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ORCIDMarco Hutter 0001
Person information
- affiliation: ETH Zurich
Other persons with the same name
- Marco Hutter 0002
![[0000-0001-9049-534X]](https://dblp.uni-trier.de/img/orcid-mark.12x12.png "0000-0001-9049-534X")
— TU Darmstadt, Germany (and 1 more)
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Journal Articles
- 2024
[j98]Arjun Bhardwaj, Jonas Rothfuss, Bhavya Sukhija, Yarden As, Marco Hutter, Stelian Coros, Andreas Krause:
Data-Efficient Task Generalization via Probabilistic Model-Based Meta Reinforcement Learning. IEEE Robotics Autom. Lett. 9(4): 3918-3925 (2024)- [j97]Fang Nan, Marco Hutter:
Learning Adaptive Controller for Hydraulic Machinery Automation. IEEE Robotics Autom. Lett. 9(4): 3972-3979 (2024) - [j96]Jiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter:
Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation. IEEE Robotics Autom. Lett. 9(11): 9279-9286 (2024) - [j95]Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter:
DTC: Deep Tracking Control. Sci. Robotics 9(86) (2024) - [j94]David Hoeller, Nikita Rudin, Dhionis V. Sako, Marco Hutter:
ANYmal parkour: Learning agile navigation for quadrupedal robots. Sci. Robotics 9(88) (2024) - [j93]Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter:
Learning robust autonomous navigation and locomotion for wheeled-legged robots. Sci. Robotics 9(89) (2024) - [j92]Turcan Tuna, Julian Nubert, Yoshua Nava, Shehryar Khattak, Marco Hutter:
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments. IEEE Trans. Robotics 40: 452-471 (2024) - [j91]Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone:
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Trans. Robotics 40: 936-959 (2024) - 2023
- [j90]Franco Angelini, Pierangela Angelini, Claudia Angiolini, Simonetta Bagella, Fabio Bonomo, Marco Caccianiga, Cosimo Della Santina, Daniela Gigante, Marco Hutter, Thrishantha Nanayakkara, Paolo Remagnino, Diego Torricelli, Manolo Garabini:
Robotic Monitoring of Habitats: The Natural Intelligence Approach. IEEE Access 11: 72575-72591 (2023) - [j89]Lorenz Wellhausen, Marco Hutter:
ArtPlanner: Robust Legged Robot Navigation in the Field. Field Robotics 3(1): 413-434 (2023) - [j88]Filip Bjelonic, Joonho Lee, Philip Arm, Dhionis V. Sako, Davide Tateo, Jan Peters, Marco Hutter:
Learning-Based Design and Control for Quadrupedal Robots With Parallel-Elastic Actuators. IEEE Robotics Autom. Lett. 8(3): 1611-1618 (2023) - [j87]Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger:
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. IEEE Robotics Autom. Lett. 8(6): 3222-3229 (2023) - [j86]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, Gavriel State, Marco Hutter, Animesh Garg:
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments. IEEE Robotics Autom. Lett. 8(6): 3740-3747 (2023) - [j85]Mads A. Kuhlmann-Jørgensen, Johannes Pankert, Lukasz L. Pietrasik, Marco Hutter:
PLASTR: Planning for Autonomous Sampling-Based Trowelling. IEEE Robotics Autom. Lett. 8(8): 5069-5076 (2023) - [j84]Michael Sommerhalder, Yves Zimmermann, Leonardo Simovic, Marco Hutter, Peter Wolf, Robert Riener:
Trajectory Optimization Framework for Rehabilitation Robots With Multi-Workspace Objectives and Constraints. IEEE Robotics Autom. Lett. 8(10): 6819-6826 (2023) - [j83]Giorgio Valsecchi, Nikita Rudin, Lennart Nachtigall, Konrad Mayer, Fabian Tischhauser, Marco Hutter:
Barry: A High-Payload and Agile Quadruped Robot. IEEE Robotics Autom. Lett. 8(11): 6939-6946 (2023) - [j82]Changan Chen, Jonas Frey, Philip Arm, Marco Hutter:
SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments. IEEE Robotics Autom. Lett. 8(11): 7170-7177 (2023) - [j81]Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, Cesar Cadena, Marco Hutter:
Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning. IEEE Robotics Autom. Lett. 8(11): 7687-7694 (2023) - [j80]Philip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Tertius Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Marco Hutter:
Scientific exploration of challenging planetary analog environments with a team of legged robots. Sci. Robotics 8(80) (2023) - [j79]Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter:
Versatile multicontact planning and control for legged loco-manipulation. Sci. Robotics 8(81) (2023) - [j78]Ryan Luke Johns, Martin Wermelinger, Ruben Mascaro, Dominic Jud, Ilmar Hurkxkens, Lauren Vasey, Margarita Chli, Fabio Gramazio, Matthias Kohler, Marco Hutter:
A framework for robotic excavation and dry stone construction using on-site materials. Sci. Robotics 8(84) (2023) - [j77]Ruben Grandia, Farbod Farshidian, Espen Knoop, Christian Schumacher, Marco Hutter, Moritz Bächer:
DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. ACM Trans. Graph. 42(4): 96:1-96:14 (2023) - [j76]Yves Zimmermann, Michael Sommerhalder, Peter Wolf, Robert Riener, Marco Hutter:
ANYexo 2.0: A Fully Actuated Upper-Limb Exoskeleton for Manipulation and Joint-Oriented Training in All Stages of Rehabilitation. IEEE Trans. Robotics 39(3): 2131-2150 (2023) - [j75]Yves Zimmermann, Jaeyong Song, Cédric Deguelle, Julia Läderach, Lingfei Zhou, Marco Hutter, Robert Riener, Peter Wolf:
Human-Robot Attachment System for Exoskeletons: Design and Performance Analysis. IEEE Trans. Robotics 39(4): 3087-3105 (2023) - [j74]Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter:
Perceptive Locomotion Through Nonlinear Model-Predictive Control. IEEE Trans. Robotics 39(5): 3402-3421 (2023) - [j73]Edo Jelavic, Kaixian Qu, Farbod Farshidian, Marco Hutter:
LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems. IEEE Trans. Robotics 39(6): 4190-4210 (2023) - 2022
- [j72]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 I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis:
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics 2(1): 274-324 (2022) - [j71]Hendrik Kolvenbach, Philip Arm, Elias Hampp, Alexander Dietsche, Valentin Tertius Bickel, Benjamin Sun, Christoph Meyer, Marco Hutter:
Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot. Field Robotics 2(1): 910-939 (2022) - [j70]Edo Jelavic, Dominic Jud, Pascal Egli, Marco Hutter:
Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester. Field Robotics 2(1): 1386-1431 (2022) - [j69]Jan Carius, René Ranftl, Farbod Farshidian, Marco Hutter:
Constrained stochastic optimal control with learned importance sampling: A path integral approach. Int. J. Robotics Res. 41(2): 189-209 (2022) - [j68]Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian Suzano Medeiros, Vuk Pajovic, Edo Jelavic, Stelian Coros, Marco Hutter:
Offline motion libraries and online MPC for advanced mobility skills. Int. J. Robotics Res. 41(9-10): 903-924 (2022) - [j67]Jens Reinecke, Alexander Dietrich, Anton Leonhard Shu, Bastian Deutschmann, Marco Hutter:
A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement. IEEE Robotics Autom. Lett. 7(1): 9-16 (2022) - [j66]Johannes Pankert, Maria Vittoria Minniti, Lorenz Wellhausen, Marco Hutter:
Deep Measurement Updates for Bayes Filters. IEEE Robotics Autom. Lett. 7(1): 414-421 (2022) - [j65]Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Adaptive CLF-MPC With Application to Quadrupedal Robots. IEEE Robotics Autom. Lett. 7(1): 565-572 (2022) - [j64]Fang Nan, Hendrik Kolvenbach, Marco Hutter:
A Reconfigurable Leg for Walking Robots. IEEE Robotics Autom. Lett. 7(2): 1308-1315 (2022) - [j63]Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter:
Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning. IEEE Robotics Autom. Lett. 7(2): 1697-1704 (2022) - [j62]Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter:
Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. IEEE Robotics Autom. Lett. 7(2): 2377-2384 (2022) - [j61]Pascal Egli, Marco Hutter:
A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning. IEEE Robotics Autom. Lett. 7(2): 5679-5686 (2022) - [j60]David Hoeller, Nikita Rudin, Christopher B. Choy, Animashree Anandkumar, Marco Hutter:
Neural Scene Representation for Locomotion on Structured Terrain. IEEE Robotics Autom. Lett. 7(4): 8667-8674 (2022) - [j59]Johannes Pankert, Giorgio Valsecchi, Davide Baret, Jon Zehnder, Lukasz L. Pietrasik, Marko Bjelonic, Marco Hutter:
