Modeling assembled-MEMS microrobots for wireless magnetic control. - Zoltán Nagy 002; Olgaç Ergeneman; Jake J. Abbott; Marco Hutter 001; Ann M. Hirt; Bradley J. Nelson (ICRA, 2008)

Adaptive control strategies for open-loop dynamic hopping. - Marco Hutter 001; C. David Remy; Roland Siegwart (IROS, 2009)

Haptic terrain classification for legged robots. - Mark A. Höpflinger; C. David Remy; Marco Hutter 001; Luciano Spinello; Roland Siegwart (ICRA, 2010)

Passive dynamic walking with quadrupeds - Extensions towards 3D. - C. David Remy; Marco Hutter 001; Roland Siegwart (ICRA, 2010)

SLIP running with an articulated robotic leg. - Marco Hutter 001; C. David Remy; Mark A. Höpflinger; Roland Siegwart (IROS, 2010)

ScarlETH: Design and control of a planar running robot. - Marco Hutter 001; C. David Remy; Mark A. Höpflinger; Roland Siegwart (IROS, 2011)

Walking and crawling with ALoF: a robot for autonomous locomotion on four legs. - C. David Remy; Oliver Baur; Martin Latta; Andi Lauber; Marco Hutter 001; Mark A. Hoepflinger; Cédric Pradalier; Roland Siegwart (Ind. Robot, 2011)

State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU. - Michael Blösch; Marco Hutter 001; Mark A. Hoepflinger; Stefan Leutenegger; Christian Gehring; C. David Remy; Roland Siegwart (Robotics: Science and Systems, 2012)

Hybrid Operational Space Control for Compliant Legged Systems. - Marco Hutter 001; Mark A. Hoepflinger; Christian Gehring; Michael Blösch; C. David Remy; Roland Siegwart (Robotics: Science and Systems, 2012)

Quadrupedal Robots with Stiff and Compliant Actuation. - C. David Remy; Marco Hutter 001; Mark A. Hoepflinger; Michael Blösch; Christian Gehring; Roland Siegwart (Autom., 2012)

Kinematic batch calibration for legged robots. - Michael Blösch; Marco Hutter 001; Christian Gehring; Mark A. Höpflinger; Roland Siegwart (ICRA, 2013)

Control of dynamic gaits for a quadrupedal robot. - Christian Gehring; Stelian Coros; Marco Hutter 001; Michael Blösch; Mark A. Hoepflinger; Roland Siegwart (ICRA, 2013)

Unsupervised identification and prediction of foothold robustness. - Mark A. Hoepflinger; Marco Hutter 001; Christian Gehring; Michael Blösch; Roland Siegwart (ICRA, 2013)

State estimation for legged robots on unstable and slippery terrain. - Michael Blösch; Christian Gehring; Peter Fankhauser; Marco Hutter 001; Mark A. Hoepflinger; Roland Siegwart (IROS, 2013)

Reinforcement learning of single legged locomotion. - Peter Fankhauser; Marco Hutter 001; Christian Gehring; Michael Blösch; Mark A. Hoepflinger; Roland Siegwart (IROS, 2013)

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. - Marco Hutter 001; Michael Blösch; Jonas Buchli; Claudio Semini; Stéphane Bazeille; Ludovic Righetti; Jeannette Bohg (SSRR, 2013)

Towards automatic discovery of agile gaits for quadrupedal robots. - Christian Gehring; Stelian Coros; Marco Hutter 001; Michael Blösch; Peter Fankhauser; Markus A. Höpflinger; Roland Siegwart (ICRA, 2014)

Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control. - Marco Hutter 001; Christian Gehring; Michael Blösch; Mark A. Höpflinger; Peter Fankhauser; Roland Siegwart (ICRA, 2014)

Fusion of optical flow and inertial measurements for robust egomotion estimation. - Michael Blösch; Sammy Omari; Peter Fankhauser; Hannes Sommer; Christian Gehring; Jemin Hwangbo; Mark A. Hoepflinger; Marco Hutter 001; Roland Siegwart (IROS, 2014)

Quadrupedal locomotion using hierarchical operational space control. - Marco Hutter 001; Hannes Sommer; Christian Gehring; Mark A. Hoepflinger; Michael Blösch; Roland Siegwart (Int. J. Robotics Res., 2014)

Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped. - Marco Hutter 001; Christian Gehring; Mark A. Höpflinger; Michael Blösch; Roland Siegwart (IEEE Trans. Robotics, 2014)

Kinect v2 for mobile robot navigation: Evaluation and modeling. - Peter Fankhauser; Michael Blösch; Diego Rodriguez; Ralf Kaestner; Marco Hutter 001; Roland Siegwart (ICAR, 2015)

Towards optimal force distribution for walking excavators. - Marco Hutter 001; Philipp Leemann; Stefan Stevsic; Andreas Michel; Dominic Jud; Mark A. Höpflinger; Roland Siegwart; Ruedi Figi; Christian Caduff; Markus Loher; Stefan Tagmann (ICAR, 2015)

Robust visual inertial odometry using a direct EKF-based approach. - Michael Blösch; Sammy Omari; Marco Hutter 001; Roland Siegwart (IROS, 2015)

Dynamic trotting on slopes for quadrupedal robots. - Christian Gehring; C. Dario Bellicoso; Stelian Coros; Michael Blösch; Peter Fankhauser; Marco Hutter 001; Roland Siegwart (IROS, 2015)

Direct state-to-action mapping for high DOF robots using ELM. - Jemin Hwangbo; Christian Gehring; Dario Bellicoso; Peter Fankhauser; Roland Siegwart; Marco Hutter 001 (IROS, 2015)

Robust Visual Place Recognition with Graph Kernels. - Elena Stumm; Christopher Mei; Simon Lacroix; Juan I. Nieto 001; Marco Hutter 001; Roland Siegwart (CVPR, 2016)

Perception-less terrain adaptation through whole body control and hierarchical optimization. - C. Dario Bellicoso; Christian Gehring; Jemin Hwangbo; Peter Fankhauser; Marco Hutter 001 (Humanoids, 2016)

Free Gait - An architecture for the versatile control of legged robots. - Peter Fankhauser; C. Dario Bellicoso; Christian Gehring; Renaud Dubé; Abel Gawel; Marco Hutter 001 (Humanoids, 2016)

ANYpulator: Design and control of a safe robotic arm. - Karen Bodie; C. Dario Bellicoso; Marco Hutter 001 (IROS, 2016)

