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Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation


Mar 01, 2021
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter

* 8 Pages, 10 Figures. Submitted to the International Conference on Intelligent Robots and Systems (IROS), 2019 

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A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation


Mar 01, 2021
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter

* 8 Pages, 8 Figures, 1 Table. To be published in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 in Xi'an, China 

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Constraint Handling in Continuous-Time DDP-Based Model Predictive Control


Jan 15, 2021
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter


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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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Self-supervised Learning of LiDAR Odometry for Robotic Applications


Nov 10, 2020
Julian Nubert, Shehryar Khattak, Marco Hutter

* 7 pages, 6 figures, 3 tables 

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Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control


Oct 30, 2020
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter

* Submitted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 

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Learning Quadrupedal Locomotion over Challenging Terrain


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

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

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Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots


Oct 13, 2020
Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter

* 8 pages, 6 figures, 1 table, 52 references, 9 equations 

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Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions


Jun 01, 2020
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames


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Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot


Mar 06, 2020
Napat Karnchanachari, Miguel I. Valls, David Hoeller, Marco Hutter

* 14 pages, 6 figures, submitted to L4DC 2020 

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Safe Robot Navigation via Multi-Modal Anomaly Detection


Jan 22, 2020
Lorenz Wellhausen, René Ranftl, Marco Hutter


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A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction


Dec 04, 2019
Abel Gawel, Hermann Blum, Johannes Pankert, Koen KrÀmer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio, Roland Siegwart, Marco Hutter, Timothy Sandy


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Deep Value Model Predictive Control


Oct 08, 2019
Farbod Farshidian, David Hoeller, Marco Hutter

* Accepted for publication in the Conference on Robotic Learning (CoRL) 2019, Osaka. 10 pages (+5 supplementary) 

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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

* 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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Rolling in the Deep -- Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization


Sep 16, 2019
Marko Bjelonic, Prajish K. Sankar, C. Dario Bellicoso, Heike Vallery, Marco Hutter


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MPC-Net: A First Principles Guided Policy Search


Sep 11, 2019
Jan Carius, Farbod Farshidian, Marco Hutter


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Feedback MPC for Torque-Controlled Legged Robots


May 15, 2019
Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter

* submitted to IROS 2019 

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Locomotion Planning through a Hybrid Bayesian Trajectory Optimization


Mar 09, 2019
Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter

* Accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA) 2019 

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Whole-Body MPC for a Dynamically Stable Mobile Manipulator


Feb 27, 2019
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter


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Frequency-Aware Model Predictive Control


Feb 08, 2019
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter

* IEEE Robotics and Automation Letters 2019 

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Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots


Feb 07, 2019
Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh, Dhionis Sako, F. Dante Tresoldi, Fabian Jenelten, Marco Hutter

* IEEE Robotics and Automation Letters 2019 
* IEEE Robotics and Automation Letters 

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Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces


Jan 31, 2019
Russell Buchanan, Tirthankar Bandyopadhyay, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Navinda Kottege

* IEEE RA-L/ICRA2019 

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Learning agile and dynamic motor skills for legged robots


Jan 24, 2019
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter

* Science Robotics 4.26 (2019): eaau5872 

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Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning


Jan 22, 2019
Joonho Lee, Jemin Hwangbo, Marco Hutter


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Cable-Driven Actuation for Highly Dynamic Robotic Systems


Jun 27, 2018
Jemin Hwangbo, Vassilios Tsounis, Hendrik Kolvenbach, Marco Hutter


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Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds


Dec 07, 2017
Michael Neunert, Markus StÀuble, Markus Giftthaler, Carmine D. Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli

* Submitted to "Robotics and Automation: Letters" / "International Conference on Robotics and Automation 2018" 

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Control of a Quadrotor with Reinforcement Learning


Jul 17, 2017
Jemin Hwangbo, Inkyu Sa, Roland Siegwart, Marco Hutter


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A Primer on the Differential Calculus of 3D Orientations


Oct 31, 2016
Michael Bloesch, Hannes Sommer, Tristan Laidlow, Michael Burri, Gabriel Nuetzi, PĂ©ter Fankhauser, Dario Bellicoso, Christian Gehring, Stefan Leutenegger, Marco Hutter, Roland Siegwart


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