Learning Mobility for Real Legged Robots

Project Information

LeMo

Grant agreement ID: 852044

DOI 10.3030/852044

EC signature date 8 October 2019

Start date 1 January 2020

End date 31 December 2024

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 1 496 370,00

EU contribution € 1 496 370,00

Coordinated by

EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH
Switzerland

Publications

Conference proceedings (16)

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

Author(s): Ma, Yuntao; Farshidian, Farbod; Hutter, Marco
Published in: IEEE Conference on Robotics and Automation, 2023
Publisher: IEEE
DOI: 10.3929/ethz-b-000595246

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

Author(s): Nikita Rudin; David, Hoeller; Philipp Reist; Marco Hutter
Published in: Proceedings of the 5th Conference on Robot Learning, 2021
Publisher: MLR
DOI: 10.3929/ethz-b-000554960

Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators

Author(s): Edo Jelavic, Yannick Berdou, Dominic Jud, Simon Kerscher, Marco Hutter
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 1, 2020, Page(s) 2684-2691, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341655

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

Author(s): Nubert, Julian; Khattak, Shehryar Masaud Khan; Hutter, Marco
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2022
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9812386

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

Author(s): Rudin, Nikita; Hoeller, David; Bjelonic, Marko; Hutter, Marco
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981198

Collision-Free MPC for Legged Robots in Static and Dynamic Scenes

Author(s): Magnus Gaertner; Marko Bjelonic; Farbod Farshidian; Marco Hutter
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561326

Imitation Learning from MPC for Quadrupedal Multi-Gait Control

Author(s): Alexander Reske; Jan Carius; Yuntao Ma; Farbod Farshidian; Marco Hutter
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.3929/ethz-b-000476607

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

Author(s): Jonas Frey; Shehryar Khattak; David Holler; Marco Hutter
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: IEEE
DOI: 10.3929/ethz-b-000561067

Self-Supervised Learning of LiDAR Odometry for Robotic Applications

Author(s): Julian Nubert, Shehryar Khattak, Marco Hutter
Published in: International Conference on Robotics and Automation (ICRA), Issue 1, 2021
Publisher: IEEE
DOI: 10.3929/ethz-b-000487443

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

Author(s): Frey, Jonas; Hoeller, David; Khattak, Shehryar Masaud Khan; Hutter, Marco
Published in: EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9982190

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Author(s): Edo Jelavic, Farbod Farshidian, Marco Hutter
Published in: International Conference on Robotics and Automation (ICRA), Issue 1, 2021
Publisher: IEEE
DOI: 10.3929/ethz-b-000477441

Real-time Optimal Navigation Planning Using Learned Motion Costs

Author(s): Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, Marco Hutter
Published in: International Conference on Robotics and Automation (ICRA 2021), Issue 1, 2021
Publisher: IEEE
DOI: 10.3929/ethz-b-000491442

Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning

Author(s): Lorenz Wellhausen; Marco Hutter
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9636358

Learning-based Localizability Estimation for Robust LiDAR Localization

Author(s): Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: IEEE
DOI: 10.3929/ethz-b-000558164

Self-supervised Learning of LiDAR Odometry for Robotic Applications

Author(s): Julian Nubert; Shehryar Khattak; Marco Hutter
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561063

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Author(s): Edo Jelavic; Farbod Farshidian; Marco Hutter
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9560731

Peer reviewed articles (12)

Learning robust perceptive locomotion for quadrupedal robots in the wild

Author(s): Takahiro Miki; Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Published in: Science Robotics, 2022, ISSN 2470-9476
Publisher: AAAS
DOI: 10.48550/arxiv.2201.08117

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning

Author(s): Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter
Published in: IEEE Transactions on Robotics, 2021, Page(s) 1-12, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3084374

Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators

Author(s): Yuntao Ma; Farbod Farshidian; Takahiro Miki; Joonho Lee; Marco Hutter
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3143567

Soil-Adaptive Excavation Using Reinforcement Learning

Author(s): Pascal Egli, Dominique Gaschen, Simon Kerscher, Dominic Jud, Marco Hutter
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3189834

Learning a State Representation and Navigation in Cluttered and Dynamic Environments

Author(s): David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter
Published in: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 5081-5088, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068639

Neural Scene Representation for Locomotion on Structured Terrain

Author(s): David Hoeller, Nikita Rudin, Christopher Choy, Animashree Anandkumar, Marco Hutter
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3184779

Meta Reinforcement Learning for Optimal Design of Legged Robots

Author(s): Alvaro Belmonte-Baeza; Joonho Lee; Giorgio Valsecchi; Marco Hutter
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2210.02750

DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning

Author(s): Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 3699-3706, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2979660

A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning

Author(s): Pascal Egli, Marco Hutter
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.3929/ethz-b-000487440

Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning

Author(s): Maximilian Stolzle; Takahiro Miki; Levin Gerdes; Martin Azkarate; Marco Hutter
Published in: IEEE Robotics and Automation Letters, Issue 2, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3141662

Learning quadrupedal locomotion over challenging terrain

Author(s): Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Published in: Science Robotics, Issue 5/47, 2020, Page(s) eabc5986, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abc5986

Safe Robot Navigation Via Multi-Modal Anomaly Detection

Author(s): Lorenz Wellhausen, Rene Ranftl, Marco Hutter
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 1326-1333, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2967706