The Robotic Systems Lab designs machines, creates actuation principles, and builds up control technologies for autonomous operation in challenging environments.
Zurich, Switzerland
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If you missed the humanoid-quadruped transformer at @nvidia's #GTC, then you can watch the full video here: piped.video/kEdr0ARq48A
#Robotics #reinforcementlearning #nvidia #transformer #swissmile
@ETH_en @nvidiaomniverse @NVIDIAGTC
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The @swiss_mile robot greets the president of Switzerland @ignaziocassis
#Robotics #swissdigitaldays @dgt_switzerland
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🔥Exciting news 🤖
Our latest research by @HoellerDavid, @rdn_nikita, @2nisi in @SciRobotics unlocks new achievements: Unprecedented agility in quadrupedal robots, mastering locomotion, navigation, and perception through deep reinforcement learning! @NVIDIARobotics
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Transformer robot is now opening doors for you!
@ETH @swiss_mile @eth_dmavt
Full video: piped.video/Qob2k_ldLuw
Authors: Clemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, and Marco Hutter
#robotics #ai #reinforcementlearning #ethzurich
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We released our physics engine and a few RL examples. Check out our github repos below!
raisimLib (github.com/leggedrobotics/ra…): simulator
raisimOgre (github.com/leggedrobotics/ra…): visualizer
raisimGym (github.com/leggedrobotics/ra…): gym examples
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Wild ANYmal!
We present an exceptionally robust perceptive reinforcement learning controller for legged robots in our latest @SciRobotics article.
Full video: piped.video/zXbb6KQ0xV8
Paper: science.org/doi/10.1126/scir…
@ETH_en @ETH @ScienceMagazine #robot #AI #science #WildANYmal
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A legged mobile manipulator trained to play badminton with humans coordinates whole-body maneuvers and onboard perception. Paper: science.org/doi/10.1126/scir……Video: piped.video/zYuxOVQXVt8
@Yuntao144, Andrei Cramariuc, Farbod Farshidian, Marco Hutter
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Best Systems Paper finalist at #RSS2025 🚀
Excited to share our work on a perceptive forward dynamics model for safe, platform-aware navigation.
📄 arxiv.org/pdf/2504.19322
🌐 leggedrobotics.github.io/fdm…
#Robotics #Planning #RSS
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New research: Quadruped robots climbing ladders! 🦾🚀 Using RL-based control and a hooked end-effector, we're expanding robot capabilities in industrial environments. More info in the paper: arxiv.org/abs/2409.17731
Video: piped.video/_N2mmcxINmo
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See you all at the 4th ICRA 2020 workshop in Paris!
Full video: piped.video/nKZdYw9eXY0
@BostonDynamics @MIT @ETH_en @ETH @anybotics @PALRobotics @DIC_LAB_IIT @agilityrobotics @ExoWandercraft @Ghost_Robotics @UnitreeRobotics @CSIRO @oxfordrobots @robotics_deep @ucl @Caltech
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Excited to unveil Orbit v0.3 with many new features & improvements. Orbit is a modular robot learning framework that leverages the latest simulation capabilities and supports different learning paradigms! Join us in revolutionizing robotics! More info here isaac-orbit.github.io/orbit/
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Check out our #ICRA2025 paper !
Robust, precise, and terrain-aware—our RL controller significantly improves over baselines for whole-body 6-DoF tracking.💥
Project website: leggedrobotics.github.io/who…
Work led by: @TifannyPortela, Andrei Cramariuc, Mayank Mittal and Marco Hutter
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Check out our ICRA 2020 presentation about hybrid locomotion for wheeled-legged robots!
Full video: piped.video/tf_twcbF4P4
@ETH @ETH_en @IEEESpectrum @icra2020 #robots #optimization #trajectoryoptimization #autonomy #autonomousrobot
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Check out #ANYmal running across gaps, slopes, and stepping stones as part of our submission "Perceptive Locomotion through Nonlinear Model Predictive Control".
This work is currently under review.
- video: piped.video/watch?v=v6MhPl2I…
- preprint: researchgate.net/publication…
#robotics
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Crafting multi-contact loco-manipulation behaviors for sparsely-defined tasks, like traversing spring-loaded doors or closing heavy dishwashers, is challenging. Check out our proposed solution for our legged mobile manipulator:
piped.video/rAP7M4BL9sQ
@SciRobotics @ETH_en
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We open source our fast GPU based elevation mapping software!
This includes features like traversability estimation and inpainting which are useful for navigation and legged locomotion.
It was used during the DARPA SubT Challenge by team @CerberusSubt.
github.com/leggedrobotics/el…
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Check out our #ICRA2025 paper where we train a robotic puppy to dance expressively!
Our method, Deep Fourier Mimic, a generalized version of DeepMimic, enables automatic parameterization of reference data.
Project site: sony.github.io/DFM/
Video: piped.video/watch?v=Do4HmC9P…
🧵
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Out today in @SciRobotics, we introduce a kilometer-scale autonomous navigation system for wheeled-legged quadrupeds.
Project website: junja94.github.io/learning_r…
Paper link: science.org/doi/10.1126/scir…
@swiss_mile @junja941 @ki_ki_ki1 @MBjelonic @schlurry
#ScienceRoboticsResearch
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The Robotic Systems Lab won third place in the Advanced Industrial Robotic Applications (AIRA) Challenge, demonstrating our leader-follower teleoperation system for industrial inspection tasks.
