Marco Hutter
- Learning agile and dynamic motor skills for legged robots
2019/01/17 by Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy +5 · 1 voice · 48 citations
Computer Science · Engineering · Mathematics · #Real-time simulation and control systems #Reinforcement Learning in Robotics #Robotic Locomotion and Control #cs.LG #cs.RO #stat.ML
- Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement\n Learning
2021/09/24 by Nikita Rudin, Rudin, Nikita, David Hoeller +5 · 110 citations
Engineering · Computer Science · #Robotic Locomotion and Control #Software Testing and Debugging Techniques #Reinforcement Learning in Robotics
- ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
2023/06/26 by David Hoeller, Hoeller, David, Nikita Rudin +5 · 56 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Human Pose and Action Recognition #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO)
- Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback
2017/09/01 by Michael Bloesch, Michael Burri, Sammy Omari +2 · 26 citations
Engineering · Computer Science · Earth and Planetary Sciences · #Robotics and Sensor-Based Localization #Advanced Vision and Imaging #3D Surveying and Cultural Heritage
- Elevation Mapping for Locomotion and Navigation using GPU
2022/04/27 by Takahiro Miki, Miki, Takahiro, Lorenz Wellhausen +9 · 20 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Automated Systems #Robotics and Sensor-Based Localization
- Robust Ladder Climbing with a Quadrupedal Robot
2024/09/26 by Dylan Vogel, Robert Baines, Vogel, Dylan +9 · 2 voices · 3 citations
Engineering · Computer Science · #Robotic Locomotion and Control #Control and Dynamics of Mobile Robots #Robotic Path Planning Algorithms
- PyPose: A Library for Robot Learning with Physics-based Optimization
2022/09/30 by Chen Wang, Dasong Gao, Kuan Xu +34 · 10 citations
Engineering · Computer Science · #Robotics and Sensor-Based Localization #Advanced Neural Network Applications #Advanced Image and Video Retrieval Techniques
- Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg
2024/02/16 by Philip Arm, Mayank Mittal, Arm, Philip +5 · 12 citations
Engineering · #Robotic Locomotion and Control #Robotics and Automated Systems #Robot Manipulation and Learning
- Symmetry Considerations for Learning Task Symmetric Robot Policies
2024/03/07 by Mayank Mittal, Nikita Rudin, Mittal, Mayank +7 · 12 citations
Engineering · Computer Science · #Robot Manipulation and Learning #Computability, Logic, AI Algorithms #Reinforcement Learning in Robotics
- Learning Agile Locomotion on Risky Terrains
2023/11/17 by Chong Zhang, Nikita Rudin, Zhang, Chong +5 · 9 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Prosthetics and Rehabilitation Robotics #Reinforcement Learning in Robotics #Robotic Locomotion and Control #Robotics (cs.RO)
- Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning
2025/05/16 by Nikita Rudin, Junzhe He, Rudin, Nikita +5 · 1 voice · 16 citations
#cs.RO
- Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot
2021/06/03 by Hendrik Kolvenbach, Kolvenbach, Hendrik, Philip Arm +13 · 5 citations
Engineering · #FOS: Computer and information sciences #Robotic Locomotion and Control #Robotics (cs.RO) #Soil Mechanics and Vehicle Dynamics
- RAYEN: Imposition of Hard Convex Constraints on Neural Networks
2023/07/17 by Jesus Tordesillas, Tordesillas, Jesus, Klemm, Victor +3 · 7 citations
Engineering · Computer Science · #Advanced Numerical Analysis Techniques #Medical Image Segmentation Techniques #Neural Networks and Applications
- MEM: Multi-Modal Elevation Mapping for Robotics and Learning
2023/09/28 by Gian Erni, Erni, Gian, Jonas Frey +7 · 7 citations
Engineering · Computer Science · #Robotics and Sensor-Based Localization #Advanced Image and Video Retrieval Techniques #Robotic Path Planning Algorithms
- Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs
2020/11/17 by Fan Shi, Timon Homberger, Shi, Fan +15 · 5 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Robotic Locomotion and Control #Robotics (cs.RO)
- Learning to Open and Traverse Doors with a Legged Manipulator
2024/09/07 by Mike Zhang, Yuntao Ma, Zhang, Mike +5 · 11 citations
Social Sciences · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Problem and Project Based Learning #Robotics (cs.RO)
- Attention-Based Map Encoding for Learning Generalized Legged Locomotion
2025/06/11 by Junzhe He, He, Junzhe, Chong Zhang +9 · 21 citations
Biochemistry, Genetics and Molecular Biology · Computer Science · Engineering · #FOS: Computer and information sciences #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO) #Zebrafish Biomedical Research Applications
- Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation
2022/11/18 by Elena Arcari, Maria Vittoria Minniti, Arcari, Elena +11 · 5 citations
