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Viewing Publication 1 - 100 from 164

2025

Scalable Multi-Robot Cooperation for Multi-Goal Tasks Using Reinforcement LearningTianxu An, Joonho Lee, Marko Bjelonic, Flavio De Vincenti, Marco Hutter 0001. ral, 10(2):1585-1592, February 2025. [doi]

Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy AccelerometersJulien Kindle, Michael Loetscher, Andrea Alessandretti, César Cadena 0001, Marco Hutter 0001. ral, 10(1):288-295, January 2025. [doi]

2024

27 Years of Climbing and Walking Robots - Are We There?Marco Hutter 0001. clawar 2024: 4 [doi]

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion ControllersFan Shi 0002, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter 0001, Stelian Coros. rss 2024: [doi]

Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's LegPhilip Arm, Mayank Mittal, Hendrik Kolvenbach, Marco Hutter 0001. icra 2024: 5717-5723 [doi]

A framework for collaborative multi-robot mapping using spectral graph waveletsLukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter 0001, César Cadena 0001. ijrr, 43(13):2070-2088, 2024. [doi]

Data-Efficient Task Generalization via Probabilistic Model-Based Meta Reinforcement LearningArjun Bhardwaj, Jonas Rothfuss, Bhavya Sukhija, Yarden As, Marco Hutter 0001, Stelian Coros, Andreas Krause 0001. ral, 9(4):3918-3925, 2024. [doi]

Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and NavigationJiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter 0001. ral, 9(11):9279-9286, November 2024. [doi]

ANYmal parkour: Learning agile navigation for quadrupedal robotsDavid Hoeller, Nikita Rudin, Dhionis V. Sako, Marco Hutter 0001. scirobotics, 9(88), 2024. [doi]

Motion Primitives Planning For Center-Articulated VehiclesJiangpeng Hu, Fan Yang 0092, Fang Nan, Marco Hutter 0001. iros 2024: 12702-12709 [doi]

DTC: Deep Tracking ControlFabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter 0001. scirobotics, 9(86), January 2024. [doi]

Exploring Constrained Reinforcement Learning Algorithms for Quadrupedal LocomotionJoonho Lee, Lukas Schroth, Victor Klemm, Marko Bjelonic, Alexander Reske, Marco Hutter 0001. iros 2024: 11132-11138 [doi]

Learning robust autonomous navigation and locomotion for wheeled-legged robotsJoonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter 0001. scirobotics, 9(89), 2024. [doi]

Magnecko: Design and Control of a Quadrupedal Magnetic Climbing RobotStefan Leuthard, Timo Eugster, Nicolas Faesch, Riccardo Feingold, Connor Flynn, Michael Fritsche, Nicolas Hürlimann, Elena Morbach, Fabian Tischhauser, Matthias Müller, Markus Montenegro, Valerio Schelbert, Jia-Ruei Chiu, Philip Arm, Marco Hutter 0001. clawar 2024: 55-67 [doi]

Learning to walk in confined spaces using 3D representationTakahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter 0001. icra 2024: 8649-8656 [doi]

Symmetry Considerations for Learning Task Symmetric Robot PoliciesMayank Mittal, Nikita Rudin, Victor Klemm, Arthur Allshire, Marco Hutter 0001. icra 2024: 7433-7439 [doi]

Learning Adaptive Controller for Hydraulic Machinery AutomationFang Nan, Marco Hutter 0001. ral, 9(4):3972-3979, 2024. [doi]

RoadRunner M&M - Learning Multi-Range Multi-Resolution Traversability Maps for Autonomous Off-Road NavigationManthan Patel, Jonas Frey, Deegan Atha, Patrick Spieler, Marco Hutter 0001, Shehryar Khattak. ral, 9(12):11425-11432, December 2024. [doi]

ViPlanner: Visual Semantic Imperative Learning for Local NavigationPascal Roth, Julian Nubert, Fan Yang 0092, Mayank Mittal, Marco Hutter 0001. icra 2024: 5243-5249 [doi]

