Learning Mobility for Real Legged Robots

Información del proyecto

LeMo

Identificador del acuerdo de subvención: 852044

DOI

10.3030/852044

Proyecto cerrado

Fecha de la firma de la CE 8 Octubre 2019

Fecha de inicio 1 Enero 2020

Fecha de finalización 31 Diciembre 2024

Financiado con arreglo a

• EXCELLENT SCIENCE - European Research Council (ERC)

Coste total

€ 1 496 370,00

Aportación de la UE

€ 1 496 370,00

Coordinado por

EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH
Switzerland

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Publicaciones

Peer reviewed articles (21)

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments

Autores: 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
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2024, Página(s) 3740-3747, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3270034

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

Autores: Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, Cesar Cadena, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2023, Página(s) 7687-7694, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3320016

Learning robust perceptive locomotion for quadrupedal robots in the wild

Autores: Takahiro Miki; Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Publicado en: Science Robotics, 2022, ISSN 2470-9476
Editor: AAAS
DOI: 10.48550/arxiv.2201.08117

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

Autores: Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter
Publicado en: IEEE Transactions on Robotics, 2021, Página(s) 1-12, ISSN 1552-3098
Editor: 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

Autores: Yuntao Ma; Farbod Farshidian; Takahiro Miki; Joonho Lee; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3143567

Soil-Adaptive Excavation Using Reinforcement Learning

Autores: Pascal Egli, Dominique Gaschen, Simon Kerscher, Dominic Jud, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3189834

Learning a State Representation and Navigation in Cluttered and Dynamic Environments

Autores: David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 6/3, 2021, Página(s) 5081-5088, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3068639

Learning robust autonomous navigation and locomotion for wheeled-legged robots

Autores: Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter
Publicado en: Science Robotics, 2024, ISSN 2470-9476
Editor: AAAS
DOI: 10.1126/scirobotics.adi9641

DTC: Deep Tracking Control

Autores: Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter
Publicado en: Science Robotics, Edición 9, 2024, ISSN 2470-9476
Editor: AAAS
DOI: 10.1126/scirobotics.adh5401

ANYmal parkour: Learning agile navigation for quadrupedal robots

Autores: David Hoeller, Nikita Rudin, Dhionis Sako, Marco Hutter
Publicado en: Science Robotics, Edición 9, 2024, ISSN 2470-9476
Editor: AAAS
DOI: 10.1126/scirobotics.adi7566

Neural Scene Representation for Locomotion on Structured Terrain

Autores: David Hoeller, Nikita Rudin, Christopher Choy, Animashree Anandkumar, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3184779

Meta Reinforcement Learning for Optimal Design of Legged Robots

Autores: Alvaro Belmonte-Baeza; Joonho Lee; Giorgio Valsecchi; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.48550/arxiv.2210.02750

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

Autores: Philip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Marco Hutter
Publicado en: Science Robotics, 2023, ISSN 2470-9476
Editor: AAAS
DOI: 10.1126/scirobotics.ade9548

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots

Autores: Ruben Grandia; Farbod Farshidian; Espen Knoop; Christian Schumacher; Marco Hutter; Moritz Bächer
Publicado en: ACM Transactions on Graphics, Edición 42, 2023, ISSN 0730-0301
Editor: Association for Computing Machinary, Inc.
DOI: 10.1145/3592454

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

Autores: Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 5/2, 2020, Página(s) 3699-3706, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.2979660

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation

Autores: Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2024, Página(s) 3222-3229, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3264758

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

Autores: Pascal Egli, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.3929/ethz-b-000487440

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

Autores: Maximilian Stolzle; Takahiro Miki; Levin Gerdes; Martin Azkarate; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 2, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3141662

ArtPlanner: Robust Legged Robot Navigation in the Field

Autores: Lorenz Wellhausen; Marco Hutter
Publicado en: Field Robotics, Edición 3, 2023, ISSN 2771-3989
Editor: field robotics
DOI: 10.55417/fr.2023013

Learning quadrupedal locomotion over challenging terrain

Autores: Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Publicado en: Science Robotics, Edición 5/47, 2020, Página(s) eabc5986, ISSN 2470-9476
Editor: AAAS
DOI: 10.1126/scirobotics.abc5986

Safe Robot Navigation Via Multi-Modal Anomaly Detection

Autores: Lorenz Wellhausen, Rene Ranftl, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 5/2, 2020, Página(s) 1326-1333, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.2967706

Conference proceedings (23)

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

Autores: Ma, Yuntao; Farshidian, Farbod; Hutter, Marco
Publicado en: IEEE Conference on Robotics and Automation, 2023
Editor: IEEE
DOI: 10.3929/ethz-b-000595246

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

Autores: Nikita Rudin; David, Hoeller; Philipp Reist; Marco Hutter
Publicado en: Proceedings of the 5th Conference on Robot Learning, 2021
Editor: MLR
DOI: 10.3929/ethz-b-000554960

Learning to walk in confined spaces using 3D representation

Autores: Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Página(s) 8649-8656
Editor: IEEE
DOI: 10.1109/icra57147.2024.10610271

