Learning Mobility for Real Legged Robots

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments

Auteurs: 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
Publié dans: IEEE Robotics and Automation Letters, Numéro 8, 2024, Page(s) 3740-3747, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2023.3270034

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

Auteurs: Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, Cesar Cadena, Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, Numéro 8, 2023, Page(s) 7687-7694, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2023.3320016

Learning robust perceptive locomotion for quadrupedal robots in the wild

Auteurs: Takahiro Miki; Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Publié dans: Science Robotics, 2022, ISSN 2470-9476
Éditeur: AAAS
DOI: 10.48550/arxiv.2201.08117

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

Auteurs: Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter
Publié dans: IEEE Transactions on Robotics, 2021, Page(s) 1-12, ISSN 1552-3098
Éditeur: 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

Auteurs: Yuntao Ma; Farbod Farshidian; Takahiro Miki; Joonho Lee; Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3143567

Soil-Adaptive Excavation Using Reinforcement Learning

Auteurs: Pascal Egli, Dominique Gaschen, Simon Kerscher, Dominic Jud, Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3189834

Learning a State Representation and Navigation in Cluttered and Dynamic Environments

Auteurs: David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, Numéro 6/3, 2021, Page(s) 5081-5088, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3068639

Learning robust autonomous navigation and locomotion for wheeled-legged robots

Auteurs: Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter
Publié dans: Science Robotics, 2024, ISSN 2470-9476
Éditeur: AAAS
DOI: 10.1126/scirobotics.adi9641

DTC: Deep Tracking Control

Auteurs: Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter
Publié dans: Science Robotics, Numéro 9, 2024, ISSN 2470-9476
Éditeur: AAAS
DOI: 10.1126/scirobotics.adh5401

ANYmal parkour: Learning agile navigation for quadrupedal robots

Auteurs: David Hoeller, Nikita Rudin, Dhionis Sako, Marco Hutter
Publié dans: Science Robotics, Numéro 9, 2024, ISSN 2470-9476
Éditeur: AAAS
DOI: 10.1126/scirobotics.adi7566

Neural Scene Representation for Locomotion on Structured Terrain

Auteurs: David Hoeller, Nikita Rudin, Christopher Choy, Animashree Anandkumar, Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3184779

Meta Reinforcement Learning for Optimal Design of Legged Robots

Auteurs: Alvaro Belmonte-Baeza; Joonho Lee; Giorgio Valsecchi; Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.48550/arxiv.2210.02750

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

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

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots

Auteurs: Ruben Grandia; Farbod Farshidian; Espen Knoop; Christian Schumacher; Marco Hutter; Moritz Bächer
Publié dans: ACM Transactions on Graphics, Numéro 42, 2023, ISSN 0730-0301
Éditeur: Association for Computing Machinary, Inc.
DOI: 10.1145/3592454

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

Auteurs: Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, Numéro 5/2, 2020, Page(s) 3699-3706, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2020.2979660

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation

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

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

Auteurs: Pascal Egli, Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.3929/ethz-b-000487440

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

Auteurs: Maximilian Stolzle; Takahiro Miki; Levin Gerdes; Martin Azkarate; Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, Numéro 2, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3141662

ArtPlanner: Robust Legged Robot Navigation in the Field

Auteurs: Lorenz Wellhausen; Marco Hutter
Publié dans: Field Robotics, Numéro 3, 2023, ISSN 2771-3989
Éditeur: field robotics
DOI: 10.55417/fr.2023013

Learning quadrupedal locomotion over challenging terrain

Auteurs: Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Publié dans: Science Robotics, Numéro 5/47, 2020, Page(s) eabc5986, ISSN 2470-9476
Éditeur: AAAS
DOI: 10.1126/scirobotics.abc5986

Safe Robot Navigation Via Multi-Modal Anomaly Detection

Auteurs: Lorenz Wellhausen, Rene Ranftl, Marco Hutter
Publié dans: IEEE Robotics and Automation Letters, Numéro 5/2, 2020, Page(s) 1326-1333, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2020.2967706

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

Auteurs: Ma, Yuntao; Farshidian, Farbod; Hutter, Marco
Publié dans: IEEE Conference on Robotics and Automation, 2023
Éditeur: IEEE
DOI: 10.3929/ethz-b-000595246

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

Auteurs: Nikita Rudin; David, Hoeller; Philipp Reist; Marco Hutter
Publié dans: Proceedings of the 5th Conference on Robot Learning, 2021
Éditeur: MLR
DOI: 10.3929/ethz-b-000554960

