b'Marco Hutter'

research

∙ 08/22/2023

Towards Autonomous Excavation Planning

Excavation plans are crucial in construction projects, dictating the dir...

0 Lorenzo Terenzi, et al. ∙

research

∙ 08/17/2023

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

Loco-manipulation planning skills are pivotal for expanding the utility ...

0 Jean-Pierre Sleiman, et al. ∙

research

∙ 07/19/2023

Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots

The interest in exploring planetary bodies for scientific investigation ...

0 Philip Arm, et al. ∙

research

∙ 07/17/2023

RAYEN: Imposition of Hard Convex Constraints on Neural Networks

This paper presents RAYEN, a framework to impose hard convex constraints...

0 Jesus Tordesillas, et al. ∙

research

∙ 06/26/2023

ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots

Performing agile navigation with four-legged robots is a challenging tas...

0 David Hoeller, et al. ∙

research

∙ 06/08/2023

SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments

Robotic exploration or monitoring missions require mobile robots to auto...

0 Changan Chen, et al. ∙

research

∙ 05/15/2023

Fast Traversability Estimation for Wild Visual Navigation

Natural environments such as forests and grasslands are challenging for ...

0 Jonas Frey, et al. ∙

research

∙ 05/13/2023

Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning

Mobile ground robots require perceiving and understanding their surround...

0 Anqiao Li, et al. ∙

research

∙ 03/30/2023

Event-based Agile Object Catching with a Quadrupedal Robot

Quadrupedal robots are conquering various indoor and outdoor application...

0 Benedek Forrai, et al. ∙

research

∙ 03/09/2023

Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators

Adaptive falling and recovery skills greatly extend the applicability of...

0 Yuntao Ma, et al. ∙

research

∙ 03/02/2023

ArtPlanner: Robust Legged Robot Navigation in the Field

Due to the highly complex environment present during the DARPA Subterran...

0 Lorenz Wellhausen, et al. ∙

research

∙ 01/10/2023

ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments

We present ORBIT, a unified and modular framework for robot learning pow...

0 Mayank Mittal, et al. ∙

research

∙ 01/09/2023

Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators

Parallel-elastic joints can improve the efficiency and strength of robot...

0 Filip Bjelonic, et al. ∙

research

∙ 11/29/2022

X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments

Modern robotic systems are required to operate in challenging environmen...

0 Turcan Tuna, et al. ∙

research

∙ 11/25/2022

Unsupervised Continual Semantic Adaptation through Neural Rendering

An increasing amount of applications rely on data-driven models that are...

0 Zhizheng Liu, et al. ∙

research

∙ 11/18/2022

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation

Mobile manipulation in robotics is challenging due to the need of solvin...

0 Elena Arcari, et al. ∙

research

∙ 10/26/2022

LiDAR-guided object search and detection in Subterranean Environments

Detecting objects of interest, such as human survivors, safety equipment...

0 Manthan Patel, et al. ∙

research

∙ 10/25/2022

A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets

The exploration of large-scale unknown environments can benefit from the...

0 Lukas Bernreiter, et al. ∙

research

∙ 10/06/2022

Meta Reinforcement Learning for Optimal Design of Legged Robots

The process of robot design is a complex task and the majority of design...

0 Álvaro Belmonte-Baeza, et al. ∙

research

∙ 09/26/2022

Advanced Skills by Learning Locomotion and Local Navigation End-to-End

The common approach for local navigation on challenging environments wit...

0 Nikita Rudin, et al. ∙

research

∙ 08/17/2022

Perceptive Locomotion through Nonlinear Model Predictive Control

Dynamic locomotion in rough terrain requires accurate foot placement, co...

0 Ruben Grandia, et al. ∙

research

∙ 08/02/2022

Present and Future of SLAM in Extreme Underground Environments

This paper reports on the state of the art in underground SLAM by discus...

0 Kamak Ebadi, et al. ∙

research

∙ 08/02/2022

Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain

Navigating off-road with a fast autonomous vehicle depends on a robust p...

6 Robin Schmid, et al. ∙

research

∙ 07/29/2022

Collision detection and identification for a legged manipulator

To safely deploy legged robots in the real world it is necessary to prov...

0 Jessie van Dam, et al. ∙

research

∙ 07/29/2022

Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework

Model Predictive Control (MPC) schemes have proven their efficiency in c...