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

Autores: Edo Jelavic, Yannick Berdou, Dominic Jud, Simon Kerscher, Marco Hutter
Publicado en: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 1, 2020, Página(s) 2684-2691, ISBN 978-1-7281-6212-6
Editor: IEEE
DOI: 10.1109/iros45743.2020.9341655

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning

Autores: Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Página(s) 11451-11458
Editor: IEEE
DOI: 10.1109/icra57147.2024.10610137

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

Autores: Nubert, Julian; Khattak, Shehryar Masaud Khan; Hutter, Marco
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), 2022
Editor: IEEE
DOI: 10.1109/icra46639.2022.9812386

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

Autores: Rudin, Nikita; Hoeller, David; Bjelonic, Marko; Hutter, Marco
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Editor: IEEE
DOI: 10.1109/iros47612.2022.9981198

Learning Agile Locomotion on Risky Terrains

Autores: Zhang, Chong; Rudin, Nikita; Hoeller, David; Hutter, Marco
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 4, 2024
Editor: IEEE
DOI: 10.48550/arxiv.2311.10484

Fast Traversability Estimation for Wild Visual Navigation

Autores: Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter
Publicado en: Robotics: Science and Systems XIX, 2023
Editor: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2023.xix.054

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

Autores: Magnus Gaertner; Marko Bjelonic; Farbod Farshidian; Marco Hutter
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), 2021
Editor: IEEE
DOI: 10.1109/icra48506.2021.9561326

Imitation Learning from MPC for Quadrupedal Multi-Gait Control

Autores: Alexander Reske; Jan Carius; Yuntao Ma; Farbod Farshidian; Marco Hutter
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), 2021
Editor: IEEE
DOI: 10.3929/ethz-b-000476607

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

Autores: Jonas Frey; Shehryar Khattak; David Holler; Marco Hutter
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Editor: IEEE
DOI: 10.3929/ethz-b-000561067

Self-Supervised Learning of LiDAR Odometry for Robotic Applications

Autores: Julian Nubert, Shehryar Khattak, Marco Hutter
Publicado en: International Conference on Robotics and Automation (ICRA), Edición 1, 2021
Editor: IEEE
DOI: 10.3929/ethz-b-000487443

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

Autores: Frey, Jonas; Hoeller, David; Khattak, Shehryar Masaud Khan; Hutter, Marco
Publicado en: EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Editor: IEEE
DOI: 10.1109/iros47612.2022.9982190

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Autores: Edo Jelavic, Farbod Farshidian, Marco Hutter
Publicado en: International Conference on Robotics and Automation (ICRA), Edición 1, 2021
Editor: IEEE
DOI: 10.3929/ethz-b-000477441

Real-time Optimal Navigation Planning Using Learned Motion Costs

Autores: Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, Marco Hutter
Publicado en: International Conference on Robotics and Automation (ICRA 2021), Edición 1, 2021
Editor: IEEE
DOI: 10.3929/ethz-b-000491442

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

Autores: Chong Zhang, Jin Jin, Jonas Frey, Nikita Rudin, Matías Mattamala, Cesar Cadena, Marco Hutter
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Página(s) 34-41
Editor: IEEE
DOI: 10.1109/icra57147.2024.10611254

iPlanner: Imperative Path Planning

Autores: Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter
Publicado en: Robotics: Science and Systems XIX, 2023
Editor: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2023.xix.064

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

Autores: Lorenz Wellhausen; Marco Hutter
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Editor: IEEE
DOI: 10.1109/iros51168.2021.9636358

Learning-based Localizability Estimation for Robust LiDAR Localization

Autores: Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Editor: IEEE
DOI: 10.3929/ethz-b-000558164

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

Autores: Pascal Roth, Julian Nubert, Fan Yang, Mayank Mittal, Marco Hutter
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Página(s) 5243-5249
Editor: IEEE
DOI: 10.1109/icra57147.2024.10610025

Self-supervised Learning of LiDAR Odometry for Robotic Applications

Autores: Julian Nubert; Shehryar Khattak; Marco Hutter
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), 2021
Editor: IEEE
DOI: 10.1109/icra48506.2021.9561063

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Autores: Edo Jelavic; Farbod Farshidian; Marco Hutter
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), 2021
Editor: IEEE
DOI: 10.1109/icra48506.2021.9560731

Thesis and dissertations (5)

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

Autores: Vassilios Tsounis
Publicado en: 2023
Editor: ETH Zurich
DOI: 10.3929/ethz-b-000614549

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

Autores: Joonho Lee
Publicado en: 2024
Editor: ETH Zurich
DOI: 10.3929/ethz-b-000668512

Towards Autonomous Legged Robot Navigation in Natural, Unstructured Environments

Autores: Lorenz Wellhausen
Publicado en: 2023
Editor: ETH Zurich
DOI: 10.3929/ethz-b-000584934

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

Autores: Edo Jelavic
Publicado en: 2023
Editor: ETH Zurich
DOI: 10.3929/ethz-b-000615353

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

Autores: Maria Vittoria Minniti
Publicado en: 2023
Editor: ETH
DOI: 10.3929/ethz-b-000636009

Book chapters (1)

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning

Autores: Joonho Lee, Marko Bjelonic, Marco Hutter
Publicado en: Robotics in Natural Settings, 2023
Editor: Springer
DOI: 10.1007/978-3-031-15226-9_14