Collaborative navigation for flying and walking robots. - Peter Fankhauser; Michael Bloesch; Philipp Krusi; Remo Diethelm; Martin Wermelinger; Thomas Schneider 007; Marcin Dymczyk; Marco Hutter 001; Roland Siegwart (IROS, 2016)

ANYmal - a highly mobile and dynamic quadrupedal robot. - Marco Hutter 001; Christian Gehring; Dominic Jud; Andreas Lauber; C. Dario Bellicoso; Vassilios Tsounis; Jemin Hwangbo; Karen Bodie; Peter Fankhauser; Michael Bloesch; Remo Diethelm; Samuel Bachmann; et al. (IROS, 2016)

Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics. - Jemin Hwangbo; Carmine Dario Bellicoso; Peter Fankhauser; Marco Hutter 001 (IROS, 2016)

Navigation planning for legged robots in challenging terrain. - Martin Wermelinger; Peter Fankhauser; Remo Diethelm; Philipp Krüsi; Roland Siegwart; Marco Hutter 001 (IROS, 2016)

IBEX - A tele-operation and training device for walking excavators. - Marco Hutter 001; Thomas Braungardt; Fabian Grigis; Gabriel Hottiger; Dominic Jud; Michael Katz; Philipp Leemann; Paul Nemetz; Jonas Peschel; Jan Preisig; Nicolas Sollich; Miro Voellmy; et al. (SSRR, 2016)

Coverage path planning for legged robots in unknown environments. - Dan Jia; Martin Wermelinger; Remo Diethelm; Philipp Krüsi; Marco Hutter 001 (SSRR, 2016)

Collaborative localization of aerial and ground robots through elevation maps. - Roman Kaslin; Peter Fankhauser; Elena Stumm; Zachary Taylor; Elias Mueggler; Jeffrey A. Delmerico; Davide Scaramuzza 001; Roland Siegwart; Marco Hutter 001 (SSRR, 2016)

A Primer on the Differential Calculus of 3D Orientations. - Michael Bloesch; Hannes Sommer; Tristan Laidlow; Michael Burri; Gabriel Nützi; Peter Fankhauser; Dario Bellicoso; Christian Gehring; Stefan Leutenegger; Marco Hutter 001; Roland Siegwart (CoRR, 2016)

Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot. - Christian Gehring; Stelian Coros; Marco Hutter 001; Carmine Dario Bellicoso; Huub Heijnen; Remo Diethelm; Michael Bloesch; Peter Fankhauser; Jemin Hwangbo; Mark A. Hoepflinger; Roland Siegwart (IEEE Robotics Autom. Mag., 2016)

Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC. - Jan Carius; Martin Wermelinger; Balasubramanian Rajasekaran; Kai Holtmann; Marco Hutter 001 (FSR, 2017)

Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials. - David Gonon; Dominic Jud; Peter Fankhauser; Marco Hutter 001 (FSR, 2017)

Towards a Generic Solution for Inspection of Industrial Sites. - Marco Hutter 001; Remo Diethelm; Samuel Bachmann; Peter Fankhauser; Christian Gehring; Vassilios Tsounis; Andreas Lauber; Fabian Günther; Marko Bjelonic; Linus Isler; Hendrik Kolvenbach; Konrad Meyer; et al. (FSR, 2017)

Life Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots. - Hendrik Kolvenbach; Marco Hutter 001 (FSR, 2017)

Autonomous robotic stone stacking with online next best object target pose planning. - Fadri Furrer; Martin Wermelinger; Hironori Yoshida; Fabio Gramazio; Matthias Kohler; Roland Siegwart; Marco Hutter 001 (ICRA, 2017)

Quadrupedal locomotion using trajectory optimization and hierarchical whole body control. - Christian Gehring; C. Dario Bellicoso; Peter Fankhauser; Stelian Coros; Marco Hutter 001 (ICRA, 2017)

Dynamic locomotion and whole-body control for quadrupedal robots. - C. Dario Bellicoso; Fabian Jenelten; Peter Fankhauser; Christian Gehring; Jemin Hwangbo; Marco Hutter 001 (IROS, 2017)

Robust damping of a ropeway gondola's wind oscillations with an actuated mass. - Alvaro Estandia; Marco Hutter 001 (IROS, 2017)

ANYmal - toward legged robots for harsh environments. - Marco Hutter 001; Christian Gehring; Andreas Lauber; Fabian Günther; Carmine Dario Bellicoso; Vassilios Tsounis; Peter Fankhauser; Remo Diethelm; Samuel Bachmann; Michael Blösch; Hendrik Kolvenbach; Marko Bjelonic; et al. (Adv. Robotics, 2017)

Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback. - Michael Bloesch; Michael Burri; Sammy Omari; Marco Hutter 001; Roland Siegwart (Int. J. Robotics Res., 2017)

Control of a Quadrotor With Reinforcement Learning. - Jemin Hwangbo; Inkyu Sa; Roland Siegwart; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2017)

Planning and Control for Autonomous Excavation. - Dominic Jud; Gabriel Hottiger; Philipp Leemann; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2017)

Robust Rough-Terrain Locomotion with a Quadrupedal Robot. - Peter Fankhauser; Marko Bjelonic; C. Dario Bellicoso; Takahiro Miki; Marco Hutter 001 (ICRA, 2018)

Greedy Stone Tower Creations with a Robotic Arm. - Martin Wermelinger; Fadri Furrer; Hironori Yoshida; Fabio Gramazio; Matthias Kohler; Roland Siegwart; Marco Hutter 001 (IJCAI, 2018)

Real-Time Dance Generation to Music for a Legged Robot. - Thomas Bi; Peter Fankhauser; Dario Bellicoso; Marco Hutter 001 (IROS, 2018)

Skating with a Force Controlled Quadrupedal Robot. - Marko Bjelonic; C. Dario Bellicoso; Mehmet Efe Tiryaki; Marco Hutter 001 (IROS, 2018)

Cable-Driven Actuation for Highly Dynamic Robotic Systems. - Jemin Hwangbo; Vassilios Tsounis; Hendrik Kolvenbach; Marco Hutter 001 (IROS, 2018)

Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots. - Roman Kaslin; Hendrik Kolvenbach; Laura Paez; Klajd Lika; Marco Hutter 001 (IROS, 2018)

An Adaptive Landing Gear for Extending the Operational Range of Helicopters. - Boris Stolz; Tim Brödermann; Enea Castiello; Gokula Englberger; Daniel Erne; Jan Gasser; Eric Hayoz; Stephan Müller; Lorin Muhlebach; Tobias Löw; Dominique Scheuer; Luca Vandeventer; et al. (IROS, 2018)