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement LearningLukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter 0001. icra 2024: 11451-11458 [doi]

IN-Sight: Interactive Navigation through SightPhilipp Schoch, Fan Yang 0092, Yuntao Ma, Stefan Leutenegger, Marco Hutter 0001, Quentin Leboutet. iros 2024: 7794-7800 [doi]

Global Path Planning for Autonomous Vehicles in Orchards and VineyardsTimo Schönegg, Turcan Tuna, Fan Yang 0092, Gabriel Waibel, Matías Mattamala, Marco Hutter 0001. romoco 2024: 1-8 [doi]

Guided Reinforcement Learning for Robust Multi-Contact Loco-ManipulationJean-Pierre Sleiman, Mayank Mittal, Marco Hutter 0001. corl 2024: 531-546 [doi]

Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated ToolsFilippo A. Spinelli, Pascal Egli, Julian Nubert, Fang Nan, Thilo Bleumer, Patrick Goegler, Stephan Brockes, Ferdinand Hofmann, Marco Hutter 0001. iros 2024: 12694-12701 [doi]

SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial BodiesAlexander Spiridonov, Fabio Buehler, Moriz Berclaz, Valerio Schelbert, Jorit Geurts, Elena Krasnova, Emma Steinke, Jonas Toma, Joschua Wuethrich, Recep Polat, Wim Zimmermann, Philip Arm, Nikita Rudin, Hendrik Kolvenbach, Marco Hutter 0001. icra 2024: 3464-3470 [doi]

Perceptive Pedipulation with Local Obstacle AvoidanceJonas Stolle, Philip Arm, Mayank Mittal, Marco Hutter 0001. humanoids 2024: 157-164 [doi]

Fast Perception for Human-Robot Handovers with Legged ManipulatorsAndreea Tulbure, Firas Abi-Farraj, Marco Hutter 0001. hri 2024: 734-742 [doi]

X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme EnvironmentsTurcan Tuna, Julian Nubert, Yoshua Nava, Shehryar Khattak, Marco Hutter 0001. trob, 40:452-471, 2024. [doi]

Accurate power consumption estimation method makes walking robots energy efficient and quietGiorgio Valsecchi, Andrea Vicari, Fabian Tischhauser, Manolo Garabini, Marco Hutter 0001. iros 2024: 13282-13288 [doi]

Dynamic Throwing with Robotic Material Handling MachinesLennart Werner, Fang Nan, Pol Eyschen, Filippo A. Spinelli, Hongyi Yang, Marco Hutter 0001. iros 2024: 98-104 [doi]

Radiance Fields for Robotic TeleoperationMaximum Wilder-Smith, Vaishakh Patil, Marco Hutter 0001. iros 2024: 13861-13868 [doi]

TULIP: Transformer for Upsampling of LiDAR Point CloudsBin Yang, Patrick Pfreundschuh, Roland Siegwart, Marco Hutter 0001, Peyman Moghadam, Vaishakh Patil. cvpr 2024: 15354-15364 [doi]

Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language ModelsMike Zhang, Kaixian Qu, Vaishakh Patil, Cesar Cadena 0001, Marco Hutter 0001. corl 2024: 2120-2146 [doi]

Learning to Open and Traverse Doors with a Legged ManipulatorMike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter 0001. corl 2024: 2913-2927 [doi]

Learning Agile Locomotion on Risky TerrainsChong Zhang, Nikita Rudin, David Hoeller, Marco Hutter 0001. iros 2024: 11864-11871 [doi]

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-EndChong Zhang, Jin Jin, Jonas Frey, Nikita Rudin, Matías Mattamala, César Cadena 0001, Marco Hutter 0001. icra 2024: 34-41 [doi]

ICGNet: A Unified Approach for Instance-Centric GraspingRené Zurbrügg, Yifan Liu 0001, Francis Engelmann, Suryansh Kumar 0001, Marco Hutter 0001, Vaishakh Patil, Fisher Yu 0001. icra 2024: 4140-4146 [doi]