Design and Motion Planning for a Reconfigurable Robotic Base. IEEE Robotics Autom. Lett. 7(4): 9012-9019 (2022) - [j58]Pascal Egli, Dominique Gaschen, Simon Kerscher, Dominic Jud, Marco Hutter:
Soil-Adaptive Excavation Using Reinforcement Learning. IEEE Robotics Autom. Lett. 7(4): 9778-9785 (2022) - [j57]Álvaro Belmonte-Baeza, Joonho Lee, Giorgio Valsecchi, Marco Hutter:
Meta Reinforcement Learning for Optimal Design of Legged Robots. IEEE Robotics Autom. Lett. 7(4): 12134-12141 (2022) - [j56]Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning robust perceptive locomotion for quadrupedal robots in the wild. Sci. Robotics 7(62) (2022) - [j55]Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis:
CERBERUS in the DARPA Subterranean Challenge. Sci. Robotics 7(66) (2022) - [j54]Manuel Giuseppe Catalano, Mathew Jose Pollayil, Giorgio Grioli, Giorgio Valsecchi, Hendrik Kolvenbach, Marco Hutter, Antonio Bicchi, Manolo Garabini:
Adaptive Feet for Quadrupedal Walkers. IEEE Trans. Robotics 38(1): 302-316 (2022) - [j53]Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter:
Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning. IEEE Trans. Robotics 38(1): 317-328 (2022) - [j52]Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter:
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. IEEE Trans. Robotics 38(6): 3395-3413 (2022) - 2021
- [j51]Russell Buchanan, Lorenz Wellhausen, Marko Bjelonic, Tirthankar Bandyopadhyay, Navinda Kottege, Marco Hutter:
Perceptive whole-body planning for multilegged robots in confined spaces. J. Field Robotics 38(1): 68-84 (2021) - [j50]Ruben Mascaro, Martin Wermelinger, Marco Hutter, Margarita Chli:
Towards automating construction tasks: Large-scale object mapping, segmentation, and manipulation. J. Field Robotics 38(5): 684-699 (2021) - [j49]Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter:
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. IEEE Robotics Autom. Lett. 6(3): 4688-4695 (2021) - [j48]David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter:
Learning a State Representation and Navigation in Cluttered and Dynamic Environments. IEEE Robotics Autom. Lett. 6(3): 5081-5088 (2021) - [j47]Martin Wermelinger, Ryan Luke Johns, Fabio Gramazio, Matthias Kohler, Marco Hutter:
Grasping and Object Reorientation for Autonomous Construction of Stone Structures. IEEE Robotics Autom. Lett. 6(3): 5105-5112 (2021) - 2020
- [j46]Hendrik Kolvenbach, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice F. Fallon, Marco Hutter:
Towards autonomous inspection of concrete deterioration in sewers with legged robots. J. Field Robotics 37(8): 1314-1327 (2020) - [j45]Tung Dang, Marco Tranzatto, Shehryar Khattak, Frank Mascarich, Kostas Alexis, Marco Hutter:
Graph-based subterranean exploration path planning using aerial and legged robots. J. Field Robotics 37(8): 1363-1388 (2020) - [j44]Lorenz Wellhausen, René Ranftl, Marco Hutter:
Safe Robot Navigation Via Multi-Modal Anomaly Detection. IEEE Robotics Autom. Lett. 5(2): 1326-1333 (2020) - [j43]Giorgio Valsecchi, Ruben Grandia, Marco Hutter:
Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet. IEEE Robotics Autom. Lett. 5(2): 1548-1555 (2020) - [j42]Jan Carius, Farbod Farshidian, Marco Hutter:
MPC-Net: A First Principles Guided Policy Search. IEEE Robotics Autom. Lett. 5(2): 2897-2904 (2020) - [j41]Marko Bjelonic, Prajish K. Sankar, C. Dario Bellicoso, Heike Vallery, Marco Hutter:
Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization. IEEE Robotics Autom. Lett. 5(2): 3626-3633 (2020) - [j40]Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter:
DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning. IEEE Robotics Autom. Lett. 5(2): 3699-3706 (2020) - [j39]Jens Reinecke, Bastian Deutschmann, Alexander Dietrich, Marco Hutter:
An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation. IEEE Robotics Autom. Lett. 5(3): 3876-3883 (2020) - [j38]Vivian Suzano Medeiros, Edo Jelavic, Marko Bjelonic, Roland Siegwart, Marco A. Meggiolaro, Marco Hutter:
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain. IEEE Robotics Autom. Lett. 5(3): 4172-4179 (2020) - [j37]Fabian Jenelten, Takahiro Miki, Aravind Elanjimattathil Vijayan, Marko Bjelonic, Marco Hutter:
Perceptive Locomotion in Rough Terrain - Online Foothold Optimization. IEEE Robotics Autom. Lett. 5(4): 5370-5376 (2020) - [j36]Johannes Pankert, Marco Hutter:
Perceptive Model Predictive Control for Continuous Mobile Manipulation. IEEE Robotics Autom. Lett. 5(4): 6177-6184 (2020) - [j35]Michael Chadwick, Hendrik Kolvenbach, Fabio Dubois, Hong Fai Lau, Marco Hutter:
Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots. IEEE Robotics Autom. Lett. 5(4): 6318-6325 (2020) - [j34]Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning quadrupedal locomotion over challenging terrain. Sci. Robotics 5(47): 5986 (2020) - 2019
- [j33]Jeffrey A. Delmerico, Stefano Mintchev, Alessandro Giusti, Boris Gromov, Kamilo Melo, Tomislav Horvat, Cesar Cadena, Marco Hutter, Auke Jan Ijspeert, Dario Floreano, Luca Maria Gambardella, Roland Siegwart, Davide Scaramuzza:
The current state and future outlook of rescue robotics. J. Field Robotics 36(7): 1171-1191 (2019) - [j32]Lorenz Wellhausen, Alexey Dosovitskiy, René Ranftl, Krzysztof Walas, Cesar Cadena, Marco Hutter:
Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning. IEEE Robotics Autom. Lett. 4(2): 1509-1516 (2019) - [j31]Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter:
Frequency-Aware Model Predictive Control. IEEE Robotics Autom. Lett. 4(2): 1517-1524 (2019) - [j30]Hendrik Kolvenbach, Christian Bärtschi, Lorenz Wellhausen, Ruben Grandia, Marco Hutter:
Haptic Inspection of Planetary Soils With Legged Robots. IEEE Robotics Autom. Lett. 4(2): 1626-1632 (2019) - [j29]Yvain de Viragh, Marko Bjelonic, C. Dario Bellicoso, Fabian Jenelten, Marco Hutter:
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints. IEEE Robotics Autom. Lett. 4(2): 1633-1640 (2019) - [j28]Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh, Dhionis V. Sako, F. Dante Tresoldi, Fabian Jenelten, Marco Hutter:
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots. IEEE Robotics Autom. Lett. 4(2): 2116-2123 (2019) - [j27]Russell Buchanan, Tirthankar Bandyopadhyay, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Navinda Kottege:
Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces. IEEE Robotics Autom. Lett. 4(2): 2148-2155 (2019) - [j26]Jan Carius, René Ranftl, Vladlen Koltun, Marco Hutter:
Trajectory Optimization for Legged Robots With Slipping Motions. IEEE Robotics Autom. Lett. 4(3): 3013-3020 (2019) - [j25]Dominic Jud, Philipp Leemann, Simon Kerscher, Marco Hutter:
Autonomous Free-Form Trenching Using a Walking Excavator. IEEE Robotics Autom. Lett. 4(4): 3208-3215 (2019) - [j24]Yves Zimmermann, Alessandro Forino, Robert Riener, Marco Hutter:
ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot. IEEE Robotics Autom. Lett. 4(4): 3649-3656 (2019) - [j23]Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter:
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. IEEE Robotics Autom. Lett. 4(4): 3687-3694 (2019) - [j22]Andrea Carron, Elena Arcari, Martin Wermelinger, Lukas Hewing, Marco Hutter, Melanie N. Zeilinger:
Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm. IEEE Robotics Autom. Lett. 4(4): 3758-3765 (2019) - [j21]Fabian Jenelten, Jemin Hwangbo, Fabian Tresoldi, C. Dario Bellicoso, Marco Hutter:
Dynamic Locomotion on Slippery Ground. IEEE Robotics Autom. Lett. 4(4): 4170-4176 (2019) - [j20]Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter:
Learning agile and dynamic motor skills for legged robots. Sci. Robotics 4(26) (2019) - 2018
- [j19]Marco Hutter, Roland Siegwart:
Editorial. J. Field Robotics 35(8): 1203-1204 (2018) - [j18]C. Dario Bellicoso, Marko Bjelonic, Lorenz Wellhausen, Kai Holtmann, Fabian Günther, Marco Tranzatto, Peter Fankhauser, Marco Hutter:
Advances in real-world applications for legged robots. J. Field Robotics 35(8): 1311-1326 (2018) - [j17]Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Marco Hutter:
Deployment of an autonomous mobile manipulator at MBZIRC. J. Field Robotics 35(8): 1342-1357 (2018) - [j16]Michael Bloesch, Michael Burri, Hannes Sommer, Roland Siegwart, Marco Hutter:
The Two-State Implicit Filter Recursive Estimation for Mobile Robots. IEEE Robotics Autom. Lett. 3(1): 573-580 (2018) - [j15]Jemin Hwangbo, Joonho Lee, Marco Hutter:
Per-Contact Iteration Method for Solving Contact Dynamics. IEEE Robotics Autom. Lett. 3(2): 895-902 (2018) - [j14]Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli:
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. IEEE Robotics Autom. Lett. 3(2): 1458-1465 (2018) - [j13]Alexander W. Winkler, C. Dario Bellicoso, Marco Hutter, Jonas Buchli:
Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization. IEEE Robotics Autom. Lett. 3(2): 1560-1567 (2018) - [j12]C. Dario Bellicoso, Fabian Jenelten, Christian Gehring, Marco Hutter:
Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots. IEEE Robotics Autom. Lett. 3(3): 2261-2268 (2018) - [j11]Peter Fankhauser, Michael Bloesch, Marco Hutter:
Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization. IEEE Robotics Autom. Lett. 3(4): 3019-3026 (2018) - [j10]Jan Carius, René Ranftl, Vladlen Koltun, Marco Hutter:
Trajectory Optimization With Implicit Hard Contacts. IEEE Robotics Autom. Lett. 3(4): 3316-3323 (2018) - 2017
- [j9]Marco Hutter, Christian Gehring, Andreas Lauber, Fabian Günther, Carmine Dario Bellicoso, Vassilios Tsounis, Peter Fankhauser, Remo Diethelm, Samuel Bachmann, Michael Blösch, Hendrik Kolvenbach, Marko Bjelonic, Linus Isler, Konrad Meyer:
ANYmal - toward legged robots for harsh environments. Adv. Robotics 31(17): 918-931 (2017) - [j8]Michael Bloesch, Michael Burri, Sammy Omari, Marco Hutter, Roland Siegwart:
Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback. Int. J. Robotics Res. 36(10): 1053-1072 (2017) - [j7]Jemin Hwangbo, Inkyu Sa, Roland Siegwart, Marco Hutter:
Control of a Quadrotor With Reinforcement Learning. IEEE Robotics Autom. Lett. 2(4): 2096-2103 (2017) - [j6]Dominic Jud, Gabriel Hottiger, Philipp Leemann, Marco Hutter:
Planning and Control for Autonomous Excavation. IEEE Robotics Autom. Lett. 2(4): 2151-2158 (2017) - 2016
- [j5]Christian Gehring, Stelian Coros, Marco Hutter, Carmine Dario Bellicoso, Huub Heijnen, Remo Diethelm, Michael Bloesch, Peter Fankhauser, Jemin Hwangbo, Mark A. Hoepflinger, Roland Siegwart:
Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot. IEEE Robotics Autom. Mag. 23(1): 34-43 (2016) - 2014
- [j4]Marco Hutter, Hannes Sommer, Christian Gehring, Mark A. Hoepflinger, Michael Blösch, Roland Siegwart:
Quadrupedal locomotion using hierarchical operational space control. Int. J. Robotics Res. 33(8): 1047-1062 (2014) - [j3]Marco Hutter, Christian Gehring, Mark A. Höpflinger, Michael Blösch, Roland Siegwart:
Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped. IEEE Trans. Robotics 30(6): 1427-1440 (2014) - 2012
- [j2]C. David Remy, Marco Hutter, Mark A. Hoepflinger, Michael Blösch, Christian Gehring, Roland Siegwart:
Quadrupedal Robots with Stiff and Compliant Actuation. Autom. 60(11): 682-691 (2012) - 2011
- [j1]C. David Remy, Oliver Baur, Martin Latta, Andi Lauber, Marco Hutter, Mark A. Hoepflinger, Cédric Pradalier, Roland Siegwart:
Walking and crawling with ALoF: a robot for autonomous locomotion on four legs. Ind. Robot 38(3): 264-268 (2011)
Conference and Workshop Papers
- 2024
- [c124]Bin Yang, Patrick Pfreundschuh, Roland Siegwart, Marco Hutter, Peyman Moghadam, Vaishakh Patil:
TULIP: Transformer for Upsampling of LiDAR Point Clouds. CVPR 2024: 15354-15364 - [c123]Andreea Tulbure, Firas Abi-Farraj, Marco Hutter:
Fast Perception for Human-Robot Handovers with Legged Manipulators. HRI 2024: 734-742 - [c122]Chong Zhang, Jin Jin, Jonas Frey, Nikita Rudin, Matías Mattamala, César Cadena, Marco Hutter:
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End. ICRA 2024: 34-41 - [c121]Alexander Spiridonov, Fabio Buehler, Moriz Berclaz, Valerio Schelbert, Jorit Geurts, Elena Krasnova, Emma Steinke, Jonas Toma, Joschua Wuethrich, Recep Polat, Wim Zimmermann, Philip Arm, Nikita Rudin, Hendrik Kolvenbach, Marco Hutter:
SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies. ICRA 2024: 3464-3470 - [c120]René Zurbrügg, Yifan Liu, Francis Engelmann, Suryansh Kumar, Marco Hutter, Vaishakh Patil, Fisher Yu:
ICGNet: A Unified Approach for Instance-Centric Grasping. ICRA 2024: 4140-4146 - [c119]Pascal Roth, Julian Nubert, Fan Yang, Mayank Mittal, Marco Hutter:
ViPlanner: Visual Semantic Imperative Learning for Local Navigation. ICRA 2024: 5243-5249 - [c118]Philip Arm, Mayank Mittal, Hendrik Kolvenbach, Marco Hutter:
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg. ICRA 2024: 5717-5723 - [c117]Mayank Mittal, Nikita Rudin, Victor Klemm, Arthur Allshire, Marco Hutter:
Symmetry Considerations for Learning Task Symmetric Robot Policies. ICRA 2024: 7433-7439 - [c116]Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter:
Learning to walk in confined spaces using 3D representation. ICRA 2024: 8649-8656 - [c115]Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter:
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning. ICRA 2024: 11451-11458 - [c114]Timo Schönegg, Turcan Tuna, Fan Yang, Gabriel Waibel, Matías Mattamala, Marco Hutter:
Global Path Planning for Autonomous Vehicles in Orchards and Vineyards. RoMoCo 2024: 1-8 - 2023
- [c113]Giorgio Valsecchi, Fabian Tischhauser, Jonas Junger, Yann Bernarnd, Marco Hutter:
Actively Variable Transmission Robotic Leg. CLAWAR (2) 2023: 40-51 - [c112]Clemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, Marco Hutter:
Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks. CoRL 2023: 2594-2610 - [c111]Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian A. Scherer:
PyPose: A Library for Robot Learning with Physics-based Optimization. CVPR 2023: 22024-22034 - [c110]Grzegorz Malczyk, Marco Hutter:
End-Effector Pose Estimation and Control for 3D Printing with Articulated Excavators. ICAR 2023: 15-20 - [c109]Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter:
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning. ICRA 2023: 5120-5126 - [c108]Yuntao Ma, Farbod Farshidian, Marco Hutter:
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. ICRA 2023: 12149-12155 - [c107]Benedek Forrai, Takahiro Miki, Daniel Gehrig, Marco Hutter, Davide Scaramuzza:
Event-based Agile Object Catching with a Quadrupedal Robot. ICRA 2023: 12177-12183 - [c106]Giorgio Valsecchi, Cedric Weibel, Hendrik Kolvenbach, Marco Hutter:
Towards Legged Locomotion on Steep Planetary Terrain. IROS 2023: 786-792 - [c105]Johannes Pankert, Marco Hutter:
Learning Contact-Based State Estimation for Assembly Tasks. IROS 2023: 5087-5094 - [c104]Gian Erni, Jonas Frey, Takahiro Miki, Matías Mattamala, Marco Hutter:
MEM: Multi-Modal Elevation Mapping for Robotics and Learning. IROS 2023: 11011-11018 - [c103]Jonas Frey, Matías Mattamala, Nived Chebrolu, Cesar Cadena, Maurice F. Fallon, Marco Hutter:
Fast Traversability Estimation for Wild Visual Navigation. Robotics: Science and Systems 2023 - [c102]Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter:
iPlanner: Imperative Path Planning. Robotics: Science and Systems 2023 - 2022
- [c101]Marko Bjelonic, Victor Klemm, Joonho Lee, Marco Hutter:
A Survey of Wheeled-Legged Robots. CLAWAR 2022: 83-94 - [c100]Joonho Lee, Marko Bjelonic, Marco Hutter:
Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning. CLAWAR 2022: 119-127 - [c99]Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids 2022: 622-629 - [c98]Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter:
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. ICRA 2022: 221-227 - [c97]Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Christos Papachristos, Lionel Ott, Roland Siegwart, Marco Hutter, Kostas Alexis:
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots. ICRA 2022: 3306-3313 - [c96]Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, César Cadena:
Collaborative Robot Mapping using Spectral Graph Analysis. ICRA 2022: 3662-3668 - [c95]Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter:
