPL-2.0
   license_family: MOZILLA
   size: 281565
@@ -20626,8 +20977,6 @@ packages:
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
-  arch: x86_64
-  platform: win
   license: MPL-2.0
   license_family: MOZILLA
   size: 2527503
@@ -20648,8 +20997,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - libzlib 1.3.1 hb9d3cd8_2
-  arch: x86_64
-  platform: linux
   license: Zlib
   license_family: Other
   size: 92286
@@ -20660,8 +21007,6 @@ packages:
   depends:
   - __osx >=10.13
   - libzlib 1.3.1 hd23fc13_2
-  arch: x86_64
-  platform: osx
   license: Zlib
   license_family: Other
   size: 88544
@@ -20672,8 +21017,6 @@ packages:
   depends:
   - __osx >=11.0
   - libzlib 1.3.1 h8359307_2
-  arch: arm64
-  platform: osx
   license: Zlib
   license_family: Other
   size: 77606
@@ -20686,8 +21029,6 @@ packages:
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
-  arch: x86_64
-  platform: win
   license: Zlib
   license_family: Other
   size: 107439
@@ -20699,8 +21040,6 @@ packages:
   - libgcc-ng >=12
   - libstdcxx-ng >=12
   - libzlib >=1.2.13,<2.0.0a0
-  arch: x86_64
-  platform: linux
   license: BSD-3-Clause
   license_family: BSD
   size: 554846
@@ -20711,8 +21050,6 @@ packages:
   depends:
   - __osx >=10.9
   - libzlib >=1.2.13,<2.0.0a0
-  arch: x86_64
-  platform: osx
   license: BSD-3-Clause
   license_family: BSD
   size: 498900
@@ -20723,8 +21060,6 @@ packages:
   depends:
   - __osx >=11.0
   - libzlib >=1.2.13,<2.0.0a0
-  arch: arm64
-  platform: osx
   license: BSD-3-Clause
   license_family: BSD
   size: 405089
@@ -20737,8 +21072,6 @@ packages:
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
-  arch: x86_64
-  platform: win
   license: BSD-3-Clause
   license_family: BSD
   size: 349143
diff --git a/pixi.toml b/pixi.toml
index 5a7a603903..c9c17ec413 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -55,6 +55,7 @@ configure = { cmd = [
   "-DBUILD_WITH_CODEGEN_SUPPORT=$PINOCCHIO_CODEGEN_SUPPORT",
   "-DBUILD_WITH_SDF_SUPPORT=$PINOCCHIO_SDF_SUPPORT",
   "-DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=$PINOCCHIO_MPFR_SUPPORT",
+  "-DBUILD_BENCHMARK=$PINOCCHIO_BUILD_BENCHMARK",
 ] }
 build = { cmd = "cmake --build build --target all", depends_on = ["configure"] }
 clean = { cmd = "rm -rf build" }
@@ -97,6 +98,10 @@ release_new_version = { cmd = "VERSION=$PINOCCHIO_VERSION cmake --build build_ne
 dependencies = { pre-commit = ">=3.6.2" }
 tasks = { lint = { cmd = "pre-commit run --all" } }
 
+[feature.benchmark]
+dependencies = { benchmark = ">=1.9.1" }
+activation = { env = { PINOCCHIO_BUILD_BENCHMARK = "ON" } }
+
 [feature.collision]
 dependencies = { hpp-fcl = ">=2.4" }
 activation = { env = { PINOCCHIO_COLLISION_SUPPORT = "ON" } }
@@ -169,6 +174,7 @@ dependencies = { clangxx = "*" }
 default = { features = ["py312"], solve-group = "py312" }
 clang = { features = ["clang", "py312"] }
 lint = { features = ["lint"], solve-group = "py312" }
+benchmark = { features = ["benchmark", "py312"] }
 collision = { features = ["collision", "py312"], solve-group = "py312" }
 accelerate = { features = ["accelerate", "py312"], solve-group = "py312" }
 casadi = { features = ["casadi", "py312"], solve-group = "py312" }
@@ -215,6 +221,18 @@ all-clang-cl = { features = [
   "clang-cl",
   "py312",
 ], solve-group = "py312" }
+all-benchmark = { features = [
+  "collision",
+  "casadi",
+  "autodiff",
+  "extra",
+  "openmp",
+  "codegen",
+  "mpfr",
+  "sdf",
+  "benchmark",
+  "py312",
+], solve-group = "py312" }
 # Release a new software version
 new-version = { features = [
   "new-version",
diff --git a/sources.cmake b/sources.cmake
index f8cd400628..f4a6a2def8 100644
--- a/sources.cmake
+++ b/sources.cmake
@@ -270,6 +270,7 @@ set(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
     ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-tpl.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-zero.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3-base.hpp
+    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3-expr-base.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3-tpl.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/skew.hpp
diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp
index 65cb9b9279..3679c94090 100644
--- a/unittest/spatial.cpp
+++ b/unittest/spatial.cpp
@@ -116,6 +116,25 @@ BOOST_AUTO_TEST_CASE(test_SE3)
   }
 }
 
+BOOST_AUTO_TEST_CASE(test_SE3_expr)
+{
+  using namespace pinocchio;
+
+  SE3 amb = SE3::Random();
+  SE3 bmc = SE3::Random();
+
+  SE3 amc_expected;
+  SE3 amc_expr;
+  SE3 amc_expr_noalias;
+
+  amc_expected = amb * bmc;
+  amc_expr.expr() = amb.const_expr() * bmc.const_expr();
+  amc_expr_noalias.expr().noalias() = amb.const_expr() * bmc.const_expr();
+
+  BOOST_CHECK(amc_expected.toActionMatrix().isApprox(amc_expr.toActionMatrix()));
+  BOOST_CHECK(amc_expected.toActionMatrix().isApprox(amc_expr_noalias.toActionMatrix()));
+}
+
 BOOST_AUTO_TEST_CASE(test_Motion)
 {
   using namespace pinocchio;