2023

Robotic Monitoring of Habitats: The Natural Intelligence ApproachFranco Angelini, Pierangela Angelini, Claudia Angiolini, Simonetta Bagella, Fabio Bonomo, Marco Caccianiga, Cosimo Della Santina, Daniela Gigante, Marco Hutter 0001, Thrishantha Nanayakkara, Paolo Remagnino, Diego Torricelli, Manolo Garabini. access, 11:72575-72591, 2023. [doi]

Bayesian Multi-Task Learning MPC for Robotic Mobile ManipulationElena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter 0001, Melanie N. Zeilinger. ral, 8(6):3222-3229, June 2023. [doi]

Scientific exploration of challenging planetary analog environments with a team of legged robotsPhilip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Tertius Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Marco Hutter 0001. scirobotics, 8(80), July 2023. [doi]

Learning-Based Design and Control for Quadrupedal Robots With Parallel-Elastic ActuatorsFilip Bjelonic, Joonho Lee, Philip Arm, Dhionis V. Sako, Davide Tateo, Jan Peters 0001, Marco Hutter 0001. ral, 8(3):1611-1618, March 2023. [doi]

SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging EnvironmentsChangan Chen, Jonas Frey, Philip Arm, Marco Hutter 0001. ral, 8(11):7170-7177, November 2023. [doi]

MEM: Multi-Modal Elevation Mapping for Robotics and LearningGian Erni, Jonas Frey, Takahiro Miki, Matías Mattamala, Marco Hutter 0001. iros 2023: 11011-11018 [doi]

Event-based Agile Object Catching with a Quadrupedal RobotBenedek Forrai, Takahiro Miki, Daniel Gehrig, Marco Hutter 0001, Davide Scaramuzza 0001. icra 2023: 12177-12183 [doi]

Fast Traversability Estimation for Wild Visual NavigationJonas Frey, Matías Mattamala, Nived Chebrolu, Cesar Cadena 0001, Maurice F. Fallon, Marco Hutter 0001. rss 2023: [doi]

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged RobotsRuben Grandia, Farbod Farshidian, Espen Knoop, Christian Schumacher, Marco Hutter 0001, Moritz Bächer. tog, 42(4), August 2023. [doi]

Perceptive Locomotion Through Nonlinear Model-Predictive ControlRuben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter 0001. trob, 39(5):3402-3421, October 2023. [doi]

LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled SystemsEdo Jelavic, Kaixian Qu, Farbod Farshidian, Marco Hutter 0001. trob, 39(6):4190-4210, December 2023. [doi]

A framework for robotic excavation and dry stone construction using on-site materialsRyan Luke Johns, Martin Wermelinger, Ruben Mascaro, Dominic Jud, Ilmar Hurkxkens, Lauren Vasey, Margarita Chli, Fabio Gramazio, Matthias Kohler, Marco Hutter 0001. scirobotics, 8(84), November 2023. [doi]

PLASTR: Planning for Autonomous Sampling-Based TrowellingMads A. Kuhlmann-Jørgensen, Johannes Pankert, Lukasz L. Pietrasik, Marco Hutter 0001. ral, 8(8):5069-5076, 2023. [doi]

Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface LearningAnqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, Cesar Cadena 0001, Marco Hutter 0001. ral, 8(11):7687-7694, November 2023. [doi]

Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile ManipulatorsYuntao Ma, Farbod Farshidian, Marco Hutter 0001. icra 2023: 12149-12155 [doi]

End-Effector Pose Estimation and Control for 3D Printing with Articulated ExcavatorsGrzegorz Malczyk, Marco Hutter 0001. icar 2023: 15-20 [doi]

Orbit: A Unified Simulation Framework for Interactive Robot Learning EnvironmentsMayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter 0001, Animesh Garg. ral, 8(6):3740-3747, June 2023. [doi]

Learning Contact-Based State Estimation for Assembly TasksJohannes Pankert, Marco Hutter 0001. iros 2023: 5087-5094 [doi]

