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Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators


Jan 09, 2023
Filip Bjelonic, Joonho Lee, Philip Arm, Dhionis Sako, Davide Tateo, Jan Peters, Marco Hutter

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* IEEE Robotics and Automation Letters (2023) 

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Meta Reinforcement Learning for Optimal Design of Legged Robots


Oct 06, 2022
Álvaro Belmonte-Baeza, Joonho Lee, Giorgio Valsecchi, Marco Hutter

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* 8 pages. To be published in IEEE Robotics and Automation Letters (RA-L) and ICRA 2023 

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Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning


Mar 23, 2022
Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter

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Learning robust perceptive locomotion for quadrupedal robots in the wild


Jan 20, 2022
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

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* Science Robotics, 19 Jan 2022, Vol 7, Issue 62 

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CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge


Jan 18, 2022
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark Mueller, Maurice Fallon, Kostas Alexis

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* 50 pages, 25 figures. Accepted at Field Robotics, 2021 

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Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators


Jan 11, 2022
Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter

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* 8 pages, accepted for RA-L 2022 

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Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs


Dec 10, 2020
Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter

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Learning Quadrupedal Locomotion over Challenging Terrain


Oct 21, 2020
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

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* Science Robotics 2020 Vol. 5, Issue 47, eabc5986 

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


Sep 18, 2019
Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter

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* Submitted IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2020 in Paris, France 

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