Marco Hutter
RAI Institute
収録論文 232本 ・ フィジカルAI/ロボット学習
移動操作自己教師あり学習シーングラフ
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- SMPCデモからのスパースオフライン・オンラインRLによる移動操作学習移動操作2026/8/12
シミュレーション内のSMPCを自動エキスパートとして用いて大規模オフラインデータを生成し、スパース報酬のみでオフポリシーRLエージェントを訓練することで、移動操作タスクを効率的に学習する手法を提案。低レベル安定化制御と統合し、教師を超える性能を実現。
- Vernata: LiDAR点群表現の自己教師あり学習自己教師あり学習2026/8/7
屋外LiDAR点群のための自己教師あり学習フレームワークVernataを提案。マルチモーダル・マルチティーチャー蒸留により、ラベルなしデータから汎用特徴を学習し、セグメンテーション性能を大幅に向上させた。
- Prior-SG: タスクと事前知識に基づく任意構造環境におけるシーングラフの領域分割シーングラフ2026/8/7
任意構造の環境で、視覚・幾何・物体情報とLLMが生成する事前グラフを確率的に統合し、シーングラフの領域分割を高精度に行うフレームワークを提案した。
- Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments2026/8/1
- Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL2026/8/1
- Vernata: Self-Supervised Learning of LiDAR Point Representations2026/8/1
- SE(2) Navigation Mesh2026/7/1
- Advances, challenges, and opportunities for legged robots2026/7/1
- Tripody: An Overconstrained 3-SPR-like Parallel Robot for High-Reach Construction Tasks2026/7/1
- EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal2026/7/1
- ELMP: Efficient Learning for Motion Planning via Analytical Policy Gradients2026/7/1
- Geometric Action Model for Robot Policy Learning2026/6/15
- Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot2026/6/1
- TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer2026/6/1
- ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D videos2026/6/1
- Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control2026/6/1
- Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing2026/6/1
- Robots Need More than VLA and World Models2026/6/1
- Geometric Action Model for Robot Policy Learning2026/6/1
- VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction2026/5/1
- High Precision Hydraulic Excavator Control for Heavy-Duty Grading2026/5/1
- Bridging the Gap: Enabling Soft Actor Critic for High Performance Legged Locomotion2026/5/1
- ViserDex: Visual Sim-to-Real for Robust Dexterous In-hand Reorientation2026/4/1
- PAINT: Partner-Agnostic Intent-Aware Cooperative Transport with Legged Robots2026/4/1
- Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking2026/4/1
- An Efficient Beam Search Algorithm for Active Perception in Mobile Robotics2026/4/1
- Collaborative Task and Path Planning for Heterogeneous Robotic Teams using Multi-Agent PPO2026/4/1
- Toward Hardware-Agnostic Quadrupedal World Models via Morphology Conditioning2026/4/1
- Using large language models for embodied planning introduces systematic safety risks2026/4/1
- DigiForest: Digital Analytics and Robotics for Sustainable Forestry2026/4/1
- Beyond Cybathlon: On-demand Quadrupedal Assistance for People with Limited Mobility2026/3/1
- Path-conditioned Reinforcement Learning-based Local Planning for Long-Range Navigation2026/3/1
- One-Shot Badminton Shuttle Detection for Mobile Robots2026/3/1
- Learning Multi-Agent Local Collision-Avoidance for Collaborative Carrying tasks with Coupled Quadrupedal Robots2026/3/1
- GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation2026/2/1
- System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot2026/2/1
- Task-Oriented Robot-Human Handovers on Legged Manipulators2026/2/1
- WildOS: Open-Vocabulary Object Search in the Wild2026/2/1
- DexEvolve: Evolutionary Optimization for Robust and Diverse Dexterous Grasp Synthesis2026/2/1
- MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams2026/1/1
- A Practical Framework of Key Performance Indicators for Multi-Robot Lunar and Planetary Field Tests2026/1/1
- AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding2026/1/1
- Less Is More: Scalable Visual Navigation from Limited Data2026/1/1
- Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna2026/1/1
- DeFM: Learning Foundation Representations from Depth for Robotics2026/1/1
- Scaling Rough Terrain Locomotion with Automatic Curriculum Reinforcement Learning2026/1/1
- SAHA: Supervised Autonomous HArvester for selective forest thinning2026/1/1
- Multi-Domain Motion Embedding: Expressive Real-Time Mimicry for Legged Robots2025/12/1
- Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning2025/11/1
- Kleinkram: Open Robotic Data Management2025/11/1
- DiskChunGS: Large-Scale 3D Gaussian SLAM Through Chunk-Based Memory Management2025/11/1
- CaRLi-V: Camera-RADAR-LiDAR Point-Wise 3D Velocity Estimation2025/11/1