Advances in real-world applications for legged robots. - C. Dario Bellicoso; Marko Bjelonic; Lorenz Wellhausen; Kai Holtmann; Fabian Günther; Marco Tranzatto; Peter Fankhauser; Marco Hutter 001 (J. Field Robotics, 2018)

Deployment of an autonomous mobile manipulator at MBZIRC. - Jan Carius; Martin Wermelinger; Balasubramanian Rajasekaran; Kai Holtmann; Marco Hutter 001 (J. Field Robotics, 2018)

Editorial. - Marco Hutter 001; Roland Siegwart (J. Field Robotics, 2018)

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots. - C. Dario Bellicoso; Fabian Jenelten; Christian Gehring; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2018)

The Two-State Implicit Filter Recursive Estimation for Mobile Robots. - Michael Bloesch; Michael Burri; Hannes Sommer; Roland Siegwart; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2018)

Trajectory Optimization With Implicit Hard Contacts. - Jan Carius; René Ranftl; Vladlen Koltun; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2018)

Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization. - Peter Fankhauser; Michael Bloesch; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2018)

Per-Contact Iteration Method for Solving Contact Dynamics. - Jemin Hwangbo; Joonho Lee; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2018)

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. - Michael Neunert; Markus Stäuble; Markus Giftthaler; Carmine Dario Bellicoso; Jan Carius; Christian Gehring; Marco Hutter 001; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization. - Alexander W. Winkler; C. Dario Bellicoso; Marco Hutter 001; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Deep Value Model Predictive Control. - David Hoeller; Farbod Farshidian; Marco Hutter 001 (CoRL, 2019)

ANYmal in the Field: Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot. - Christian Gehring; Peter Fankhauser; Linus Isler; Remo Diethelm; Samuel Bachmann; M. Potz; L. Gerstenberg; Marco Hutter 001 (FSR, 2019)

SpaceBok: A Dynamic Legged Robot for Space Exploration. - Philip Arm; Radek Zenkl; Patrick Barton; Lars Beglinger; Alex Dietsche; Luca Ferrazzini; Elias Hampp; Jan Hinder; Camille Huber; David Schaufelberger; Felix Schmitt 003; Benjamin Sun; et al. (ICRA, 2019)

What am I touching? Learning to classify terrain via haptic sensing. - Jakub Bednarek; Michal Bednarek; Lorenz Wellhausen; Marco Hutter 001; Krzysztof Walas (ICRA, 2019)

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot. - C. Dario Bellicoso; Koen Krämer; Markus Stäuble; Dhionis V. Sako; Fabian Jenelten; Marko Bjelonic; Marco Hutter 001 (ICRA, 2019)

Support Surface Estimation for Legged Robots. - Timon Homberger; Lorenz Wellhausen; Peter Fankhauser; Marco Hutter 001 (ICRA, 2019)

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. - Tim Seyde; Jan Carius; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (ICRA, 2019)

A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. - Abel Gawel; Roland Siegwart; Marco Hutter 001; Timothy Sandy; Hermann Blum; Johannes Pankert; Koen Krämer; Luca Bartolomei 002; Selen Ercan; Farbod Farshidian; Margarita Chli; Fabio Gramazio (IROS, 2019)

Feedback MPC for Torque-Controlled Legged Robots. - Ruben Grandia; Farbod Farshidian; René Ranftl; Marco Hutter 001 (IROS, 2019)

Whole-Body Motion Planning for Walking Excavators. - Edo Jelavic; Marco Hutter 001 (IROS, 2019)

Towards Jumping Locomotion for Quadruped Robots on the Moon. - Hendrik Kolvenbach; Elias Hampp; Patrick Barton; Radek Zenkl; Marco Hutter 001 (IROS, 2019)

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation. - Jean-Pierre Sleiman; Jan Carius; Ruben Grandia; Martin Wermelinger; Marco Hutter 001 (IROS, 2019)

Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning. - Joonho Lee; Jemin Hwangbo; Marco Hutter 001 (CoRR, 2019)

Learning agile and dynamic motor skills for legged robots. - Jemin Hwangbo; Joonho Lee; Alexey Dosovitskiy; Dario Bellicoso; Vassilios Tsounis; Vladlen Koltun; Marco Hutter 001 (CoRR, 2019)

The current state and future outlook of rescue robotics. - Jeffrey A. Delmerico; Stefano Mintchev; Alessandro Giusti; Boris Gromov; Kamilo Melo; Tomislav Horvat; Cesar Cadena 001; Marco Hutter 001; Auke Jan Ijspeert; Dario Floreano; Luca Maria Gambardella; Roland Siegwart; et al. (J. Field Robotics, 2019)

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots. - Marko Bjelonic; C. Dario Bellicoso; Yvain de Viragh; Dhionis V. Sako; F. Dante Tresoldi; Fabian Jenelten; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces. - Russell Buchanan; Tirthankar Bandyopadhyay; Marko Bjelonic; Lorenz Wellhausen; Marco Hutter 001; Navinda Kottege (IEEE Robotics Autom. Lett., 2019)

Trajectory Optimization for Legged Robots With Slipping Motions. - Jan Carius; René Ranftl; Vladlen Koltun; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm. - Andrea Carron; Elena Arcari; Martin Wermelinger; Lukas Hewing; Marco Hutter 001; Melanie N. Zeilinger (IEEE Robotics Autom. Lett., 2019)

Frequency-Aware Model Predictive Control. - Ruben Grandia; Farbod Farshidian; Alexey Dosovitskiy; René Ranftl; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Dynamic Locomotion on Slippery Ground. - Fabian Jenelten; Jemin Hwangbo; Fabian Tresoldi; C. Dario Bellicoso; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Autonomous Free-Form Trenching Using a Walking Excavator. - Dominic Jud; Philipp Leemann; Simon Kerscher; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Haptic Inspection of Planetary Soils With Legged Robots. - Hendrik Kolvenbach; Christian Bärtschi; Lorenz Wellhausen; Ruben Grandia; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Whole-Body MPC for a Dynamically Stable Mobile Manipulator. - Maria Vittoria Minniti; Farbod Farshidian; Ruben Grandia; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints. - Yvain de Viragh; Marko Bjelonic; C. Dario Bellicoso; Fabian Jenelten; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning. - Lorenz Wellhausen; Alexey Dosovitskiy; René Ranftl; Krzysztof Walas; Cesar Cadena 001; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot. - Yves Zimmermann; Alessandro Forino; Robert Riener; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Learning agile and dynamic motor skills for legged robots. - Joonho Lee; Alexey Dosovitskiy; Dario Bellicoso; Vassilios Tsounis; Vladlen Koltun; Marco Hutter 001 (Sci. Robotics, 2019)

CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System. - Dominik Mannhart; Fabio Dubois; Karen Bodie; Victor Klemm; Alessandro Morra; Marco Hutter 001 (ICRA, 2020)

Towards RL-Based Hydraulic Excavator Automation. - Pascal Egli; Marco Hutter 001 (IROS, 2020)

Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators. - Edo Jelavic; Yannick Berdou; Dominic Jud; Simon Kerscher; Marco Hutter 001 (IROS, 2020)

Physical Human-Robot Interaction with Real Active Surfaces using Haptic Rendering on Point Clouds. - Michael Sommerhalder; Yves Zimmermann; Burak Cizmeci; Robert Riener; Marco Hutter 001 (IROS, 2020)

Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton. - Yves Zimmermann; Emek Baris Küçüktabak; Farbod Farshidian; Robert Riener; Marco Hutter 001 (IROS, 2020)

Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot. - Napat Karnchanachari; Miguel de la Iglesia Valls; David Hoeller; Marco Hutter 001 (L4DC, 2020)

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. - Ruben Grandia; Andrew J. Taylor; Andrew Singletary; Marco Hutter 001; Aaron D. Ames (Robotics: Science and Systems, 2020)

Graph-based subterranean exploration path planning using aerial and legged robots. - Tung Dang; Marco Tranzatto; Shehryar Khattak; Frank Mascarich; Kostas Alexis; Marco Hutter 001 (J. Field Robotics, 2020)

Towards autonomous inspection of concrete deterioration in sewers with legged robots. - Hendrik Kolvenbach; David Wisth; Russell Buchanan; Giorgio Valsecchi; Ruben Grandia; Maurice F. Fallon; Marco Hutter 001 (J. Field Robotics, 2020)

Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization. - Marko Bjelonic; Prajish K. Sankar; C. Dario Bellicoso; Heike Vallery; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

MPC-Net: A First Principles Guided Policy Search. - Jan Carius; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots. - Michael Chadwick; Hendrik Kolvenbach; Fabio Dubois; Hong Fai Lau; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Perceptive Locomotion in Rough Terrain - Online Foothold Optimization. - Fabian Jenelten; Takahiro Miki; Aravind Elanjimattathil Vijayan; Marko Bjelonic; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain. - Vivian Suzano Medeiros; Edo Jelavic; Marko Bjelonic; Roland Siegwart; Marco A. Meggiolaro; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Perceptive Model Predictive Control for Continuous Mobile Manipulation. - Johannes Pankert; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation. - Jens Reinecke; Bastian Deutschmann; Alexander Dietrich; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning. - Vassilios Tsounis; Mitja Alge; Joonho Lee; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet. - Giorgio Valsecchi; Ruben Grandia; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Safe Robot Navigation Via Multi-Modal Anomaly Detection. - Lorenz Wellhausen; René Ranftl; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Learning quadrupedal locomotion over challenging terrain. - Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter 001 (Sci. Robotics, 2020)

Simulation-Based Climbing Capability Analysis for Quadrupedal Robots. - Kentaro Uno; Giorgio Valsecchi; Marco Hutter 001; Kazuya Yoshida (CLAWAR, 2021)

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning. - Nikita Rudin; David Hoeller; Philipp Reist; Marco Hutter 001 (CoRL, 2021)

Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation. - Parker Ewen; Jean-Pierre Sleiman; Yuxin Chen; Wei-Chun Lu; Marco Hutter 001; Ram Vasudevan (ICRA, 2021)

Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. - Magnus Gaertner; Marko Bjelonic; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. - Ruben Grandia; Andrew J. Taylor; Aaron D. Ames; Marco Hutter 001 (ICRA, 2021)

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. - Edo Jelavic; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. - Maria Vittoria Minniti; Ruben Grandia; Kevin Fäh; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Self-supervised Learning of LiDAR Odometry for Robotic Applications. - Julian Nubert; Shehryar Khattak; Marco Hutter 001 (ICRA, 2021)

Imitation Learning from MPC for Quadrupedal Multi-Gait Control. - Alexander Reske; Jan Carius; Yuntao Ma; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. - Fan Shi; Timon Homberger; Joonho Lee; Takahiro Miki; Moju Zhao; Farbod Farshidian; Kei Okada; Masayuki Inaba; Marco Hutter 001 (ICRA, 2021)

Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. - Jean-Pierre Sleiman; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Real-time Optimal Navigation Planning Using Learned Motion Costs. - Bowen Yang; Lorenz Wellhausen; Takahiro Miki; Ming Liu 001; Marco Hutter 001 (ICRA, 2021)

3D Surfel Map-Aided Visual Relocalization with Learned Descriptors. - Haoyang Ye; Huaiyang Huang; Marco Hutter 001; Timothy Sandy; Ming Liu 001 (ICRA, 2021)

Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots. - Marko Bjelonic; Ruben Grandia; Oliver Harley; Cla Galliard; Samuel Zimmermann; Marco Hutter 001 (IROS, 2021)

Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays. - Mattia Risiglione; Jean-Pierre Sleiman; Maria Vittoria Minniti; Burak Çizmeci; Douwe Dresscher; Marco Hutter 001 (IROS, 2021)

Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning. - Lorenz Wellhausen; Marco Hutter 001 (IROS, 2021)

Towards Autonomous Robotic Precision Harvesting. - Edo Jelavic; Dominic Jud; Pascal Egli; Marco Hutter 001 (CoRR, 2021)

HEAP - The autonomous walking excavator. - Dominic Jud; Simon Kerscher; Martin Wermelinger; Edo Jelavic; Pascal Egli; Philipp Leemann; Gabriel Hottiger; Marco Hutter 001 (CoRR, 2021)

Solving Occlusion in Terrain Mapping with Neural Networks. - Maximilian Stölzle; Takahiro Miki; Levin Gerdes; Martin Azkarate; Marco Hutter 001 (CoRR, 2021)

Perceptive whole-body planning for multilegged robots in confined spaces. - Russell Buchanan; Lorenz Wellhausen; Marko Bjelonic; Tirthankar Bandyopadhyay; Navinda Kottege; Marco Hutter 001 (J. Field Robotics, 2021)

Towards automating construction tasks: Large-scale object mapping, segmentation, and manipulation. - Ruben Mascaro; Martin Wermelinger; Marco Hutter 001; Margarita Chli (J. Field Robotics, 2021)

Learning a State Representation and Navigation in Cluttered and Dynamic Environments. - David Hoeller; Lorenz Wellhausen; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2021)

