Learning Mobility for Real Legged Robots

Informazioni relative al progetto

LeMo

ID dell’accordo di sovvenzione: 852044

DOI

10.3030/852044

Progetto chiuso

Data della firma CE 8 Ottobre 2019

Data di avvio 1 Gennaio 2020

Data di completamento 31 Dicembre 2024

Finanziato da

• EXCELLENT SCIENCE - European Research Council (ERC)

Costo totale

€ 1 496 370,00

Contributo UE

€ 1 496 370,00

Coordinato da

EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH
Switzerland

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Pubblicazioni

Peer reviewed articles (21)

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments

Autori: 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
Pubblicato in: IEEE Robotics and Automation Letters, Numero 8, 2024, Pagina/e 3740-3747, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3270034

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

Autori: Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, Cesar Cadena, Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 8, 2023, Pagina/e 7687-7694, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3320016

Learning robust perceptive locomotion for quadrupedal robots in the wild

Autori: Takahiro Miki; Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Pubblicato in: Science Robotics, 2022, ISSN 2470-9476
Editore: AAAS
DOI: 10.48550/arxiv.2201.08117

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

Autori: Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter
Pubblicato in: IEEE Transactions on Robotics, 2021, Pagina/e 1-12, ISSN 1552-3098
Editore: 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

Autori: Yuntao Ma; Farbod Farshidian; Takahiro Miki; Joonho Lee; Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3143567

Soil-Adaptive Excavation Using Reinforcement Learning

Autori: Pascal Egli, Dominique Gaschen, Simon Kerscher, Dominic Jud, Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3189834

Learning a State Representation and Navigation in Cluttered and Dynamic Environments

Autori: David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 6/3, 2021, Pagina/e 5081-5088, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3068639

Learning robust autonomous navigation and locomotion for wheeled-legged robots

Autori: Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter
Pubblicato in: Science Robotics, 2024, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.adi9641

DTC: Deep Tracking Control

Autori: Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter
Pubblicato in: Science Robotics, Numero 9, 2024, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.adh5401

ANYmal parkour: Learning agile navigation for quadrupedal robots

Autori: David Hoeller, Nikita Rudin, Dhionis Sako, Marco Hutter
Pubblicato in: Science Robotics, Numero 9, 2024, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.adi7566

Neural Scene Representation for Locomotion on Structured Terrain

Autori: David Hoeller, Nikita Rudin, Christopher Choy, Animashree Anandkumar, Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3184779

Meta Reinforcement Learning for Optimal Design of Legged Robots

Autori: Alvaro Belmonte-Baeza; Joonho Lee; Giorgio Valsecchi; Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.48550/arxiv.2210.02750

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

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

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots

Autori: Ruben Grandia; Farbod Farshidian; Espen Knoop; Christian Schumacher; Marco Hutter; Moritz Bächer
Pubblicato in: ACM Transactions on Graphics, Numero 42, 2023, ISSN 0730-0301
Editore: Association for Computing Machinary, Inc.
DOI: 10.1145/3592454

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

Autori: Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 5/2, 2020, Pagina/e 3699-3706, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2979660

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation

Autori: Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger
Pubblicato in: IEEE Robotics and Automation Letters, Numero 8, 2024, Pagina/e 3222-3229, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3264758

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

Autori: Pascal Egli, Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Editore: IEEE
DOI: 10.3929/ethz-b-000487440

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

Autori: Maximilian Stolzle; Takahiro Miki; Levin Gerdes; Martin Azkarate; Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 2, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3141662

ArtPlanner: Robust Legged Robot Navigation in the Field

Autori: Lorenz Wellhausen; Marco Hutter
Pubblicato in: Field Robotics, Numero 3, 2023, ISSN 2771-3989
Editore: field robotics
DOI: 10.55417/fr.2023013

Learning quadrupedal locomotion over challenging terrain

Autori: Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Pubblicato in: Science Robotics, Numero 5/47, 2020, Pagina/e eabc5986, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.abc5986

Safe Robot Navigation Via Multi-Modal Anomaly Detection

Autori: Lorenz Wellhausen, Rene Ranftl, Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 5/2, 2020, Pagina/e 1326-1333, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2967706

Conference proceedings (23)

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

Autori: Ma, Yuntao; Farshidian, Farbod; Hutter, Marco
Pubblicato in: IEEE Conference on Robotics and Automation, 2023
Editore: IEEE
DOI: 10.3929/ethz-b-000595246