- Calibrated Dynamic Modeling for Force and Payload Estimation in Hydraulic Machinery2025/10/1
- Efficient Model-Based Reinforcement Learning for Robot Control via Online Optimization2025/10/1
- What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework2025/10/1
- NaviTrace: Evaluating Embodied Navigation of Vision-Language Models2025/10/1
- Pretraining in Actor-Critic Reinforcement Learning for Locomotion2025/10/1
- RSL-RL: A Learning Library for Robotics Research2025/9/1
- Towards bridging the gap: Systematic sim-to-real transfer for diverse legged robots2025/9/1
- LLM-Handover:Exploiting LLMs for Task-Oriented Robot-Human Handovers2025/9/1
- ExT: Towards Scalable Autonomous Excavation via Large-Scale Multi-Task Pretraining and Fine-Tuning2025/9/1
- Collaborative Loco-Manipulation for Pick-and-Place Tasks with Dynamic Reward Curriculum2025/9/1
- Towards Learning Boulder Excavation with Hydraulic Excavators2025/9/1
- Efficient Learning-Based Control of a Legged Robot in Lunar Gravity2025/9/1
- Large Scale Robotic Material Handling: Learning, Planning, and Control2025/8/1
- Divide, Discover, Deploy: Factorized Skill Learning with Symmetry and Style Priors2025/8/1
- GraspQP: Differentiable Optimization of Force Closure for Diverse and Robust Dexterous Grasping2025/8/1
- Constrained Style Learning from Imperfect Demonstrations under Task Optimality2025/7/1
- A Pragmatist Robot: Learning to Plan Tasks by Experiencing the Real World2025/7/1
- Multi-critic Learning for Whole-body End-effector Twist Tracking2025/7/1
- Feature-Based vs. GAN-Based Learning from Demonstrations: When and Why2025/7/1
- Spatially-Enhanced Recurrent Memory for Long-Range Mapless Navigation via End-to-End Reinforcement Learning2025/6/1
- Attention-Based Map Encoding for Learning Generalized Legged Locomotion2025/6/1
- Learning Accurate Whole-body Throwing with High-frequency Residual Policy and Pullback Tube Acceleration2025/6/1
- Building Forest Inventories with Autonomous Legged Robots -- System, Lessons, and Challenges Ahead2025/6/1
- Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option2025/6/1
- Learning coordinated badminton skills for legged manipulators2025/5/1
- DAPPER: Discriminability-Aware Policy-to-Policy Preference-Based Reinforcement Learning for Query-Efficient Robot Skill Acquisition2025/5/1
- Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility2025/5/1
- FOCI: Trajectory Optimization on Gaussian Splats2025/5/1
- TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation2025/5/1
- Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning2025/5/1
- CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments2025/5/1
- Diffusion Based Robust LiDAR Place Recognition2025/4/1
- Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs2025/4/1
- Uncertainty-Aware Robotic World Model Makes Offline Model-Based Reinforcement Learning Work on Real Robots2025/4/1
- Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics2025/4/1
- Magnecko: Design and Control of a Quadrupedal Magnetic Climbing Robot2025/4/1
- Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation2025/4/1
- ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images2025/3/1
- LEVA: A high-mobility logistic vehicle with legged suspension2025/3/1
- DFM: Deep Fourier Mimic for Expressive Dance Motion Learning2025/2/1
- Learning Quiet Walking for a Small Home Robot2025/2/1
- Symmetry-Guided Memory Augmentation for Efficient Locomotion Learning2025/2/1
- Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning2025/2/1
- Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics2025/1/1
- Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers2025/1/1
- Continuous-Time State Estimation Methods in Robotics: A Survey2024/11/1
- DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation2024/11/1
- IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigation2024/10/1
- Obstacle-Avoidant Leader Following with a Quadruped Robot2024/10/1
- Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated Tools2024/10/1
- Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation2024/10/1
- ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments2024/10/1
- Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation2024/10/1
- RoadRunner M&M -- Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigation2024/9/1
- Learning to Open and Traverse Doors with a Legged Manipulator2024/9/1