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. - Jean-Pierre Sleiman; Farbod Farshidian; Maria Vittoria Minniti; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2021)

Grasping and Object Reorientation for Autonomous Construction of Stone Structures. - Martin Wermelinger; Ryan Luke Johns; Fabio Gramazio; Matthias Kohler; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2021)

A Survey of Wheeled-Legged Robots. - Marko Bjelonic; Victor Klemm; Joonho Lee; Marco Hutter 001 (CLAWAR, 2022)

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning. - Joonho Lee; Marko Bjelonic; Marco Hutter 001 (CLAWAR, 2022)

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (Humanoids, 2022)

Collaborative Robot Mapping using Spectral Graph Analysis. - Lukas Bernreiter; Shehryar Khattak; Lionel Ott; Roland Siegwart; Marco Hutter 001; César Cadena 001 (ICRA, 2022)

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. - Jia-Ruei Chiu; Jean-Pierre Sleiman; Mayank Mittal; Farbod Farshidian; Marco Hutter 001 (ICRA, 2022)

Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. - Ibrahim Ibrahim; Farbod Farshidian; Jan Preisig; Perry Franklin; Paolo Rocco; Marco Hutter 001 (ICRA, 2022)

Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots. - Mihir Kulkarni; Mihir Dharmadhikari; Marco Tranzatto; Samuel Zimmermann; Victor Reijgwart; Paolo De Petris; Huan Nguyen 003; Nikhil Khedekar; Christos Papachristos; Lionel Ott; Roland Siegwart; Marco Hutter 001; et al. (ICRA, 2022)

Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots. - Julian Nubert; Shehryar Khattak; Marco Hutter 001 (ICRA, 2022)

Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. - Jin Cheng 002; Firas Abi-Farraj; Farbod Farshidian; Marco Hutter 001 (IROS, 2022)

Collision detection and identification for a legged manipulator. - Jessie van Dam; Andreea Tulbure; Maria Vittoria Minniti; Firas Abi-Farraj; Marco Hutter 001 (IROS, 2022)

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments. - Jonas Frey; David Hoeller; Shehryar Khattak; Marco Hutter 001 (IROS, 2022)

Elevation Mapping for Locomotion and Navigation using GPU. - Takahiro Miki; Lorenz Wellhausen; Ruben Grandia; Fabian Jenelten; Timon Homberger; Marco Hutter 001 (IROS, 2022)

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. - Mayank Mittal; David Hoeller; Farbod Farshidian; Marco Hutter 001; Animesh Garg (IROS, 2022)

Learning-based Localizability Estimation for Robust LiDAR Localization. - Julian Nubert; Etienne Walther; Shehryar Khattak; Marco Hutter 001 (IROS, 2022)

Advanced Skills by Learning Locomotion and Local Navigation End-to-End. - Nikita Rudin; David Hoeller; Marko Bjelonic; Marco Hutter 001 (IROS, 2022)

Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain. - Robin Schmid; Deegan Atha; Frederik Schöller; Sharmita Dey; Seyed Abolfazl Fakoorian; Kyohei Otsu; Barry Ridge; Marko Bjelonic; Lorenz Wellhausen; Marco Hutter 001; Ali-akbar Agha-mohammadi (IROS, 2022)

LiDAR-guided object search and detection in Subterranean Environments. - Manthan Patel; Gabriel Waibel; Shehryar Khattak; Marco Hutter 001 (SSRR, 2022)

Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments. - Paolo De Petris; Shehryar Khattak; Mihir Dharmadhikari; Gabriel Waibel; Huan Nguyen 003; Markus Montenegro; Nikhil Khedekar; Kostas Alexis; Marco Hutter 001 (SSRR, 2022)

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (CoRR, 2022)

Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. - Marco Tranzatto; Mihir Dharmadhikari; Lukas Bernreiter; Marco Camurri; Shehryar Khattak; Frank Mascarich; Patrick Pfreundschuh; David Wisth; Samuel Zimmermann; Mihir Kulkarni; Victor Reijgwart; Benoit Casseau; et al. (CoRR, 2022)

Present and Future of SLAM in Extreme Underground Environments. - Kamak Ebadi; Lukas Bernreiter; Harel Biggie; Gavin Catt; Yun Chang; Arghya Chatterjee 002; Christopher E. Denniston; Simon-Pierre Deschênes; Kyle Harlow; Shehryar Khattak; Lucas Nogueira; Matteo Palieri; et al. (CoRR, 2022)

PyPose: A Library for Robot Learning with Physics-based Optimization. - Chen Wang 033; Dasong Gao; Kuan Xu; Junyi Geng; Yaoyu Hu; Yuheng Qiu; Bowen Li 007; Fan Yang 092; Brady G. Moon; Abhinav Pandey; Aryan; Jiahe Xu; et al. (CoRR, 2022)

A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets. - Lukas Bernreiter; Shehryar Khattak; Lionel Ott; Roland Siegwart; Marco Hutter 001; Cesar Cadena 001 (CoRR, 2022)

Unsupervised Continual Semantic Adaptation through Neural Rendering. - Zhizheng Liu; Francesco Milano 001; Jonas Frey; Marco Hutter 001; Roland Siegwart; Hermann Blum; Cesar Cadena 001 (CoRR, 2022)

Offline motion libraries and online MPC for advanced mobility skills. - Marko Bjelonic; Ruben Grandia; Moritz Geilinger; Oliver Harley; Vivian Suzano Medeiros; Vuk Pajovic; Edo Jelavic; Stelian Coros; Marco Hutter 001 (Int. J. Robotics Res., 2022)

Constrained stochastic optimal control with learned importance sampling: A path integral approach. - Jan Carius; René Ranftl; Farbod Farshidian; Marco Hutter 001 (Int. J. Robotics Res., 2022)

Meta Reinforcement Learning for Optimal Design of Legged Robots. - Álvaro Belmonte-Baeza; Joonho Lee; Giorgio Valsecchi; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Soil-Adaptive Excavation Using Reinforcement Learning. - Pascal Egli; Dominique Gaschen; Simon Kerscher; Dominic Jud; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning. - Pascal Egli; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Neural Scene Representation for Locomotion on Structured Terrain. - David Hoeller; Nikita Rudin; Christopher B. Choy; Animashree Anandkumar; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. - Yuntao Ma; Farbod Farshidian; Takahiro Miki; Joonho Lee; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Adaptive CLF-MPC With Application to Quadrupedal Robots. - Maria Vittoria Minniti; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