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

Autori: Nikita Rudin; David, Hoeller; Philipp Reist; Marco Hutter
Pubblicato in: Proceedings of the 5th Conference on Robot Learning, 2021
Editore: MLR
DOI: 10.3929/ethz-b-000554960

Learning to walk in confined spaces using 3D representation

Autori: Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 8649-8656
Editore: IEEE
DOI: 10.1109/icra57147.2024.10610271

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

Autori: Edo Jelavic, Yannick Berdou, Dominic Jud, Simon Kerscher, Marco Hutter
Pubblicato in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 1, 2020, Pagina/e 2684-2691, ISBN 978-1-7281-6212-6
Editore: IEEE
DOI: 10.1109/iros45743.2020.9341655

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning

Autori: Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 11451-11458
Editore: IEEE
DOI: 10.1109/icra57147.2024.10610137

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

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

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

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

Learning Agile Locomotion on Risky Terrains

Autori: Zhang, Chong; Rudin, Nikita; Hoeller, David; Hutter, Marco
Pubblicato in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 4, 2024
Editore: IEEE
DOI: 10.48550/arxiv.2311.10484

Fast Traversability Estimation for Wild Visual Navigation

Autori: Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter
Pubblicato in: Robotics: Science and Systems XIX, 2023
Editore: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2023.xix.054

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

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

Imitation Learning from MPC for Quadrupedal Multi-Gait Control

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

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

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

Self-Supervised Learning of LiDAR Odometry for Robotic Applications

Autori: Julian Nubert, Shehryar Khattak, Marco Hutter
Pubblicato in: International Conference on Robotics and Automation (ICRA), Numero 1, 2021
Editore: IEEE
DOI: 10.3929/ethz-b-000487443

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

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

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Autori: Edo Jelavic, Farbod Farshidian, Marco Hutter
Pubblicato in: International Conference on Robotics and Automation (ICRA), Numero 1, 2021
Editore: IEEE
DOI: 10.3929/ethz-b-000477441

Real-time Optimal Navigation Planning Using Learned Motion Costs

Autori: Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, Marco Hutter
Pubblicato in: International Conference on Robotics and Automation (ICRA 2021), Numero 1, 2021
Editore: IEEE
DOI: 10.3929/ethz-b-000491442

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

Autori: Chong Zhang, Jin Jin, Jonas Frey, Nikita Rudin, Matías Mattamala, Cesar Cadena, Marco Hutter
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 34-41
Editore: IEEE
DOI: 10.1109/icra57147.2024.10611254

iPlanner: Imperative Path Planning

Autori: Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter
Pubblicato in: Robotics: Science and Systems XIX, 2023
Editore: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2023.xix.064

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

Autori: Lorenz Wellhausen; Marco Hutter
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Editore: IEEE
DOI: 10.1109/iros51168.2021.9636358

Learning-based Localizability Estimation for Robust LiDAR Localization

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

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

Autori: Pascal Roth, Julian Nubert, Fan Yang, Mayank Mittal, Marco Hutter
Pubblicato in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Pagina/e 5243-5249
Editore: IEEE
DOI: 10.1109/icra57147.2024.10610025

Self-supervised Learning of LiDAR Odometry for Robotic Applications

Autori: Julian Nubert; Shehryar Khattak; Marco Hutter
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Editore: IEEE
DOI: 10.1109/icra48506.2021.9561063

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Autori: Edo Jelavic; Farbod Farshidian; Marco Hutter
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Editore: IEEE
DOI: 10.1109/icra48506.2021.9560731

Thesis and dissertations (5)

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

Autori: Vassilios Tsounis
Pubblicato in: 2023
Editore: ETH Zurich
DOI: 10.3929/ethz-b-000614549

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

Autori: Joonho Lee
Pubblicato in: 2024
Editore: ETH Zurich
DOI: 10.3929/ethz-b-000668512

Towards Autonomous Legged Robot Navigation in Natural, Unstructured Environments

Autori: Lorenz Wellhausen
Pubblicato in: 2023
Editore: ETH Zurich
DOI: 10.3929/ethz-b-000584934

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

Autori: Edo Jelavic
Pubblicato in: 2023
Editore: ETH Zurich
DOI: 10.3929/ethz-b-000615353

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

Autori: Maria Vittoria Minniti
Pubblicato in: 2023
Editore: ETH
DOI: 10.3929/ethz-b-000636009

Book chapters (1)

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning

Autori: Joonho Lee, Marko Bjelonic, Marco Hutter
Pubblicato in: Robotics in Natural Settings, 2023
Editore: Springer
DOI: 10.1007/978-3-031-15226-9_14