- Robust Ladder Climbing with a Quadrupedal Robot2024/9/1
- Perceptive Pedipulation with Local Obstacle Avoidance2024/9/1
- Whole-body End-Effector Pose Tracking2024/9/1
- Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models2024/9/1
- An Efficient Multi-Robot Arm Coordination Strategy for Pick-and-Place Tasks using Reinforcement Learning2024/9/1
- Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild2024/8/1
- IN-Sight: Interactive Navigation through Sight2024/8/1
- Identifying Terrain Physical Parameters from Vision -- Towards Physical-Parameter-Aware Locomotion and Navigation2024/8/1
- Radiance Fields for Robotic Teleoperation2024/7/1
- ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning2024/6/1
- Multi-Objective Global Path Planning for Lunar Exploration With a Quadruped Robot2024/6/1
- Cybathlon -- Legged Mobile Assistance for Quadriplegics2024/5/1
- Motion Primitives Planning For Center-Articulated Vehicles2024/5/1
- Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots2024/5/1
- Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers2024/5/1
- Dynamic Throwing with Robotic Material Handling Machines2024/5/1
- Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment2024/4/1
- Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision2024/4/1
- Learning Deployable Locomotion Control via Differentiable Simulation2024/4/1
- SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies2024/3/1
- Symmetry Considerations for Learning Task Symmetric Robot Policies2024/3/1
- Learning to walk in confined spaces using 3D representation2024/3/1
- Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg2024/2/1
- Solving Multi-Entity Robotic Problems Using Permutation Invariant Neural Networks2024/2/1
- RoadRunner -- Learning Traversability Estimation for Autonomous Off-road Driving2024/2/1
- Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue2024/1/1
- ICGNet: A Unified Approach for Instance-Centric Grasping2024/1/1
- Learning Agile Locomotion on Risky Terrains2023/11/1
- Data-Efficient Task Generalization via Probabilistic Model-based Meta Reinforcement Learning2023/11/1
- Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End2023/10/1
- ViPlanner: Visual Semantic Imperative Learning for Local Navigation2023/10/1
- PyPose v0.6: The Imperative Programming Interface for Robotics2023/9/1
- Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion2023/9/1
- Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning2023/9/1
- DTC: Deep Tracking Control2023/9/1
- MEM: Multi-Modal Elevation Mapping for Robotics and Learning2023/9/1
- Towards Autonomous Excavation Planning2023/8/1
- Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation2023/8/1
- RAYEN: Imposition of Hard Convex Constraints on Neural Networks2023/7/1
- Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots2023/7/1
- ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots2023/6/1
- SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments2023/6/1
- Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning2023/5/1
- Fast Traversability Estimation for Wild Visual Navigation2023/5/1
- Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators2023/3/1
- ArtPlanner: Robust Legged Robot Navigation in the Field2023/3/1
- Event-based Agile Object Catching with a Quadrupedal Robot2023/3/1
- iPlanner: Imperative Path Planning2023/2/1
- Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments2023/1/1
- Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators2023/1/1
- Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation2022/11/1
- X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments2022/11/1
- LiDAR-guided object search and detection in Subterranean Environments2022/10/1
- A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets2022/10/1
- Meta Reinforcement Learning for Optimal Design of Legged Robots2022/10/1
- Advanced Skills by Learning Locomotion and Local Navigation End-to-End2022/9/1
- PyPose: A Library for Robot Learning with Physics-based Optimization2022/9/1
- Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain2022/8/1
- Perceptive Locomotion through Nonlinear Model Predictive Control2022/8/1
- Present and Future of SLAM in Extreme Underground Environments2022/8/1
- Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework2022/7/1
- Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned2022/7/1