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. ICRA 2022: 4686-4693 - [c94]Julian Nubert, Shehryar Khattak, Marco Hutter:
Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots. ICRA 2022: 10048-10054 - [c93]Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter:
Learning-based Localizability Estimation for Robust LiDAR Localization. IROS 2022: 17-24 - [c92]Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg:
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. IROS 2022: 1647-1654 - [c91]Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter:
Elevation Mapping for Locomotion and Navigation using GPU. IROS 2022: 2273-2280 - [c90]Nikita Rudin, David Hoeller, Marko Bjelonic, Marco Hutter:
Advanced Skills by Learning Locomotion and Local Navigation End-to-End. IROS 2022: 2497-2503 - [c89]Jonas Frey, David Hoeller, Shehryar Khattak, Marco Hutter:
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments. IROS 2022: 5722-5729 - [c88]Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter:
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. IROS 2022: 6197-6204 - [c87]Robin Schmid, Deegan Atha, Frederik Schöller, Sharmita Dey, Seyed Abolfazl Fakoorian, Kyohei Otsu, Barry Ridge, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Ali-akbar Agha-mohammadi:
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain. IROS 2022: 12419-12425 - [c86]Jessie van Dam, Andreea Tulbure, Maria Vittoria Minniti, Firas Abi-Farraj, Marco Hutter:
Collision detection and identification for a legged manipulator. IROS 2022: 13602-13609 - [c85]Manthan Patel, Gabriel Waibel, Shehryar Khattak, Marco Hutter:
LiDAR-guided object search and detection in Subterranean Environments. SSRR 2022: 41-46 - [c84]Paolo De Petris, Shehryar Khattak, Mihir Dharmadhikari, Gabriel Waibel, Huan Nguyen, Markus Montenegro, Nikhil Khedekar, Kostas Alexis, Marco Hutter:
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments. SSRR 2022: 188-194 - 2021
- [c83]Kentaro Uno, Giorgio Valsecchi, Marco Hutter, Kazuya Yoshida:
Simulation-Based Climbing Capability Analysis for Quadrupedal Robots. CLAWAR 2021: 179-191 - [c82]Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter:
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning. CoRL 2021: 91-100 - [c81]Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter:
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. ICRA 2021: 1651-1657 - [c80]Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. ICRA 2021: 2316-2323 - [c79]Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen, Wei-Chun Lu, Marco Hutter, Ram Vasudevan:
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation. ICRA 2021: 4933-4939 - [c78]Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter:
Imitation Learning from MPC for Quadrupedal Multi-Gait Control. ICRA 2021: 5014-5020 - [c77]Haoyang Ye, Huaiyang Huang, Marco Hutter, Timothy Sandy, Ming Liu:
3D Surfel Map-Aided Visual Relocalization with Learned Descriptors. ICRA 2021: 5574-5581 - [c76]Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter:
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. ICRA 2021: 8209-8215 - [c75]Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter:
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. ICRA 2021: 8266-8272 - [c74]Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter:
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. ICRA 2021: 8352-8358 - [c73]Edo Jelavic, Farbod Farshidian, Marco Hutter:
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. ICRA 2021: 8366-8372 - [c72]Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, Marco Hutter:
Real-time Optimal Navigation Planning Using Learned Motion Costs. ICRA 2021: 9283-9289 - [c71]Julian Nubert, Shehryar Khattak, Marco Hutter:
Self-supervised Learning of LiDAR Odometry for Robotic Applications. ICRA 2021: 9601-9607 - [c70]Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti, Burak Çizmeci, Douwe Dresscher, Marco Hutter:
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays. IROS 2021: 5276-5281 - [c69]Lorenz Wellhausen, Marco Hutter:
Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning. IROS 2021: 6914-6921 - [c68]Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter:
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots. IROS 2021: 8388-8395 - 2020
- [c67]Dominik Mannhart, Fabio Dubois, Karen Bodie, Victor Klemm, Alessandro Morra, Marco Hutter:
CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System. ICRA 2020: 850-856 - [c66]Edo Jelavic, Yannick Berdou, Dominic Jud, Simon Kerscher, Marco Hutter:
Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators. IROS 2020: 2684-2691 - [c65]Pascal Egli, Marco Hutter:
Towards RL-Based Hydraulic Excavator Automation. IROS 2020: 2692-2697 - [c64]Yves Zimmermann, Emek Baris Küçüktabak, Farbod Farshidian, Robert Riener, Marco Hutter:
Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton. IROS 2020: 7417-7424 - [c63]Michael Sommerhalder, Yves Zimmermann, Burak Cizmeci, Robert Riener, Marco Hutter:
Physical Human-Robot Interaction with Real Active Surfaces using Haptic Rendering on Point Clouds. IROS 2020: 9767-9773 - [c62]Napat Karnchanachari, Miguel de la Iglesia Valls, David Hoeller, Marco Hutter:
Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot. L4DC 2020: 211-224 - [c61]Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames:
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. Robotics: Science and Systems 2020 - 2019
- [c60]David Hoeller, Farbod Farshidian, Marco Hutter:
Deep Value Model Predictive Control. CoRL 2019: 990-1004 - [c59]Christian Gehring, Peter Fankhauser, Linus Isler, Remo Diethelm, Samuel Bachmann, M. Potz, L. Gerstenberg, Marco Hutter:
ANYmal in the Field: Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot. FSR 2019: 247-260 - [c58]Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. ICRA 2019: 5544-5550 - [c57]Philip Arm, Radek Zenkl, Patrick Barton, Lars Beglinger, Alex Dietsche, Luca Ferrazzini, Elias Hampp, Jan Hinder, Camille Huber, David Schaufelberger, Felix Schmitt, Benjamin Sun, Boris Stolz, Hendrik Kolvenbach, Marco Hutter:
SpaceBok: A Dynamic Legged Robot for Space Exploration. ICRA 2019: 6288-6294 - [c56]Jakub Bednarek, Michal Bednarek, Lorenz Wellhausen, Marco Hutter, Krzysztof Walas:
What am I touching? Learning to classify terrain via haptic sensing. ICRA 2019: 7187-7193 - [c55]Timon Homberger, Lorenz Wellhausen, Peter Fankhauser, Marco Hutter:
Support Surface Estimation for Legged Robots. ICRA 2019: 8470-8476 - [c54]C. Dario Bellicoso, Koen Krämer, Markus Stäuble, Dhionis V. Sako, Fabian Jenelten, Marko Bjelonic, Marco Hutter:
ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot. ICRA 2019: 8477-8483 - [c53]Edo Jelavic, Marco Hutter:
Whole-Body Motion Planning for Walking Excavators. IROS 2019: 2292-2299 - [c52]Abel Gawel, Roland Siegwart, Marco Hutter, Timothy Sandy, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio:
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. IROS 2019: 2300-2307 - [c51]Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter:
Feedback MPC for Torque-Controlled Legged Robots. IROS 2019: 4730-4737 - [c50]Hendrik Kolvenbach, Elias Hampp, Patrick Barton, Radek Zenkl, Marco Hutter:
Towards Jumping Locomotion for Quadruped Robots on the Moon. IROS 2019: 5459-5466 - [c49]Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter:
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation. IROS 2019: 6814-6821 - 2018
- [c48]Peter Fankhauser, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, Marco Hutter:
Robust Rough-Terrain Locomotion with a Quadrupedal Robot. ICRA 2018: 1-8 - [c47]Martin Wermelinger, Fadri Furrer, Hironori Yoshida, Fabio Gramazio, Matthias Kohler, Roland Siegwart, Marco Hutter:
Greedy Stone Tower Creations with a Robotic Arm. IJCAI 2018: 5394-5398 - [c46]Thomas Bi, Peter Fankhauser, Dario Bellicoso, Marco Hutter:
Real-Time Dance Generation to Music for a Legged Robot. IROS 2018: 1038-1044 - [c45]Boris Stolz, Tim Brödermann, Enea Castiello, Gokula Englberger, Daniel Erne, Jan Gasser, Eric Hayoz, Stephan Müller, Lorin Muhlebach, Tobias Löw, Dominique Scheuer, Luca Vandeventer, Marko Bjelonic, Fabian Günther, Hendrik Kolvenbach, Mark A. Höpflinger, Marco Hutter:
An Adaptive Landing Gear for Extending the Operational Range of Helicopters. IROS 2018: 1757-1763 - [c44]Roman Kaslin, Hendrik Kolvenbach, Laura Paez, Klajd Lika, Marco Hutter:
Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots. IROS 2018: 2707-2714 - [c43]Marko Bjelonic, C. Dario Bellicoso, Mehmet Efe Tiryaki, Marco Hutter:
Skating with a Force Controlled Quadrupedal Robot. IROS 2018: 7555-7561 - [c42]Jemin Hwangbo, Vassilios Tsounis, Hendrik Kolvenbach, Marco Hutter:
Cable-Driven Actuation for Highly Dynamic Robotic Systems. IROS 2018: 8543-8550 - 2017
- [c41]David Gonon, Dominic Jud, Peter Fankhauser, Marco Hutter:
Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials. FSR 2017: 19-33 - [c40]Hendrik Kolvenbach, Marco Hutter:
Life Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots. FSR 2017: 545-557 - [c39]Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Marco Hutter:
Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC. FSR 2017: 559-573 - [c38]Marco Hutter, Remo Diethelm, Samuel Bachmann, Peter Fankhauser, Christian Gehring, Vassilios Tsounis, Andreas Lauber, Fabian Günther, Marko Bjelonic, Linus Isler, Hendrik Kolvenbach, Konrad Meyer, Mark A. Höpflinger:
Towards a Generic Solution for Inspection of Industrial Sites. FSR 2017: 575-589 - [c37]Fadri Furrer, Martin Wermelinger, Hironori Yoshida, Fabio Gramazio, Matthias Kohler, Roland Siegwart, Marco Hutter:
Autonomous robotic stone stacking with online next best object target pose planning. ICRA 2017: 2350-2356 - [c36]Christian Gehring, C. Dario Bellicoso, Peter Fankhauser, Stelian Coros, Marco Hutter:
Quadrupedal locomotion using trajectory optimization and hierarchical whole body control. ICRA 2017: 4788-4794 - [c35]C. Dario Bellicoso, Fabian Jenelten, Peter Fankhauser, Christian Gehring, Jemin Hwangbo, Marco Hutter:
Dynamic locomotion and whole-body control for quadrupedal robots. IROS 2017: 3359-3365 - [c34]Alvaro Estandia, Marco Hutter:
Robust damping of a ropeway gondola's wind oscillations with an actuated mass. IROS 2017: 4597-4604 - 2016
- [c33]Elena Stumm, Christopher Mei, Simon Lacroix, Juan I. Nieto, Marco Hutter, Roland Siegwart:
Robust Visual Place Recognition with Graph Kernels. CVPR 2016: 4535-4544 - [c32]C. Dario Bellicoso, Christian Gehring, Jemin Hwangbo, Peter Fankhauser, Marco Hutter:
Perception-less terrain adaptation through whole body control and hierarchical optimization. Humanoids 2016: 558-564 - [c31]Peter Fankhauser, C. Dario Bellicoso, Christian Gehring, Renaud Dubé, Abel Gawel, Marco Hutter:
Free Gait - An architecture for the versatile control of legged robots. Humanoids 2016: 1052-1058 - [c30]Marco Hutter, Christian Gehring, Dominic Jud, Andreas Lauber, C. Dario Bellicoso, Vassilios Tsounis, Jemin Hwangbo, Karen Bodie, Peter Fankhauser, Michael Bloesch, Remo Diethelm, Samuel Bachmann, Amir Melzer, Mark A. Höpflinger:
ANYmal - a highly mobile and dynamic quadrupedal robot. IROS 2016: 38-44 - [c29]Karen Bodie, C. Dario Bellicoso, Marco Hutter:
ANYpulator: Design and control of a safe robotic arm. IROS 2016: 1119-1125 - [c28]Martin Wermelinger, Peter Fankhauser, Remo Diethelm, Philipp Krüsi, Roland Siegwart, Marco Hutter:
Navigation planning for legged robots in challenging terrain. IROS 2016: 1184-1189 - [c27]Peter Fankhauser, Michael Bloesch, Philipp Krusi, Remo Diethelm, Martin Wermelinger, Thomas Schneider, Marcin Dymczyk, Marco Hutter, Roland Siegwart:
Collaborative navigation for flying and walking robots. IROS 2016: 2859-2866 - [c26]Jemin Hwangbo, Carmine Dario Bellicoso, Peter Fankhauser, Marco Hutter:
Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics. IROS 2016: 3872-3878 - [c25]Marco Hutter, Thomas Braungardt, Fabian Grigis, Gabriel Hottiger, Dominic Jud, Michael Katz, Philipp Leemann, Paul Nemetz, Jonas Peschel, Jan Preisig, Nicolas Sollich, Miro Voellmy, Moritz Zimmermann, Samuel Zimmermann:
IBEX - A tele-operation and training device for walking excavators. SSRR 2016: 48-53 - [c24]Dan Jia, Martin Wermelinger, Remo Diethelm, Philipp Krüsi, Marco Hutter:
Coverage path planning for legged robots in unknown environments. SSRR 2016: 68-73 - [c23]Roman Kaslin, Peter Fankhauser, Elena Stumm, Zachary Taylor, Elias Mueggler, Jeffrey A. Delmerico, Davide Scaramuzza, Roland Siegwart, Marco Hutter:
Collaborative localization of aerial and ground robots through elevation maps. SSRR 2016: 284-290 - 2015
- [c22]Marco Hutter, Philipp Leemann, Stefan Stevsic, Andreas Michel, Dominic Jud, Mark A. Höpflinger, Roland Siegwart, Ruedi Figi, Christian Caduff, Markus Loher, Stefan Tagmann:
Towards optimal force distribution for walking excavators. ICAR 2015: 295-301 - [c21]Peter Fankhauser, Michael Blösch, Diego Rodriguez, Ralf Kaestner, Marco Hutter, Roland Siegwart:
Kinect v2 for mobile robot navigation: Evaluation and modeling. ICAR 2015: 388-394 - [c20]Michael Blösch, Sammy Omari, Marco Hutter, Roland Siegwart:
Robust visual inertial odometry using a direct EKF-based approach. IROS 2015: 298-304 - [c19]Jemin Hwangbo, Christian Gehring, Dario Bellicoso, Peter Fankhauser, Roland Siegwart, Marco Hutter:
Direct state-to-action mapping for high DOF robots using ELM. IROS 2015: 2842-2847 - [c18]Christian Gehring, C. Dario Bellicoso, Stelian Coros, Michael Blösch, Peter Fankhauser, Marco Hutter, Roland Siegwart:
Dynamic trotting on slopes for quadrupedal robots. IROS 2015: 5129-5135 - 2014
- [c17]Marco Hutter, Christian Gehring, Michael Blösch, Mark A. Höpflinger, Peter Fankhauser, Roland Siegwart:
Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control. ICRA 2014: 2977-2982 - [c16]Christian Gehring, Stelian Coros, Marco Hutter, Michael Blösch, Peter Fankhauser, Markus A. Höpflinger, Roland Siegwart:
Towards automatic discovery of agile gaits for quadrupedal robots. ICRA 2014: 4243-4248 - [c15]Michael Blösch, Sammy Omari, Peter Fankhauser, Hannes Sommer, Christian Gehring, Jemin Hwangbo, Mark A. Hoepflinger, Marco Hutter, Roland Siegwart:
Fusion of optical flow and inertial measurements for robust egomotion estimation. IROS 2014: 3102-3107 - 2013
- [c14]Michael Blösch, Marco Hutter, Christian Gehring, Mark A. Höpflinger, Roland Siegwart:
Kinematic batch calibration for legged robots. ICRA 2013: 2542-2547 - [c13]Christian Gehring, Stelian Coros, Marco Hutter, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart:
Control of dynamic gaits for a quadrupedal robot. ICRA 2013: 3287-3292 - [c12]Mark A. Hoepflinger, Marco Hutter, Christian Gehring, Michael Blösch, Roland Siegwart:
Unsupervised identification and prediction of foothold robustness. ICRA 2013: 3293-3298 - [c11]Peter Fankhauser, Marco Hutter, Christian Gehring, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart:
Reinforcement learning of single legged locomotion. IROS 2013: 188-193 - [c10]Michael Blösch, Christian Gehring, Peter Fankhauser, Marco Hutter, Mark A. Hoepflinger, Roland Siegwart:
State estimation for legged robots on unstable and slippery terrain. IROS 2013: 6058-6064 - [c9]Marco Hutter, Michael Blösch, Jonas Buchli, Claudio Semini, Stéphane Bazeille, Ludovic Righetti, Jeannette Bohg:
AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. SSRR 2013: 1-4 - 2012
- [c8]Michael Blösch, Marco Hutter, Mark A. Hoepflinger, Stefan Leutenegger, Christian Gehring, C. David Remy, Roland Siegwart:
State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU. Robotics: Science and Systems 2012 - [c7]Marco Hutter, Mark A. Hoepflinger, Christian Gehring, Michael Blösch, C. David Remy, Roland Siegwart:
Hybrid Operational Space Control for Compliant Legged Systems. Robotics: Science and Systems 2012 - 2011
- [c6]Marco Hutter, C. David Remy, Mark A. Höpflinger, Roland Siegwart:
ScarlETH: Design and control of a planar running robot. IROS 2011: 562-567 - 2010
- [c5]Mark A. Höpflinger, C. David Remy, Marco Hutter, Luciano Spinello, Roland Siegwart:
Haptic terrain classification for legged robots. ICRA 2010: 2828-2833 - [c4]C. David Remy, Marco Hutter, Roland Siegwart:
Passive dynamic walking with quadrupeds - Extensions towards 3D. ICRA 2010: 5231-5236 - [c3]Marco Hutter, C. David Remy, Mark A. Höpflinger, Roland Siegwart:
SLIP running with an articulated robotic leg. IROS 2010: 4934-4939 - 2009
- [c2]Marco Hutter, C. David Remy, Roland Siegwart:
Adaptive control strategies for open-loop dynamic hopping. IROS 2009: 154-159 - 2008
- [c1]Zoltán Nagy, Olgaç Ergeneman, Jake J. Abbott, Marco Hutter, Ann M. Hirt, Bradley J. Nelson:
Modeling assembled-MEMS microrobots for wireless magnetic control. ICRA 2008: 874-879
Editorship
- 2018
- [e1]Marco Hutter, Roland Siegwart:
Field and Service Robotics, Results of the 11th International Conference, FSR 2017, Zurich, Switzerland, 12-15 September 2017. Springer Proceedings in Advanced Robotics 5, Springer 2018, ISBN 978-3-319-67360-8 [contents]
Data and Artifacts
- 2023
- [d1]Ryan Luke Johns, Martin Wermelinger, Ruben Mascaro, Dominic Jud, Ilmar Hurkxkens, Lauren Vasey, Margarita Chli, Fabio Gramazio, Matthias Kohler, Marco Hutter:
Dataset for the paper "A framework for robotic excavation and dry stone construction using on-site materials". Zenodo, 2023
Informal and Other Publications
- 2024
- [i132]René Zurbrügg, Yifan Liu, Francis Engelmann, Suryansh Kumar, Marco Hutter, Vaishakh Patil, Fisher Yu:
ICGNet: A Unified Approach for Instance-Centric Grasping. CoRR abs/2401.09939 (2024) - [i131]Guido Caccianiga, Julian Nubert, Marco Hutter, Katherine J. Kuchenbecker:
Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue. CoRR abs/2401.10709 (2024) - [i130]Philip Arm, Mayank Mittal, Hendrik Kolvenbach, Marco Hutter:
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg. CoRR abs/2402.10837 (2024) - [i129]Tianxu An, Joonho Lee, Marko Bjelonic, Flavio De Vincenti, Marco Hutter:
Solving Multi-Entity Robotic Problems Using Permutation Invariant Neural Networks. CoRR abs/2402.18345 (2024) - [i128]Jonas Frey, Shehryar Khattak, Manthan Patel, Deegan Atha, Julian Nubert, Curtis Padgett, Marco Hutter, Patrick Spieler:
RoadRunner - Learning Traversability Estimation for Autonomous Off-road Driving. CoRR abs/2402.19341 (2024) - [i127]Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter:
Learning to walk in confined spaces using 3D representation. CoRR abs/2403.00187 (2024) - [i126]Alexander Spiridonov, Fabio Buehler, Moriz Berclaz, Valerio Schelbert, Jorit Geurts, Elena Krasnova, Emma Steinke, Jonas Toma, Joschua Wuethrich, Recep Polat, Wim Zimmermann, Philip Arm, Nikita Rudin, Hendrik Kolvenbach, Marco Hutter:
SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies. CoRR abs/2403.02831 (2024) - [i125]Mayank Mittal, Nikita Rudin, Victor Klemm, Arthur Allshire, Marco Hutter:
Symmetry Considerations for Learning Task Symmetric Robot Policies. CoRR abs/2403.04359 (2024) - [i124]Clemens Schwarke, Victor Klemm, Jesus Tordesillas, Jean-Pierre Sleiman, Marco Hutter:
Learning Quadrupedal Locomotion via Differentiable Simulation. CoRR abs/2404.02887 (2024) - [i123]Matías Mattamala, Jonas Frey, Piotr Libera, Nived Chebrolu, Georg Martius, Cesar Cadena, Marco Hutter, Maurice F. Fallon:
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision. CoRR abs/2404.07110 (2024) - [i122]Matías Mattamala, Nived Chebrolu, Benoit Casseau, Leonard Freißmuth, Jonas Frey, Turcan Tuna, Marco Hutter, Maurice F. Fallon:
Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment. CoRR abs/2404.14157 (2024) - [i121]Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter:
Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots. CoRR abs/2405.01792 (2024) - [i120]Carmen Scheidemann, Andrei Cramariuc, Marco Hutter:
Cybathlon - Legged Mobile Assistance for Quadriplegics. CoRR abs/2405.07445 (2024) - [i119]Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros:
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers. CoRR abs/2405.12424 (2024) - [i118]Jiangpeng Hu, Fan Yang, Fang Nan, Marco Hutter:
Motion Primitives Planning For Center-Articulated Vehicles. CoRR abs/2405.17127 (2024) - [i117]Lennart Werner, Fang Nan, Pol Eyschen, Filippo A. Spinelli, Hongyi Yang, Marco Hutter:
Dynamic Throwing with Robotic Material Handling Machines. CoRR abs/2405.19001 (2024) - [i116]Julia Richter, Hendrik Kolvenbach, Giorgio Valsecchi, Marco Hutter:
Multi-Objective Global Path Planning for Lunar Exploration With a Quadruped Robot. CoRR abs/2406.16376 (2024) - [i115]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, Cesar Cadena, Marco Hutter, Jan Peters, Guangjian Tian, Yuzheng Zhuang, Kun Shao, Xingyue Quan, Jianye Hao, Jun Wang, Haitham Bou-Ammar:
ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning. CoRR abs/2406.19741 (2024) - [i114]Maximum Wilder-Smith, Vaishakh Patil, Marco Hutter:
Radiance Fields for Robotic Teleoperation. CoRR abs/2407.20194 (2024) - [i113]Philipp Schoch, Fan Yang, Yuntao Ma, Stefan Leutenegger, Marco Hutter, Quentin Leboutet:
IN-Sight: Interactive Navigation through Sight. CoRR abs/2408.00343 (2024) - [i112]Guido Caccianiga, Julian Nubert, Cesar Cadena, Marco Hutter, Katherine J. Kuchenbecker:
MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation. CoRR abs/2408.04367 (2024) - [i111]Turcan Tuna, Julian Nubert, Patrick Pfreundschuh, Cesar Cadena, Shehryar Khattak, Marco Hutter:
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild. CoRR abs/2408.11809 (2024) - [i110]Jiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter:
Identifying Terrain Physical Parameters from Vision - Towards Physical-Parameter-Aware Locomotion and Navigation. CoRR abs/2408.16567 (2024) - [i109]Mike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter:
Learning to Open and Traverse Doors with a Legged Manipulator. CoRR abs/2409.04882 (2024) - [i108]Jonas Stolle, Philip Arm, Mayank Mittal, Marco Hutter:
Perceptive Pedipulation with Local Obstacle Avoidance. CoRR abs/2409.07195 (2024) - [i107]Manthan Patel, Jonas Frey, Deegan Atha, Patrick Spieler, Marco Hutter, Shehryar Khattak:
RoadRunner M&M - Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigation. CoRR abs/2409.10940 (2024) - [i106]Tizian Jermann, Hendrik Kolvenbach, Fidel Esquivel Estay, Koen Krämer, Marco Hutter:
An Efficient Multi-Robot Arm Coordination Strategy for Pick-and-Place Tasks using Reinforcement Learning. CoRR abs/2409.13511 (2024) - [i105]Mike Zhang, Kaixian Qu, Vaishakh Patil, César Cadena, Marco Hutter:
Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models. CoRR abs/2409.15451 (2024) - [i104]Tifanny Portela, Andrei Cramariuc, Mayank Mittal, Marco Hutter:
Whole-body end-effector pose tracking. CoRR abs/2409.16048 (2024) - [i103]Zichong Li, Filip Bjelonic, Victor Klemm, Marco Hutter:
MARLadona - Towards Cooperative Team Play Using Multi-Agent Reinforcement Learning. CoRR abs/2409.20326 (2024) - [i102]Carmen Scheidemann, Lennart Werner, Victor Reijgwart, Andrei Cramariuc, Joris Chomarat, Jia-Ruei Chiu, Roland Siegwart, Marco Hutter:
Obstacle-Avoidant Leader Following with a Quadruped Robot. CoRR abs/2410.00572 (2024) - [i101]Jing Yuan Luo, Yunlong Song, Victor Klemm, Fan Shi, Davide Scaramuzza, Marco Hutter:
Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation. CoRR abs/2410.03076 (2024) - 2023
- [i100]Filip Bjelonic, Joonho Lee, Philip Arm, Dhionis V. Sako, Davide Tateo, Jan Peters, Marco Hutter:
Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators. CoRR abs/2301.03509 (2023) - [i99]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, Buck Babich, Gavriel State, Marco Hutter, Animesh Garg:
ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments. CoRR abs/2301.04195 (2023) - [i98]Fan Yang, Chen Wang, César Cadena, Marco Hutter:
iPlanner: Imperative Path Planning. CoRR abs/2302.11434 (2023) - [i97]Lorenz Wellhausen, Marco Hutter:
ArtPlanner: Robust Legged Robot Navigation in the Field. CoRR abs/2303.01420 (2023) - [i96]Yuntao Ma, Farbod Farshidian, Marco Hutter:
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. CoRR abs/2303.05486 (2023) - [i95]Benedek Forrai, Takahiro Miki, Daniel Gehrig, Marco Hutter, Davide Scaramuzza:
Event-based Agile Object Catching with a Quadrupedal Robot. CoRR abs/2303.17479 (2023) - [i94]Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, César Cadena, Marco Hutter:
Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning. CoRR abs/2305.07995 (2023) - [i93]Jonas Frey, Matías Mattamala, Nived Chebrolu, César Cadena, Maurice F. Fallon, Marco Hutter:
Fast Traversability Estimation for Wild Visual Navigation. CoRR abs/2305.08510 (2023) - [i92]Changan Chen, Jonas Frey, Philip Arm, Marco Hutter:
SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments. CoRR abs/2306.05309 (2023) - [i91]David Hoeller, Nikita Rudin, Dhionis V. Sako, Marco Hutter:
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots. CoRR abs/2306.14874 (2023) - [i90]Jesus Tordesillas, Jonathan P. How, Marco Hutter:
RAYEN: Imposition of Hard Convex Constraints on Neural Networks. CoRR abs/2307.08336 (2023) - [i89]Philip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Tertius Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Marco Hutter:
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots. CoRR abs/2307.10079 (2023) - [i88]Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter:
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation. CoRR abs/2308.09179 (2023) - [i87]Lorenzo Terenzi, Marco Hutter:
Towards Autonomous Excavation Planning. CoRR abs/2308.11478 (2023) - [i86]Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian A. Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang:
PyPose v0.6: The Imperative Programming Interface for Robotics. CoRR abs/2309.13035 (2023) - [i85]Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter:
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning. CoRR abs/2309.14246 (2023) - [i84]Joonho Lee, Lukas Schroth, Victor Klemm, Marko Bjelonic, Alexander Reske, Marco Hutter:
Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion. CoRR abs/2309.15430 (2023) - [i83]Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter:
DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion. CoRR abs/2309.15462 (2023) - [i82]Gian Erni, Jonas Frey, Takahiro Miki, Matías Mattamala, Marco Hutter:
MEM: Multi-Modal Elevation Mapping for Robotics and Learning. CoRR abs/2309.16818 (2023) - [i81]Pascal Roth, Julian Nubert, Fan Yang, Mayank Mittal, Marco Hutter:
ViPlanner: Visual Semantic Imperative Learning for Local Navigation. CoRR abs/2310.00982 (2023) - [i80]Jin Jin, Chong Zhang, Jonas Frey, Nikita Rudin, Matías Mattamala, Cesar Cadena, Marco Hutter:
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End. CoRR abs/2310.03581 (2023) - [i79]Arjun Bhardwaj, Jonas Rothfuss, Bhavya Sukhija, Yarden As, Marco Hutter, Stelian Coros, Andreas Krause:
Data-Efficient Task Generalization via Probabilistic Model-based Meta Reinforcement Learning. CoRR abs/2311.07558 (2023) - [i78]Chong Zhang, Nikita Rudin, David Hoeller, Marco Hutter:
Learning Agile Locomotion on Risky Terrains. CoRR abs/2311.10484 (2023) - [i77]Bin Yang, Patrick Pfreundschuh, Roland Siegwart, Marco Hutter, Peyman Moghadam, Vaishakh Patil:
TULIP: Transformer for Upsampling of LiDAR Point Cloud. CoRR abs/2312.06733 (2023) - 2022
- [i76]Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter:
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators. CoRR abs/2201.03871 (2022) - [i75]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 I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis:
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. CoRR abs/2201.07067 (2022) - [i74]Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning robust perceptive locomotion for quadrupedal robots in the wild. CoRR abs/2201.08117 (2022) - [i73]Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter:
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. CoRR abs/2202.12385 (2022) - [i72]Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, César Cadena:
Collaborative Robot Mapping using Spectral Graph Analysis. CoRR abs/2203.00308 (2022) - [i71]Julian Nubert, Shehryar Khattak, Marco Hutter:
Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots. CoRR abs/2203.01389 (2022) - [i70]Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter:
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. CoRR abs/2203.02221 (2022) - [i69]Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter:
Learning-based Localizability Estimation for Robust LiDAR Localization. CoRR abs/2203.05698 (2022) - [i68]Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR abs/2203.07429 (2022) - [i67]Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter:
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning. CoRR abs/2203.14912 (2022) - [i66]Jonas Frey, David Hoeller, Shehryar Khattak, Marco Hutter:
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments. CoRR abs/2203.15854 (2022) - [i65]Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter:
Elevation Mapping for Locomotion and Navigation using GPU. CoRR abs/2204.12876 (2022) - [i64]Paolo De Petris, Shehryar Khattak, Mihir Dharmadhikari, Gabriel Waibel, Huan Nguyen, Markus Montenegro, Nikhil Khedekar, Kostas Alexis, Marco Hutter:
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments. CoRR abs/2205.05477 (2022) - [i63]David Hoeller, Nikita Rudin, Christopher B. Choy, Animashree Anandkumar, Marco Hutter:
Neural Scene Representation for Locomotion on Structured Terrain. CoRR abs/2206.08077 (2022) - [i62]Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter:
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. CoRR abs/2206.14049 (2022) - [i61]Johannes Pankert, Giorgio Valsecchi, Davide Baret, Jon Zehnder, Lukasz L. Pietrasik, Marko Bjelonic, Marco Hutter:
Design and Motion Planning for a Reconfigurable Robotic Base. CoRR abs/2206.15298 (2022) - [i60]Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoit Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis:
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. CoRR abs/2207.04914 (2022) - [i59]Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter:
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. CoRR abs/2207.14635 (2022) - [i58]Jessie van Dam, Andreea Tulbure, Maria Vittoria Minniti, Firas Abi-Farraj, Marco Hutter:
Collision detection and identification for a legged manipulator. CoRR abs/2207.14745 (2022) - [i57]Robin Schmid, Deegan Atha, Frederik Schöller, Sharmita Dey, Seyed Abolfazl Fakoorian, Kyohei Otsu, Barry Ridge, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Ali-Akbar Agha-Mohammadi:
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain. CoRR abs/2208.01329 (2022) - [i56]Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone:
Present and Future of SLAM in Extreme Underground Environments. CoRR abs/2208.01787 (2022) - [i55]Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter:
Perceptive Locomotion through Nonlinear Model Predictive Control. CoRR abs/2208.08373 (2022) - [i54]Nikita Rudin, David Hoeller, Marko Bjelonic, Marco Hutter:
Advanced Skills by Learning Locomotion and Local Navigation End-to-End. CoRR abs/2209.12827 (2022) - [i53]Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Han Wang, Huai Yu, Shanzhao Wang, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Luca Carlone, Marco Hutter, Sebastian A. Scherer:
PyPose: A Library for Robot Learning with Physics-based Optimization. CoRR abs/2209.15428 (2022) - [i52]Álvaro Belmonte-Baeza, Joonho Lee, Giorgio Valsecchi, Marco Hutter:
Meta Reinforcement Learning for Optimal Design of Legged Robots. CoRR abs/2210.02750 (2022) - [i51]Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, Cesar Cadena:
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets. CoRR abs/2210.13856 (2022) - [i50]Manthan Patel, Gabriel Waibel, Shehryar Khattak, Marco Hutter:
LiDAR-guided object search and detection in Subterranean Environments. CoRR abs/2210.14997 (2022) - [i49]Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger:
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. CoRR abs/2211.10270 (2022) - [i48]Zhizheng Liu, Francesco Milano, Jonas Frey, Marco Hutter, Roland Siegwart, Hermann Blum, Cesar Cadena:
Unsupervised Continual Semantic Adaptation through Neural Rendering. CoRR abs/2211.13969 (2022) - [i47]Turcan Tuna, Julian Nubert, Yoshua Nava, Shehryar Khattak, Marco Hutter:
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments. CoRR abs/2211.16335 (2022) - 2021