0 Jin Cheng, et al. ∙

research

∙ 06/30/2022

Design and Motion Planning for a Reconfigurable Robotic Base

A robotic platform for mobile manipulation needs to satisfy two contradi...

0 Johannes Pankert, et al. ∙

research

∙ 06/28/2022

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems

Terrain geometry is, in general, non-smooth, non-linear, non-convex, and...

0 Fabian Jenelten, et al. ∙

research

∙ 06/16/2022

Neural Scene Representation for Locomotion on Structured Terrain

We propose a learning-based method to reconstruct the local terrain for ...

0 David Hoeller, et al. ∙

research

∙ 05/11/2022

Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments

This work contributes a marsupial robotic system-of-systems involving a ...

0 Paolo De Petris, et al. ∙

research

∙ 04/27/2022

Elevation Mapping for Locomotion and Navigation using GPU

Perceiving the surrounding environment is crucial for autonomous mobile ...

0 Takahiro Miki, et al. ∙

research

∙ 03/29/2022

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

Despite the progress in legged robotic locomotion, autonomous navigation...

0 Jonas Frey, et al. ∙

research

∙ 03/23/2022

Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning

In recent years, reinforcement learning (RL) has shown outstanding perfo...

0 Eric Vollenweider, et al. ∙

research

∙ 03/14/2022

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics

The ability to generate dynamic walking in real-time for bipedal robots ...

0 Manuel Y. Galliker, et al. ∙

research

∙ 03/11/2022

Learning-based Localizability Estimation for Robust LiDAR Localization

LiDAR-based localization and mapping is one of the core components in ma...

0 Julian Nubert, et al. ∙

research

∙ 03/04/2022

Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach

This paper introduces a novel approach for whole-body motion planning an...

0 Ibrahim Ibrahim, et al. ∙

research

∙ 03/02/2022

Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots

Enabling autonomous operation of large-scale construction machines, such...

0 Julian Nubert, et al. ∙

research

∙ 03/01/2022

Collaborative Robot Mapping using Spectral Graph Analysis

In this paper, we deal with the problem of creating globally consistent ...

0 Lukas Bernreiter, et al. ∙

research

∙ 02/24/2022

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation

In this paper, we present a real-time whole-body planner for collision-f...

0 Jia-Ruei Chiu, et al. ∙

research

∙ 01/20/2022

Learning robust perceptive locomotion for quadrupedal robots in the wild

Legged robots that can operate autonomously in remote and hazardous envi...

0 Takahiro Miki, et al. ∙

research

∙ 01/11/2022

Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators

Deep reinforcement learning produces robust locomotion policies for legg...

0 Yuntao Ma, et al. ∙

research

∙ 12/08/2021

Adaptive CLF-MPC With Application To Quadrupedal Robots

Modern robotic systems are endowed with superior mobility and mechanical...

0 Maria Vittoria Minniti, et al. ∙

research

∙ 12/01/2021

Deep Measurement Updates for Bayes Filters

Measurement update rules for Bayes filters often contain hand-crafted he...

0 Johannes Pankert, et al. ∙

research

∙ 09/24/2021

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

In this work, we present and study a training set-up that achieves fast ...

26 Nikita Rudin, et al. ∙

research

∙ 09/15/2021

Solving Occlusion in Terrain Mapping with Neural Networks

Accurate and complete terrain maps enhance the awareness of autonomous r...

5 Maximilian Stölzle, et al. ∙

research

∙ 08/17/2021

Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays

When dealing with the haptic teleoperation of multi-limbed mobile manipu...

0 Mattia Risiglione, et al. ∙

research

∙ 06/17/2021

Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning

In this article, we show that learned policies can be applied to solve l...

0 Nikita Rudin, et al. ∙

research

∙ 06/09/2021

HEAP – The autonomous walking excavator

The demand and the potential for automation in the construction sector i...

0 Dominic Jud, et al. ∙

research

∙ 06/08/2021

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks

Modern, torque-controlled service robots can regulate contact forces whe...

0 Maria Vittoria Minniti, et al. ∙

research

∙ 06/03/2021

Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot

Celestial bodies such as the Moon and Mars are mainly covered by loose, ...

0 Hendrik Kolvenbach, et al. ∙

research

∙ 04/23/2021

Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation

Manipulators can be added to legged robots, allowing them to interact wi...

0 Parker Ewen, et al. ∙

Marco Hutter

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