Learning Mobility for Real Legged Robots

Project Information

LeMo

Grant agreement ID: 852044

DOI

10.3030/852044

Project closed

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

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Peer reviewed articles (21)

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments

Author(s): Mayank 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, Animesh Garg
Published in: IEEE Robotics and Automation Letters, Issue 8, 2024, Page(s) 3740-3747, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3270034

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

Author(s): Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, Cesar Cadena, Marco Hutter
Published in: IEEE Robotics and Automation Letters, Issue 8, 2023, Page(s) 7687-7694, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3320016

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

Learning robust autonomous navigation and locomotion for wheeled-legged robots

Author(s): Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter
Published in: Science Robotics, 2024, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.adi9641

DTC: Deep Tracking Control

Author(s): Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter
Published in: Science Robotics, Issue 9, 2024, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.adh5401

ANYmal parkour: Learning agile navigation for quadrupedal robots

Author(s): David Hoeller, Nikita Rudin, Dhionis Sako, Marco Hutter
Published in: Science Robotics, Issue 9, 2024, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.adi7566

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

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

Author(s): Philip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Marco Hutter
Published in: Science Robotics, 2023, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.ade9548

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots

Author(s): Ruben Grandia; Farbod Farshidian; Espen Knoop; Christian Schumacher; Marco Hutter; Moritz Bächer
Published in: ACM Transactions on Graphics, Issue 42, 2023, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3592454

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

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation

Author(s): Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger
Published in: IEEE Robotics and Automation Letters, Issue 8, 2024, Page(s) 3222-3229, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3264758

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

ArtPlanner: Robust Legged Robot Navigation in the Field

Author(s): Lorenz Wellhausen; Marco Hutter
Published in: Field Robotics, Issue 3, 2023, ISSN 2771-3989
Publisher: field robotics
DOI: 10.55417/fr.2023013

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

Conference proceedings (23)

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

Learning to walk in confined spaces using 3D representation

Author(s): Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 8649-8656
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610271

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

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning

Author(s): Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 11451-11458
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610137

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

Learning Agile Locomotion on Risky Terrains

Author(s): Zhang, Chong; Rudin, Nikita; Hoeller, David; Hutter, Marco
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 4, 2024
Publisher: IEEE
DOI: 10.48550/arxiv.2311.10484

Fast Traversability Estimation for Wild Visual Navigation

Author(s): Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter
Published in: Robotics: Science and Systems XIX, 2023
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2023.xix.054

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

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End

Author(s): Chong Zhang, Jin Jin, Jonas Frey, Nikita Rudin, Matías Mattamala, Cesar Cadena, Marco Hutter
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 34-41
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10611254

iPlanner: Imperative Path Planning

Author(s): Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter
Published in: Robotics: Science and Systems XIX, 2023
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2023.xix.064

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

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

Author(s): Pascal Roth, Julian Nubert, Fan Yang, Mayank Mittal, Marco Hutter
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 5243-5249
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610025

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

Thesis and dissertations (5)

Applications of Reinforcement Learning to Motion Planning & Control of Quadrupedal Robots

Author(s): Vassilios Tsounis
Published in: 2023
Publisher: ETH Zurich
DOI: 10.3929/ethz-b-000614549

Advancing the Autonomy of Legged Robots: From the Lab to the Real-world

Author(s): Joonho Lee
Published in: 2024
Publisher: ETH Zurich
DOI: 10.3929/ethz-b-000668512

Towards Autonomous Legged Robot Navigation in Natural, Unstructured Environments

Author(s): Lorenz Wellhausen
Published in: 2023
Publisher: ETH Zurich
DOI: 10.3929/ethz-b-000584934

Hybrid Motion Planning and Control for Legged-Wheeled Robots: Application to Walking Excavators

Author(s): Edo Jelavic
Published in: 2023
Publisher: ETH Zurich
DOI: 10.3929/ethz-b-000615353

Robotic Mobile Manipulation via Adaptive and Learning-Based Model Predictive Control

Author(s): Maria Vittoria Minniti
Published in: 2023
Publisher: ETH
DOI: 10.3929/ethz-b-000636009

Book chapters (1)

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning

Author(s): Joonho Lee, Marko Bjelonic, Marco Hutter
Published in: Robotics in Natural Settings, 2023
Publisher: Springer
DOI: 10.1007/978-3-031-15226-9_14