- [i46]Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter:
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. CoRR abs/2101.06067 (2021) - [i45]Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter:
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. CoRR abs/2103.00946 (2021) - [i44]Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter:
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation. CoRR abs/2103.01104 (2021) - [i43]David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter:
Learning a State Representation and Navigation in Cluttered and Dynamic Environments. CoRR abs/2103.04351 (2021) - [i42]Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg:
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. CoRR abs/2103.10534 (2021) - [i41]Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter:
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. CoRR abs/2103.13987 (2021) - [i40]Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter:
Imitation Learning from MPC for Quadrupedal Multi-Gait Control. CoRR abs/2103.14331 (2021) - [i39]Haoyang Ye, Huaiyang Huang, Marco Hutter, Timothy Sandy, Ming Liu:
3D Surfel Map-Aided Visual Relocalization with Learned Descriptors. CoRR abs/2104.03856 (2021) - [i38]Edo Jelavic, Farbod Farshidian, Marco Hutter:
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. CoRR abs/2104.04247 (2021) - [i37]Edo Jelavic, Dominic Jud, Pascal Egli, Marco Hutter:
Towards Autonomous Robotic Precision Harvesting. CoRR abs/2104.10110 (2021) - [i36]Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen, Wei-Chun Lu, Marco Hutter, Ram Vasudevan:
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation. CoRR abs/2104.11685 (2021) - [i35]Hendrik Kolvenbach, Philip Arm, Elias Hampp, Alexander Dietsche, Valentin Tertius Bickel, Benjamin Sun, Christoph Meyer, Marco Hutter:
Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot. CoRR abs/2106.01974 (2021) - [i34]Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter:
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. CoRR abs/2106.04202 (2021) - [i33]Dominic Jud, Simon Kerscher, Martin Wermelinger, Edo Jelavic, Pascal Egli, Philipp Leemann, Gabriel Hottiger, Marco Hutter:
HEAP - The autonomous walking excavator. CoRR abs/2106.05059 (2021) - [i32]Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter:
Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning. CoRR abs/2106.09357 (2021) - [i31]Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti, Burak Cizmeci, Douwe Dresscher, Marco Hutter:
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays. CoRR abs/2108.07658 (2021) - [i30]Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter:
Solving Occlusion in Terrain Mapping with Neural Networks. CoRR abs/2109.07150 (2021) - [i29]Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter:
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning. CoRR abs/2109.11978 (2021) - [i28]Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Christos Papachristos, Lionel Ott, Roland Siegwart, Marco Hutter, Kostas Alexis:
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots. CoRR abs/2111.06482 (2021) - [i27]Johannes Pankert, Maria Vittoria Minniti, Lorenz Wellhausen, Marco Hutter:
Deep Measurement Updates for Bayes Filters. CoRR abs/2112.00380 (2021) - [i26]Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Adaptive CLF-MPC With Application To Quadrupedal Robots. CoRR abs/2112.04536 (2021) - 2020
- [i25]Lorenz Wellhausen, René Ranftl, Marco Hutter:
Safe Robot Navigation via Multi-Modal Anomaly Detection. CoRR abs/2001.07934 (2020) - [i24]Napat Karnchanachari, Miguel de la Iglesia Valls, David Hoeller, Marco Hutter:
Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot. CoRR abs/2003.03200 (2020) - [i23]Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames:
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. CoRR abs/2006.01229 (2020) - [i22]Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter:
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots. CoRR abs/2010.06322 (2020) - [i21]Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning Quadrupedal Locomotion over Challenging Terrain. CoRR abs/2010.11251 (2020) - [i20]Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter:
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. CoRR abs/2011.00032 (2020) - [i19]Julian Nubert, Shehryar Khattak, Marco Hutter:
Self-supervised Learning of LiDAR Odometry for Robotic Applications. CoRR abs/2011.05418 (2020) - [i18]Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. CoRR abs/2011.08811 (2020) - 2019
- [i17]Joonho Lee, Jemin Hwangbo, Marco Hutter:
Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning. CoRR abs/1901.07517 (2019) - [i16]Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter:
Learning agile and dynamic motor skills for legged robots. CoRR abs/1901.08652 (2019) - [i15]Russell Buchanan, Tirthankar Bandyopadhyay, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Navinda Kottege:
Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces. CoRR abs/1901.10863 (2019) - [i14]Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter:
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. CoRR abs/1902.10415 (2019) - [i13]Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. CoRR abs/1903.03823 (2019) - [i12]Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter:
Feedback MPC for Torque-Controlled Legged Robots. CoRR abs/1905.06144 (2019) - [i11]Jan Carius, Farbod Farshidian, Marco Hutter:
MPC-Net: A First Principles Guided Policy Search. CoRR abs/1909.05197 (2019) - [i10]Marko Bjelonic, Prajish K. Sankar, C. Dario Bellicoso, Heike Vallery, Marco Hutter:
Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization. CoRR abs/1909.07193 (2019) - [i9]Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter:
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning. CoRR abs/1909.08399 (2019) - [i8]Farbod Farshidian, David Hoeller, Marco Hutter:
Deep Value Model Predictive Control. CoRR abs/1910.03358 (2019) - [i7]Abel Gawel, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio, Roland Siegwart, Marco Hutter, Timothy Sandy:
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. CoRR abs/1912.01870 (2019) - 2018
- [i6]Jemin Hwangbo, Vassilios Tsounis, Hendrik Kolvenbach, Marco Hutter:
Cable-Driven Actuation for Highly Dynamic Robotic Systems. CoRR abs/1806.10632 (2018) - [i5]Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh, Dhionis V. Sako, F. Dante Tresoldi, Fabian Jenelten, Marco Hutter:
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots. CoRR abs/1809.03557 (2018) - [i4]Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter:
Frequency-Aware Model Predictive Control. CoRR abs/1809.04539 (2018) - 2017
- [i3]Jemin Hwangbo, Inkyu Sa, Roland Siegwart, Marco Hutter:
Control of a Quadrotor with Reinforcement Learning. CoRR abs/1707.05110 (2017) - [i2]Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli:
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. CoRR abs/1712.02889 (2017) - 2016
- [i1]Michael Bloesch, Hannes Sommer, Tristan Laidlow, Michael Burri, Gabriel Nützi, Peter Fankhauser, Dario Bellicoso, Christian Gehring, Stefan Leutenegger, Marco Hutter, Roland Siegwart:
A Primer on the Differential Calculus of 3D Orientations. CoRR abs/1606.05285 (2016)
Coauthor Index
Michael Bloesch
aka: Michael Blösch
aka: Michael Blösch
[j95] [j87] [j79] [j77] [j74] [j73] [j69] [j65] [j62] [j52] [j49] [j48] [j42] [j40] [j31] [j23] [c108] [c99] [c98] [c95] [c92] [c88] [c81] [c80] [c78] [c76] [c75] [c73] [c64] [c60] [c58] [c52] [c51] [i96] [i88] [i83] [i76] [i73] [i70] [i68] [i62] [i59] [i55] [i49] [i46] [i45] [i43] [i42] [i41] [i40] [i38] [i34] [i26] [i18] [i14] [i13] [i12] [i11] [i9] [i8] [i7] [i4]
[j91] [j72] [j55] [j38] [j33] [j19] [j16] [j8] [j7] [j5] [j4] [j3] [j2] [j1] [c124] [c97] [c96] [c52] [c47] [c37] [c33] [c28] [c27] [c23] [c22] [c21] [c20] [c19] [c18] [c17] [c16] [c15] [c14] [c13] [c12] [c11] [c10] [c8] [c7] [c6] [c5] [c4] [c3] [c2] [e1] [i102] [i77] [i75] [i72] [i60] [i56] [i51] [i48] [i28] [i7] [i3] [i1]
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