- Collision detection and identification for a legged manipulator2022/7/1
- Neural Scene Representation for Locomotion on Structured Terrain2022/6/1
- TAMOLS: Terrain-Aware Motion Optimization for Legged Systems2022/6/1
- Design and Motion Planning for a Reconfigurable Robotic Base2022/6/1
- Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments2022/5/1
- Elevation Mapping for Locomotion and Navigation using GPU2022/4/1
- Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach2022/3/1
- Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments2022/3/1
- Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics2022/3/1
- Learning-based Localizability Estimation for Robust LiDAR Localization2022/3/1
- Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning2022/3/1
- Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots2022/3/1
- Collaborative Robot Mapping using Spectral Graph Analysis2022/3/1
- A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation2022/2/1
- Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators2022/1/1
- CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge2022/1/1
- Learning robust perceptive locomotion for quadrupedal robots in the wild2022/1/1
- Deep Measurement Updates for Bayes Filters2021/12/1
- Adaptive CLF-MPC With Application To Quadrupedal Robots2021/12/1
- Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots2021/11/1
- Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning2021/9/1
- Reconstructing occluded Elevation Information in Terrain Maps with Self-supervised Learning2021/9/1
- Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays2021/8/1
- HEAP -- The autonomous walking excavator2021/6/1
- Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning2021/6/1
- Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks2021/6/1
- Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot2021/6/1
- Towards Autonomous Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester2021/4/1
- 3D Surfel Map-Aided Visual Relocalization with Learned Descriptors2021/4/1
- Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation2021/4/1
- Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots2021/4/1
- A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation2021/3/1
- Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation2021/3/1
- Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation2021/3/1
- Imitation Learning from MPC for Quadrupedal Multi-Gait Control2021/3/1
- Collision-Free MPC for Legged Robots in Static and Dynamic Scenes2021/3/1
- Learning a State Representation and Navigation in Cluttered and Dynamic Environments2021/3/1
- Constraint Handling in Continuous-Time DDP-Based Model Predictive Control2021/1/1
- Self-supervised Learning of LiDAR Odometry for Robotic Applications2020/11/1
- Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control2020/11/1
- Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs2020/11/1
- Learning Quadrupedal Locomotion over Challenging Terrain2020/10/1
- Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots2020/10/1
- Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions2020/6/1
- Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot2020/3/1
- Safe Robot Navigation via Multi-Modal Anomaly Detection2020/1/1
- A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction2019/12/1
- Deep Value Model Predictive Control2019/10/1
- MPC-Net: A First Principles Guided Policy Search2019/9/1
- Rolling in the Deep -- Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization2019/9/1
- DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning2019/9/1
- Feedback MPC for Torque-Controlled Legged Robots2019/5/1
- Locomotion Planning through a Hybrid Bayesian Trajectory Optimization2019/3/1
- Whole-Body MPC for a Dynamically Stable Mobile Manipulator2019/2/1
- Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning2019/1/1
- Learning agile and dynamic motor skills for legged robots2019/1/1
- Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces2019/1/1
- Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots2018/9/1
- Frequency-Aware Model Predictive Control2018/9/1
- Cable-Driven Actuation for Highly Dynamic Robotic Systems2018/6/1
- Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds2017/12/1
- Control of a Quadrotor with Reinforcement Learning2017/7/1
- A Primer on the Differential Calculus of 3D Orientations2016/6/1