Curiosity-Driven Learning of Joint Locomotion and Manipulation TasksClemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, Marco Hutter 0001. corl 2023: 2594-2610 [doi]

Versatile multicontact planning and control for legged loco-manipulationJean-Pierre Sleiman, Farbod Farshidian, Marco Hutter 0001. scirobotics, 8(81), August 2023. [doi]

Trajectory Optimization Framework for Rehabilitation Robots With Multi-Workspace Objectives and ConstraintsMichael Sommerhalder, Yves Zimmermann, Leonardo Simovic, Marco Hutter 0001, Peter Wolf 0001, Robert Riener. ral, 8(10):6819-6826, October 2023. [doi]

Towards Legged Locomotion on Steep Planetary TerrainGiorgio Valsecchi, Cedric Weibel, Hendrik Kolvenbach, Marco Hutter 0001. iros 2023: 786-792 [doi]

Actively Variable Transmission Robotic LegGiorgio Valsecchi, Fabian Tischhauser, Jonas Junger, Yann Bernarnd, Marco Hutter 0001. clawar 2024: 40-51 [doi]

Barry: A High-Payload and Agile Quadruped RobotGiorgio Valsecchi, Nikita Rudin, Lennart Nachtigall, Konrad Mayer, Fabian Tischhauser, Marco Hutter 0001. ral, 8(11):6939-6946, November 2023. [doi]

Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement LearningEric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter 0001. icra 2023: 5120-5126 [doi]

ArtPlanner: Robust Legged Robot Navigation in the FieldLorenz Wellhausen, Marco Hutter 0001. fr, 3(1):413-434, January 2023. [doi]

iPlanner: Imperative Path PlanningFan Yang, Chen Wang 0033, Cesar Cadena 0001, Marco Hutter 0001. rss 2023: [doi]

ANYexo 2.0: A Fully Actuated Upper-Limb Exoskeleton for Manipulation and Joint-Oriented Training in All Stages of RehabilitationYves Zimmermann, Michael Sommerhalder, Peter Wolf 0001, Robert Riener, Marco Hutter 0001. trob, 39(3):2131-2150, June 2023. [doi]

Human-Robot Attachment System for Exoskeletons: Design and Performance AnalysisYves Zimmermann, Jaeyong Song, Cédric Deguelle, Julia Läderach, Lingfei Zhou, Marco Hutter 0001, Robert Riener, Peter Wolf 0001. trob, 39(4):3087-3105, August 2023. [doi]

2022

Collaborative Robot Mapping using Spectral Graph AnalysisLukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter 0001, César Cadena 0001. icra 2022: 3662-3668 [doi]

A Survey of Wheeled-Legged RobotsMarko Bjelonic, Victor Klemm, Joonho Lee, Marco Hutter 0001. clawar 2023: 83-94 [doi]

Offline motion libraries and online MPC for advanced mobility skillsMarko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian Suzano Medeiros, Vuk Pajovic, Edo Jelavic, Stelian Coros, Marco Hutter 0001. ijrr, 41(9-10):903-924, 2022. [doi]

Constrained stochastic optimal control with learned importance sampling: A path integral approachJan Carius, René Ranftl, Farbod Farshidian, Marco Hutter 0001. ijrr, 41(2):189-209, 2022. [doi]

A Collision-Free MPC for Whole-Body Dynamic Locomotion and ManipulationJia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter 0001. icra 2022: 4686-4693 [doi]

Soil-Adaptive Excavation Using Reinforcement LearningPascal Egli, Dominique Gaschen, Simon Kerscher, Dominic Jud, Marco Hutter 0001. ral, 7(4):9778-9785, 2022. [doi]

A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement LearningPascal Egli, Marco Hutter 0001. ral, 7(2):5679-5686, 2022. [doi]

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex EnvironmentsJonas Frey, David Hoeller, Shehryar Khattak, Marco Hutter 0001. iros 2022: 5722-5729 [doi]

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body DynamicsManuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter 0001, Aaron D. Ames. humanoids 2022: 622-629 [doi]