Learning to walk in confined spaces using 3D representation

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

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

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

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning

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

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

Auteurs: Nubert, Julian; Khattak, Shehryar Masaud Khan; Hutter, Marco
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2022
Éditeur: IEEE
DOI: 10.1109/icra46639.2022.9812386

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

Auteurs: Rudin, Nikita; Hoeller, David; Bjelonic, Marko; Hutter, Marco
Publié dans: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Éditeur: IEEE
DOI: 10.1109/iros47612.2022.9981198

Learning Agile Locomotion on Risky Terrains

Auteurs: Zhang, Chong; Rudin, Nikita; Hoeller, David; Hutter, Marco
Publié dans: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro 4, 2024
Éditeur: IEEE
DOI: 10.48550/arxiv.2311.10484

Fast Traversability Estimation for Wild Visual Navigation

Auteurs: Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter
Publié dans: Robotics: Science and Systems XIX, 2023
Éditeur: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2023.xix.054

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

Auteurs: Magnus Gaertner; Marko Bjelonic; Farbod Farshidian; Marco Hutter
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561326

Imitation Learning from MPC for Quadrupedal Multi-Gait Control

Auteurs: Alexander Reske; Jan Carius; Yuntao Ma; Farbod Farshidian; Marco Hutter
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE
DOI: 10.3929/ethz-b-000476607

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

Auteurs: Jonas Frey; Shehryar Khattak; David Holler; Marco Hutter
Publié dans: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Éditeur: IEEE
DOI: 10.3929/ethz-b-000561067

Self-Supervised Learning of LiDAR Odometry for Robotic Applications

Auteurs: Julian Nubert, Shehryar Khattak, Marco Hutter
Publié dans: International Conference on Robotics and Automation (ICRA), Numéro 1, 2021
Éditeur: IEEE
DOI: 10.3929/ethz-b-000487443

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

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

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Auteurs: Edo Jelavic, Farbod Farshidian, Marco Hutter
Publié dans: International Conference on Robotics and Automation (ICRA), Numéro 1, 2021
Éditeur: IEEE
DOI: 10.3929/ethz-b-000477441

Real-time Optimal Navigation Planning Using Learned Motion Costs

Auteurs: Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, Marco Hutter
Publié dans: International Conference on Robotics and Automation (ICRA 2021), Numéro 1, 2021
Éditeur: IEEE
DOI: 10.3929/ethz-b-000491442

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

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

iPlanner: Imperative Path Planning

Auteurs: Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter
Publié dans: Robotics: Science and Systems XIX, 2023
Éditeur: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2023.xix.064

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

Auteurs: Lorenz Wellhausen; Marco Hutter
Publié dans: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Éditeur: IEEE
DOI: 10.1109/iros51168.2021.9636358

Learning-based Localizability Estimation for Robust LiDAR Localization

Auteurs: Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter
Publié dans: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Éditeur: IEEE
DOI: 10.3929/ethz-b-000558164

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

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

Self-supervised Learning of LiDAR Odometry for Robotic Applications

Auteurs: Julian Nubert; Shehryar Khattak; Marco Hutter
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561063

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Auteurs: Edo Jelavic; Farbod Farshidian; Marco Hutter
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9560731

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

Auteurs: Vassilios Tsounis
Publié dans: 2023
Éditeur: ETH Zurich
DOI: 10.3929/ethz-b-000614549

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

Auteurs: Joonho Lee
Publié dans: 2024
Éditeur: ETH Zurich
DOI: 10.3929/ethz-b-000668512

Towards Autonomous Legged Robot Navigation in Natural, Unstructured Environments

Auteurs: Lorenz Wellhausen
Publié dans: 2023
Éditeur: ETH Zurich
DOI: 10.3929/ethz-b-000584934

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

Auteurs: Edo Jelavic
Publié dans: 2023
Éditeur: ETH Zurich
DOI: 10.3929/ethz-b-000615353

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

Auteurs: Maria Vittoria Minniti
Publié dans: 2023
Éditeur: ETH
DOI: 10.3929/ethz-b-000636009

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning

Auteurs: Joonho Lee, Marko Bjelonic, Marco Hutter
Publié dans: Robotics in Natural Settings, 2023
Éditeur: Springer
DOI: 10.1007/978-3-031-15226-9_14

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