A Reconfigurable Leg for Walking Robots. - Fang Nan; Hendrik Kolvenbach; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Deep Measurement Updates for Bayes Filters. - Johannes Pankert; Maria Vittoria Minniti; Lorenz Wellhausen; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Design and Motion Planning for a Reconfigurable Robotic Base. - Johannes Pankert; Giorgio Valsecchi; Davide Baret; Jon Zehnder; Lukasz L. Pietrasik; Marko Bjelonic; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement. - Jens Reinecke; Alexander Dietrich; Anton Leonhard Shu; Bastian Deutschmann; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning. - Maximilian Stölzle; Takahiro Miki; Levin Gerdes; Martin Azkarate; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Learning robust perceptive locomotion for quadrupedal robots in the wild. - Takahiro Miki; Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter 001 (Sci. Robotics, 2022)

CERBERUS in the DARPA Subterranean Challenge. - Marco Tranzatto; Takahiro Miki; Mihir Dharmadhikari; Lukas Bernreiter; Mihir Kulkarni; Frank Mascarich; Olov Andersson; Shehryar Khattak; Marco Hutter 001; Roland Siegwart; Kostas Alexis (Sci. Robotics, 2022)

Adaptive Feet for Quadrupedal Walkers. - Manuel Giuseppe Catalano; Mathew Jose Pollayil; Giorgio Grioli; Giorgio Valsecchi; Hendrik Kolvenbach; Marco Hutter 001; Antonio Bicchi; Manolo Garabini (IEEE Trans. Robotics, 2022)

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. - Fabian Jenelten; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2022)

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning. - Nikita Rudin; Hendrik Kolvenbach; Vassilios Tsounis; Marco Hutter 001 (IEEE Trans. Robotics, 2022)

Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester. - Edo Jelavic; Dominic Jud; Pascal Egli; Marco Hutter 001 (Field Robotics, 2022)

Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot. - Hendrik Kolvenbach; Philip Arm; Elias Hampp; Alexander Dietsche; Valentin Tertius Bickel; Benjamin Sun; Christoph Meyer 005; Marco Hutter 001 (Field Robotics, 2022)

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. - Marco Tranzatto; Frank Mascarich; Lukas Bernreiter; Carolina Godinho; Marco Camurri; Shehryar Khattak; Tung Dang; Victor Reijgwart; Johannes Loeje; David Wisth; Samuel Zimmermann; Huan Nguyen 003; et al. (Field Robotics, 2022)

Actively Variable Transmission Robotic Leg. - Giorgio Valsecchi; Fabian Tischhauser; Jonas Junger; Yann Bernarnd; Marco Hutter 001 (CLAWAR (2), 2023)

Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks. - Clemens Schwarke; Victor Klemm; Matthijs van der Boon; Marko Bjelonic; Marco Hutter 001 (CoRL, 2023)

PyPose: A Library for Robot Learning with Physics-based Optimization. - Chen Wang 033; Dasong Gao; Kuan Xu; Junyi Geng; Yaoyu Hu; Yuheng Qiu; Bowen Li 007; Fan Yang 092; Brady G. Moon; Abhinav Pandey; Aryan; Jiahe Xu; et al. (CVPR, 2023)

End-Effector Pose Estimation and Control for 3D Printing with Articulated Excavators. - Grzegorz Malczyk; Marco Hutter 001 (ICAR, 2023)

Event-based Agile Object Catching with a Quadrupedal Robot. - Benedek Forrai; Takahiro Miki; Daniel Gehrig; Marco Hutter 001; Davide Scaramuzza 001 (ICRA, 2023)

Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. - Yuntao Ma; Farbod Farshidian; Marco Hutter 001 (ICRA, 2023)

Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning. - Eric Vollenweider; Marko Bjelonic; Victor Klemm; Nikita Rudin; Joonho Lee; Marco Hutter 001 (ICRA, 2023)

MEM: Multi-Modal Elevation Mapping for Robotics and Learning. - Gian Erni; Jonas Frey; Takahiro Miki; Matías Mattamala; Marco Hutter 001 (IROS, 2023)

Learning Contact-Based State Estimation for Assembly Tasks. - Johannes Pankert; Marco Hutter 001 (IROS, 2023)

Towards Legged Locomotion on Steep Planetary Terrain. - Giorgio Valsecchi; Cedric Weibel; Hendrik Kolvenbach; Marco Hutter 001 (IROS, 2023)

Fast Traversability Estimation for Wild Visual Navigation. - Jonas Frey; Matías Mattamala; Nived Chebrolu; Cesar Cadena 001; Maurice F. Fallon; Marco Hutter 001 (Robotics: Science and Systems, 2023)

iPlanner: Imperative Path Planning. - Fan Yang 092; Chen Wang 033; Cesar Cadena 001; Marco Hutter 001 (Robotics: Science and Systems, 2023)

Robotic Monitoring of Habitats: The Natural Intelligence Approach. - Franco Angelini; Pierangela Angelini; Claudia Angiolini; Simonetta Bagella; Fabio Bonomo; Marco Caccianiga; Cosimo Della Santina; Daniela Gigante; Marco Hutter 001; Thrishantha Nanayakkara; Paolo Remagnino; Diego Torricelli; et al. (IEEE Access, 2023)

ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments. - Mayank Mittal; Calvin Yu; Qinxi Yu; Jingzhou Liu; Nikita Rudin; David Hoeller; Jia Lin Yuan; Pooria Poorsarvi Tehrani; Ritvik Singh; Yunrong Guo; Hammad Mazhar; Ajay Mandlekar; et al. (CoRR, 2023)

RAYEN: Imposition of Hard Convex Constraints on Neural Networks. - Jesus Tordesillas; Jonathan P. How; Marco Hutter 001 (CoRR, 2023)

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation. - Jean-Pierre Sleiman; Farbod Farshidian; Marco Hutter 001 (CoRR, 2023)

Towards Autonomous Excavation Planning. - Lorenzo Terenzi; Marco Hutter 001 (CoRR, 2023)

PyPose v0.6: The Imperative Programming Interface for Robotics. - Zitong Zhan; Xiangfu Li; Qihang Li; Haonan He; Abhinav Pandey; Haitao Xiao; Yangmengfei Xu; Xiangyu Chen; Kuan Xu; Kun Cao 002; Zhipeng Zhao 001; Zihan Wang 008; et al. (CoRR, 2023)

Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion. - Joonho Lee; Lukas Schroth; Victor Klemm; Marko Bjelonic; Alexander Reske; Marco Hutter 001 (CoRR, 2023)

DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion. - Fabian Jenelten; Junzhe He; Farbod Farshidian; Marco Hutter 001 (CoRR, 2023)