Neural Scene Representation for Locomotion on Structured TerrainDavid Hoeller, Nikita Rudin, Christopher B. Choy, Animashree Anandkumar, Marco Hutter 0001. ral, 7(4):8667-8674, 2022. [doi]

Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree HarvesterEdo Jelavic, Dominic Jud, Pascal Egli, Marco Hutter 0001. fr, 2(1):1386-1431, March 2022. [doi]

TAMOLS: Terrain-Aware Motion Optimization for Legged SystemsFabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter 0001. trob, 38(6):3395-3413, 2022. [doi]

Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal RobotHendrik Kolvenbach, Philip Arm, Elias Hampp, Alexander Dietsche, Valentin Tertius Bickel, Benjamin Sun, Christoph Meyer 0005, Marco Hutter 0001. fr, 2(1):910-939, March 2022. [doi]

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement LearningJoonho Lee, Marko Bjelonic, Marco Hutter 0001. clawar 2023: 119-127 [doi]

Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile ManipulatorsYuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter 0001. ral, 7(2):2377-2384, 2022. [doi]

Elevation Mapping for Locomotion and Navigation using GPUTakahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter 0001. iros 2022: 2273-2280 [doi]

Learning robust perceptive locomotion for quadrupedal robots in the wildTakahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter 0001. scirobotics, 7(62), 2022. [doi]

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile ManipulationMayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter 0001, Animesh Garg. iros 2022: 1647-1654 [doi]

A Reconfigurable Leg for Walking RobotsFang Nan, Hendrik Kolvenbach, Marco Hutter 0001. ral, 7(2):1308-1315, 2022. [doi]

Learning-based Localizability Estimation for Robust LiDAR LocalizationJulian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter 0001. iros 2022: 17-24 [doi]

Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction RobotsJulian Nubert, Shehryar Khattak, Marco Hutter 0001. icra 2022: 10048-10054 [doi]

Design and Motion Planning for a Reconfigurable Robotic BaseJohannes Pankert, Giorgio Valsecchi, Davide Baret, Jon Zehnder, Lukasz L. Pietrasik, Marko Bjelonic, Marco Hutter 0001. ral, 7(4):9012-9019, 2022. [doi]

Deep Measurement Updates for Bayes FiltersJohannes Pankert, Maria Vittoria Minniti, Lorenz Wellhausen, Marco Hutter 0001. ral, 7(1):414-421, 2022. [doi]

LiDAR-guided object search and detection in Subterranean EnvironmentsManthan Patel, Gabriel Waibel, Shehryar Khattak, Marco Hutter 0001. ssrr 2022: 41-46 [doi]

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic ArrangementJens Reinecke, Alexander Dietrich, Anton Shu, Bastian Deutschmann, Marco Hutter 0001. ral, 7(1):9-16, 2022. [doi]

Advanced Skills by Learning Locomotion and Local Navigation End-to-EndNikita Rudin, David Hoeller, Marko Bjelonic, Marco Hutter 0001. iros 2022: 2497-2503 [doi]

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement LearningNikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter 0001. trob, 38(1):317-328, 2022. [doi]

Self-Supervised Traversability Prediction by Learning to Reconstruct Safe TerrainRobin Schmid, Deegan Atha, Frederik Schöller, Sharmita Dey, Seyed Abolfazl Fakoorian, Kyohei Otsu, Barry Ridge, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter 0001, Ali-akbar Agha-mohammadi. iros 2022: 12419-12425 [doi]

Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised LearningMaximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter 0001. ral, 7(2):1697-1704, 2022. [doi]

Collision detection and identification for a legged manipulatorJessie van Dam, Andreea Tulbure, Maria Vittoria Minniti, Firas Abi-Farraj, Marco Hutter 0001. iros 2022: 13602-13609 [doi]

Meta Reinforcement Learning for Optimal Design of Legged RobotsÁlvaro Belmonte-Baeza, Joonho Lee, Giorgio Valsecchi, Marco Hutter 0001. ral, 7(4):12134-12141, 2022. [doi]

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