Computer Science · Engineering · #Advanced Control Systems Optimization #FOS: Computer and information sciences #FOS: Electrical engineering #Fault Detection and Control Systems #Machine Learning and Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
- Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning
2019/01/22 by Joonho Lee, Lee, Joonho, Jemin Hwangbo +3 · 3 citations
Engineering · Computer Science · Biochemistry, Genetics and Molecular Biology · #Robotic Locomotion and Control #Reinforcement Learning in Robotics #Zebrafish Biomedical Research Applications
- Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion
2023/09/27 by Joonho Lee, Lukas Schroth, Lee, Joonho +9 · 5 citations
Engineering · Biochemistry, Genetics and Molecular Biology · #Robotic Locomotion and Control #Viral Infectious Diseases and Gene Expression in Insects
- Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision
2024/04/10 by Matías Mattamala, Jonas Frey, Mattamala, Matías +13 · 6 citations
Computer Science · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Multimodal Machine Learning Applications #Robotics (cs.RO)
- Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild
2024/08/21 by Turcan Tuna, Tuna, Turcan, Julian Nubert +9 · 7 citations
Earth and Planetary Sciences · Engineering · Environmental Science · #3D Shape Modeling and Analysis #3D Surveying and Cultural Heritage #FOS: Computer and information sciences #Remote Sensing and LiDAR Applications #Robotics (cs.RO)
- Learning Quiet Walking for a Small Home Robot
2025/02/16 by Ryo Watanabe, Watanabe, Ryo, Takahiro Miki +13 · 2 voices · 2 citations
Computer Science · #FOS: Computer and information sciences #Robotics (cs.RO) #Teaching and Learning Programming #cs.RO
- Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
2024/05/21 by Fan Shi, Shi, Fan, Chong Zhang +9 · 6 citations
Computer Science · #Adversarial Robustness in Machine Learning #Anomaly Detection Techniques and Applications #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
- Continuous-Time State Estimation Methods in Robotics: A Survey
2024/11/06 by William Henry Fox Talbot, Talbot, William, Julian Nubert +13 · 7 citations
Engineering · #Advanced Control Systems Optimization #Control Systems and Identification #FOS: Computer and information sciences #Fault Detection and Control Systems #Robotics (cs.RO)
- Autonomous Teamed Exploration of Subterranean Environments using Legged\n and Aerial Robots
2021/11/11 by Mihir Kulkarni, Kulkarni, Mihir, Mihir Dharmadhikari +23 · 4 citations
Engineering · #Robotics and Automated Systems #UAV Applications and Optimization #Modular Robots and Swarm Intelligence
- Present and Future of SLAM in Extreme Underground Environments
2022/08/02 by Kamak Ebadi, Lukas Bernreiter, Ebadi, Kamak +59 · 3 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization
- Dynamic Throwing with Robotic Material Handling Machines
2024/05/29 by Lennart Werner, Nan Fang, Werner, Lennart +9 · 5 citations
Engineering · #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotic Mechanisms and Dynamics #Robotics (cs.RO)
- SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies
2024/03/05 by Alexander Spiridonov, Spiridonov, Alexander, Fabio Buehler +27 · 4 citations
Engineering · Physics and Astronomy · #Astro and Planetary Science #FOS: Computer and information sciences #Planetary Science and Exploration #Robotics (cs.RO) #Space Exploration and Technology
- Towards Autonomous Excavation Planning
2023/08/22 by Lorenzo Terenzi, Marco Hutter, Terenzi, Lorenzo +1 · 4 citations
Engineering · #BIM and Construction Integration #Tunneling and Rock Mechanics #Innovations in Concrete and Construction Materials
- MARLadona -- Towards Cooperative Team Play Using Multi-Agent Reinforcement Learning
2024/09/30 by Zichong Li, Li, Zichong, Filip Bjelonic +5 · 1 voice · 4 citations
Computer Science · #Multi-Agent Systems and Negotiation #cs.MA
- RSL-RL: A Learning Library for Robotics Research
2025/09/13 by Clemens Schwarke, Mayank Mittal, Schwarke, Clemens +7 · 11 citations
Engineering · Computer Science · #Robotics and Automated Systems #Distributed and Parallel Computing Systems #Open Education and E-Learning
- A Primer on the Differential Calculus of 3D Orientations
2016/06/16 by Michael Bloesch, Bloesch, Michael, Hannes Sommer +18 · 1 citation
Engineering · #Advanced Numerical Analysis Techniques #FOS: Computer and information sciences #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Topology Optimization in Engineering
- Obstacle-Avoidant Leader Following with a Quadruped Robot
2024/10/01 by Carmen Scheidemann, Scheidemann, Carmen, Lennart Werner +13 · 3 citations
Engineering · Psychology · #Robotic Locomotion and Control #Social Robot Interaction and HRI #Robotics and Automated Systems
- Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
2024/10/17 by Jean-Pierre Sleiman, Mayank Mittal, Sleiman, Jean-Pierre +3 · 4 citations
Engineering · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Teleoperation and Haptic Systems