Learning Agile Locomotion on Risky Terrains. - Chong Zhang; Nikita Rudin; David Hoeller; Marco Hutter 001 (CoRR, 2023)

TULIP: Transformer for Upsampling of LiDAR Point Cloud. - Bin Yang; Patrick Pfreundschuh; Roland Siegwart; Marco Hutter 001; Peyman Moghadam; Vaishakh Patil (CoRR, 2023)

PLASTR: Planning for Autonomous Sampling-Based Trowelling. - Mads A. Kuhlmann-Jørgensen; Johannes Pankert; Lukasz L. Pietrasik; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2023)

ArtPlanner: Robust Legged Robot Navigation in the Field. - Lorenz Wellhausen; Marco Hutter 001 (Field Robotics, 2023)

Learning-Based Design and Control for Quadrupedal Robots With Parallel-Elastic Actuators. - Filip Bjelonic; Joonho Lee; Philip Arm; Dhionis V. Sako; Davide Tateo; Jan Peters 001; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2023)

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. - Elena Arcari; Maria Vittoria Minniti; Anna Scampicchio; Andrea Carron; Farbod Farshidian; Marco Hutter 001; Melanie N. Zeilinger (IEEE Robotics Autom. Lett., 2023)

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments. - 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; et al. (IEEE Robotics Autom. Lett., 2023)

ANYexo 2.0: A Fully Actuated Upper-Limb Exoskeleton for Manipulation and Joint-Oriented Training in All Stages of Rehabilitation. - Yves Zimmermann; Michael Sommerhalder; Peter Wolf 001; Robert Riener; Marco Hutter 001 (IEEE Trans. Robotics, 2023)

Scientific exploration of challenging planetary analog environments with a team of legged robots. - Philip Arm; Gabriel Waibel; Jan Preisig; Turcan Tuna; Ruyi Zhou; Valentin Tertius Bickel; Gabriela Ligeza; Takahiro Miki; Florian Kehl; Hendrik Kolvenbach; Marco Hutter 001 (Sci. Robotics, 2023)

Versatile multicontact planning and control for legged loco-manipulation. - Jean-Pierre Sleiman; Farbod Farshidian; Marco Hutter 001 (Sci. Robotics, 2023)

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. - Ruben Grandia; Farbod Farshidian; Espen Knoop; Christian Schumacher; Marco Hutter 001; Moritz Bächer (ACM Trans. Graph., 2023)

Human-Robot Attachment System for Exoskeletons: Design and Performance Analysis. - Yves Zimmermann; Jaeyong Song; Cédric Deguelle; Julia Läderach; Lingfei Zhou; Marco Hutter 001; Robert Riener; Peter Wolf 001 (IEEE Trans. Robotics, 2023)

Dataset for the paper "A framework for robotic excavation and dry stone construction using on-site materials". - Ryan Luke Johns; Martin Wermelinger; Ruben Mascaro; Dominic Jud; Ilmar Hurkxkens; Lauren Vasey; Margarita Chli; Fabio Gramazio; Matthias Kohler; Marco Hutter 001 (Zenodo, 2023)

Trajectory Optimization Framework for Rehabilitation Robots With Multi-Workspace Objectives and Constraints. - Michael Sommerhalder; Yves Zimmermann; Leonardo Simovic; Marco Hutter 001; Peter Wolf 001; Robert Riener (IEEE Robotics Autom. Lett., 2023)

Perceptive Locomotion Through Nonlinear Model-Predictive Control. - Ruben Grandia; Fabian Jenelten; Shaohui Yang; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2023)

SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments. - Changan Chen; Jonas Frey; Philip Arm; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2023)

Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning. - Anqiao Li; Chenyu Yang; Jonas Frey; Joonho Lee; Cesar Cadena 001; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2023)

Barry: A High-Payload and Agile Quadruped Robot. - Giorgio Valsecchi; Nikita Rudin; Lennart Nachtigall; Konrad Mayer; Fabian Tischhauser; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2023)

A framework for robotic excavation and dry stone construction using on-site materials. - Ryan Luke Johns; Martin Wermelinger; Ruben Mascaro; Dominic Jud; Ilmar Hurkxkens; Lauren Vasey; Margarita Chli; Fabio Gramazio; Matthias Kohler; Marco Hutter 001 (Sci. Robotics, 2023)

LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems. - Edo Jelavic; Kaixian Qu; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2023)

TULIP: Transformer for Upsampling of LiDAR Point Clouds. - Bin Yang; Patrick Pfreundschuh; Roland Siegwart; Marco Hutter 001; Peyman Moghadam; Vaishakh Patil (CVPR, 2024)

Fast Perception for Human-Robot Handovers with Legged Manipulators. - Andreea Tulbure; Firas Abi-Farraj; Marco Hutter 001 (HRI, 2024)

Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg. - Philip Arm; Mayank Mittal; Hendrik Kolvenbach; Marco Hutter 001 (ICRA, 2024)

Learning to walk in confined spaces using 3D representation. - Takahiro Miki; Joonho Lee; Lorenz Wellhausen; Marco Hutter 001 (ICRA, 2024)

Symmetry Considerations for Learning Task Symmetric Robot Policies. - Mayank Mittal; Nikita Rudin; Victor Klemm; Arthur Allshire; Marco Hutter 001 (ICRA, 2024)

ViPlanner: Visual Semantic Imperative Learning for Local Navigation. - Pascal Roth; Julian Nubert; Fan Yang 092; Mayank Mittal; Marco Hutter 001 (ICRA, 2024)

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning. - Lukas Schneider; Jonas Frey; Takahiro Miki; Marco Hutter 001 (ICRA, 2024)

SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies. - Alexander Spiridonov; Fabio Buehler; Moriz Berclaz; Valerio Schelbert; Jorit Geurts; Elena Krasnova; Emma Steinke; Jonas Toma; Joschua Wuethrich; Recep Polat; Wim Zimmermann; Philip Arm; et al. (ICRA, 2024)

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End. - Chong Zhang; Jin Jin; Jonas Frey; Nikita Rudin; Matías Mattamala; César Cadena 001; Marco Hutter 001 (ICRA, 2024)

ICGNet: A Unified Approach for Instance-Centric Grasping. - René Zurbrügg; Yifan Liu 001; Francis Engelmann; Suryansh Kumar 001; Marco Hutter 001; Vaishakh Patil; Fisher Yu 001 (ICRA, 2024)

Global Path Planning for Autonomous Vehicles in Orchards and Vineyards. - Timo Schönegg; Turcan Tuna; Fan Yang 092; Gabriel Waibel; Matías Mattamala; Marco Hutter 001 (RoMoCo, 2024)

Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue. - Guido Caccianiga; Julian Nubert; Marco Hutter 001; Katherine J. Kuchenbecker (CoRR, 2024)

Solving Multi-Entity Robotic Problems Using Permutation Invariant Neural Networks. - Tianxu An; Joonho Lee; Marko Bjelonic; Flavio De Vincenti; Marco Hutter 001 (CoRR, 2024)

RoadRunner - Learning Traversability Estimation for Autonomous Off-road Driving. - Jonas Frey; Shehryar Khattak; Manthan Patel; Deegan Atha; Julian Nubert; Curtis Padgett; Marco Hutter 001; Patrick Spieler (CoRR, 2024)

Learning Quadrupedal Locomotion via Differentiable Simulation. - Clemens Schwarke; Victor Klemm; Jesus Tordesillas; Jean-Pierre Sleiman; Marco Hutter 001 (CoRR, 2024)

Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision. - Matías Mattamala; Jonas Frey; Piotr Libera; Nived Chebrolu; Georg Martius; Cesar Cadena 001; Marco Hutter 001; Maurice F. Fallon (CoRR, 2024)

Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment. - Matías Mattamala; Nived Chebrolu; Benoit Casseau; Leonard Freißmuth; Jonas Frey; Turcan Tuna; Marco Hutter 001; Maurice F. Fallon (CoRR, 2024)

Cybathlon - Legged Mobile Assistance for Quadriplegics. - Carmen Scheidemann; Andrei Cramariuc; Marco Hutter 001 (CoRR, 2024)

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers. - Fan Shi; Chong Zhang; Takahiro Miki; Joonho Lee; Marco Hutter 001; Stelian Coros (CoRR, 2024)

Motion Primitives Planning For Center-Articulated Vehicles. - Jiangpeng Hu; Fan Yang 092; Fang Nan; Marco Hutter 001 (CoRR, 2024)

Dynamic Throwing with Robotic Material Handling Machines. - Lennart Werner; Fang Nan; Pol Eyschen; Filippo A. Spinelli; Hongyi Yang; Marco Hutter 001 (CoRR, 2024)

Multi-Objective Global Path Planning for Lunar Exploration With a Quadruped Robot. - Julia Richter; Hendrik Kolvenbach; Giorgio Valsecchi; Marco Hutter 001 (CoRR, 2024)

ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning. - Christopher E. Mower; Yuhui Wan; Hongzhan Yu; Antoine Grosnit; Jonas Gonzalez-Billandon; Matthieu Zimmer; Jinlong Wang; Xinyu Zhang; Yao Zhao; Anbang Zhai; Puze Liu; Davide Tateo; et al. (CoRR, 2024)

Radiance Fields for Robotic Teleoperation. - Maximum Wilder-Smith; Vaishakh Patil; Marco Hutter 001 (CoRR, 2024)

IN-Sight: Interactive Navigation through Sight. - Philipp Schoch; Fan Yang 092; Yuntao Ma; Stefan Leutenegger; Marco Hutter 001; Quentin Leboutet (CoRR, 2024)

MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation. - Guido Caccianiga; Julian Nubert; Cesar Cadena 001; Marco Hutter 001; Katherine J. Kuchenbecker (CoRR, 2024)

Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild. - Turcan Tuna; Julian Nubert; Patrick Pfreundschuh; Cesar Cadena 001; Shehryar Khattak; Marco Hutter 001 (CoRR, 2024)

Identifying Terrain Physical Parameters from Vision - Towards Physical-Parameter-Aware Locomotion and Navigation. - Jiaqi Chen; Jonas Frey; Ruyi Zhou; Takahiro Miki; Georg Martius; Marco Hutter 001 (CoRR, 2024)

Learning to Open and Traverse Doors with a Legged Manipulator. - Mike Zhang; Yuntao Ma; Takahiro Miki; Marco Hutter 001 (CoRR, 2024)

Perceptive Pedipulation with Local Obstacle Avoidance. - Jonas Stolle; Philip Arm; Mayank Mittal; Marco Hutter 001 (CoRR, 2024)

RoadRunner M&M - Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigation. - Manthan Patel; Jonas Frey; Deegan Atha; Patrick Spieler; Marco Hutter 001; Shehryar Khattak (CoRR, 2024)

An Efficient Multi-Robot Arm Coordination Strategy for Pick-and-Place Tasks using Reinforcement Learning. - Tizian Jermann; Hendrik Kolvenbach; Fidel Esquivel Estay; Koen Krämer; Marco Hutter 001 (CoRR, 2024)

Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models. - Mike Zhang; Kaixian Qu; Vaishakh Patil; César Cadena 001; Marco Hutter 001 (CoRR, 2024)

Whole-body end-effector pose tracking. - Tifanny Portela; Andrei Cramariuc; Mayank Mittal; Marco Hutter 001 (CoRR, 2024)

MARLadona - Towards Cooperative Team Play Using Multi-Agent Reinforcement Learning. - Zichong Li; Filip Bjelonic; Victor Klemm; Marco Hutter 001 (CoRR, 2024)

Data-Efficient Task Generalization via Probabilistic Model-Based Meta Reinforcement Learning. - Arjun Bhardwaj; Jonas Rothfuss; Bhavya Sukhija; Yarden As; Marco Hutter 001; Stelian Coros; Andreas Krause 001 (IEEE Robotics Autom. Lett., 2024)

Learning Adaptive Controller for Hydraulic Machinery Automation. - Fang Nan; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2024)

ANYmal parkour: Learning agile navigation for quadrupedal robots. - David Hoeller; Nikita Rudin; Dhionis V. Sako; Marco Hutter 001 (Sci. Robotics, 2024)

Learning robust autonomous navigation and locomotion for wheeled-legged robots. - Joonho Lee; Marko Bjelonic; Alexander Reske; Lorenz Wellhausen; Takahiro Miki; Marco Hutter 001 (Sci. Robotics, 2024)

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. - Kamak Ebadi; Lukas Bernreiter; Harel Biggie; Gavin Catt; Yun Chang; Arghya Chatterjee 002; Christopher E. Denniston; Simon-Pierre Deschênes; Kyle Harlow; Shehryar Khattak; Lucas Nogueira; Matteo Palieri; et al. (IEEE Trans. Robotics, 2024)

X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments. - Turcan Tuna; Julian Nubert; Yoshua Nava; Shehryar Khattak; Marco Hutter 001 (IEEE Trans. Robotics, 2024)

DTC: Deep Tracking Control. - Fabian Jenelten; Junzhe He; Farbod Farshidian; Marco Hutter 001 (Sci. Robotics, 2024)