- ICGNet: A Unified Approach for Instance-Centric Grasping
2024/01/18 by René Zurbrügg, Yifan Liu, Zurbrügg, René +11 · 2 citations
Engineering · Computer Science · #Robot Manipulation and Learning #Hand Gesture Recognition Systems #Multimodal Machine Learning Applications
- DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation
2024/11/04 by Joshua Bagajo, Clemens Schwarke, Bagajo, Joshua +13 · 3 citations
Computer Science · Engineering · #Evacuation and Crowd Dynamics #FOS: Computer and information sciences #Human Motion and Animation #I.2.9 #I.6.5 #Machine Learning (cs.LG) #Music Technology and Sound Studies #Robotics (cs.RO)
- CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
2022/01/18 by Marco Tranzatto, Frank Mascarich, Tranzatto, Marco +79 · 1 citation
Engineering · #FOS: Computer and information sciences #Robotic Locomotion and Control #Robotics (cs.RO) #Robotics and Automated Systems #Robotics and Sensor-Based Localization
- IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigation
2024/10/25 by Kaixian Qu, Qu, Kaixian, Jie Tan +9 · 2 citations
Computer Science · Engineering · #AI-based Problem Solving and Planning #Artificial Intelligence (cs.AI) #Computation and Language (cs.CL) #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Automated Systems
- Constrained Style Learning from Imperfect Demonstrations under Task Optimality
2025/07/12 by Kehan Wen, Chenhao Li, Wen, Kehan +5 · 3 citations
Computer Science · Engineering · Psychology · #FOS: Computer and information sciences #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Robotics (cs.RO) #Social Robot Interaction and HRI
- LEVA: A high-mobility logistic vehicle with legged suspension
2025/03/13 by Lukas Hildebrandt, Arnold, Marco, Kaspar Janssen +31 · 3 citations
Engineering · #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #Robotic Locomotion and Control #Robotics (cs.RO) #Soil Mechanics and Vehicle Dynamics
- Data-Efficient Task Generalization via Probabilistic Model-based Meta Reinforcement Learning
2023/11/13 by Arjun Bhardwaj, Jonas Rothfuss, Bhardwaj, Arjun +11 · 2 citations
Computer Science · #FOS: Computer and information sciences #Machine Learning (cs.LG) #Reinforcement Learning in Robotics #Robotics (cs.RO)
- Learning Accurate Whole-body Throwing with High-frequency Residual Policy and Pullback Tube Acceleration
2025/06/20 by Yuntao Ma, Ma, Yuntao, Yang Liu +5 · 4 citations
Engineering · Neuroscience · #68T40 #70E60 #93C85 #FOS: Computer and information sciences #I.2.10 #I.2.8 #I.2.9 #Motor Control and Adaptation #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO)
- Solving Multi-Entity Robotic Problems Using Permutation Invariant Neural Networks
2024/02/28 by Tianxu An, Joonho Lee, An, Tianxu +7 · 1 citation
Engineering · Computer Science · #Advanced Data Processing Techniques #Robotic Path Planning Algorithms #Robot Manipulation and Learning
- Multi-Objective Global Path Planning for Lunar Exploration With a Quadruped Robot
2024/06/24 by Julia Richter, Hendrik Kolvenbach, Richter, Julia +5 · 1 citation
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO)
- Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation With Factor Graphs
2025/04/08 by Julian Nubert, Nubert, Julian, Turcan Tuna +12 · 2 citations
Engineering · Computer Science · #Robotics and Sensor-Based Localization #Advanced Vision and Imaging #Robotic Path Planning Algorithms
- Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models
2024/09/23 by Mike Zhang, Zhang, Mike, Kaixian Qu +7 · 1 citation
Computer Science · Social Sciences · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #Data Management and Algorithms #FOS: Computer and information sciences #Geographic Information Systems Studies #Robotics (cs.RO) #Semantic Web and Ontologies
- Perceptive Pedipulation with Local Obstacle Avoidance
2024/09/11 by Jonas Stolle, Philip Arm, Stolle, Jonas +5 · 1 citation
Neuroscience · #FOS: Computer and information sciences #Robotics (cs.RO) #Tactile and Sensory Interactions
- A Pragmatist Robot: Learning to Plan Tasks by Experiencing the Real World
2025/07/22 by Kaixian Qu, Lan, Guowei, Qu, Kaixian +10 · 2 citations
Computer Science · #Artificial Intelligence (cs.AI) #Computation and Language (cs.CL) #FOS: Computer and information sciences #Neural Networks and Reservoir Computing #Robotics (cs.RO)
- Feature-Based vs. GAN-Based Learning from Demonstrations: When and Why
2025/07/08 by Chenhao Li, Li, Chenhao, Marco Hutter +3 · 2 citations
Computer Science · Engineering · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Generative Adversarial Networks and Image Synthesis #Graphics (cs.GR) #Machine Learning (cs.LG) #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Robotics (cs.RO)
- Tripody: An Overconstrained 3-SPR-like Parallel Robot for High-Reach Construction Tasks
2026/07/28 by Julien Kindle, Jakub Raczy, Riccardo Balbi +3
#cs.RO