Full video: piped.video/LLD3BFS-qms
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Check out our #ICRA2024 paper "ViPlanner: Visual Semantic Imperative Learning for Local Navigation"
introducing a novel planner that combines depth and semantic information.
Website: leggedrobotics.github.io/vip…
Paper: arxiv.org/abs/2310.00982
Full Video: piped.video/8KO4NoDw6CM
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Zurich's biggest spring parade, the Sechseläuten, had this year a robotic guest of honor! See the full video here: piped.video/f4ThgxAN6Uw
#stadtzunft #Sechseläuten #Sächsilüüte #Zurich #swissmile #robotics #explosion
@ETH_en @ETH @eth_dmavt @anybotics
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Here’s our attempt at recreating a classic from @BostonDynamics.
Checkout our paper at #CoRL2024: arxiv.org/abs/2409.04882
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1. Legged systems have traditionally been controlled using trajectory optimization (TO). Such hierarchical model-based methods offer intuitive cost function tuning, accurate planning, and generalization. However, violations of modeling assumptions are common sources of failure.
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After the first #Rocky movie in 1976, we present a continuation of the iconic series. Our transformer robot visited Philly as part of #ICRA2022.
Video: piped.video/xHa1vbuLNQU
@ieee_ras_icra @ieeeras @IEEESpectrum @anybotics @ETH_en @ETH @TheSlyStallone #Robotics #AI
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Check our new IROS 2022 paper on "Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments" by Jonas Frey, David Hoeller, Shehryar Khattak, Marco Hutter.
Video: piped.video/GGQ72tbAq0E
Paper: arxiv.org/abs/2203.15854
@ETH_en
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We show how to fill-in missing elevation information in 2.5D maps with self-supervised learning.
@m_stoelzle, @ki_ki_ki1, @esa
Youtube: piped.video/quP_mNkMQEY
IEEE RAL: ieeexplore.ieee.org/abstract…
arXiv: arxiv.org/abs/2109.07150
Code: github.com/mstoelzle/solving…
#ICRA2022 #robotics
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DTC: Deep Tracking Control - Behind the Scenes
video: piped.video/watch?v=_R29DrAx…
paper: science.org/doi/10.1126/scir…
#roboticsolutions #leggedrobot #robot #robotdog #ai #reinforcementlearning #armasuisse #ScienceRoboticsResearch #anymal #searchandrescue #ARCHE2023
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Congrats @junja941 for an exceptional PhD thesis! One step closer to solving legged locomotion @ETH_en @eth_dmavt
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ANYmal is becoming friends with monkeys in South Africa! #monkeybusiness #robots #brancoweiss
@InkawuP @junja941 @samuel_zimi @eth_dmavt @ETH_en
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Check out our #ICRA2025 paper where we train a home robot to walk quietly!
Project site: sony.github.io/QuietWalk/
Video: piped.video/watch?v=6RjkBHSY…
Authors: Ryo Watanabe, Takahiro Miki, Fan Shi, Yuki Kadokawa, Filip Bjelonic,
Kento Kawaharazuka, Andrei Cramariuc and Marco Hutter
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Monkey update: they are getting more and more used to the robot! Just the pan-tilt head of @anybotics is still a bit scary. 😅 #monkeybusiness #robots #brancoweiss
@InkawuP @junja941 @samuel_zimi @eth_dmavt @ETH_en
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🚶Human motions have become popular in guiding RL training and making robots walk like real human. 🤖
🚀 Excited to share our latest research on recent advances in this technology, with a guideline on the best practices!
🔗breadli428.github.io/post/lf…
📄PDF: arxiv.org/pdf/2507.05906
🧠With the shift in humanoid control from pure RL to learning from demonstrations, we take a step back to unpack the landscape.
🔗breadli428.github.io/post/lf…
🚀Excited to share our blog post on Feature-based vs. GAN-based Learning from Demonstrations—when to use which, and why it matters.
✅We hope this serves as a guide for anyone looking to scale their RL systems using offline reference data, paving the way toward leveraging large-scale demonstrations.
📄PDF: arxiv.org/pdf/2507.05906
🙌Massive thanks to @frankzydou, @TairanHe99, @xuxin_cheng, @zhengyiluo, and @ChenTessler for their invaluable input in shaping the final form of this work!
#ai #robotics #humanoids #machine_learning #reinforcement_learning #learning_from_demonstrations #representation_learning #computer_graphics #computer_science
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Introducing IN-Sight: a cutting-edge approach to self-supervised interactive visual navigation presented in our new #IROS2024 paper in collaboration with #IntelLabs.
Paper link: arxiv.org/abs/2408.00343
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Join us for the IFRR colloquium ifrr.org/ on Quadruped Robotics Feb 4th at 4:00pm (CET) on zoom.us/j/92814075912 with Avik De (@Ghost_Robotics), Sangbae Kim (@MIT), Claudio Semini (@iitDLSLab), Benjamin Swilling (@BostonDynamics), Marco Hutter (@leggedrobotics)
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Roller-walking robot #ANYmal in action! Full video: piped.video/_rPvKlvyw2w
@MBjelonic @ETH_en @ETH @eth_dmavt @IEEESpectrum @BotJunkie @ericoguizzo @swissrobotics @nccrrobotics @NCCRDFAB
#ETH #Zurich #Robot #Robots #RollerWalking #AutonomousVehicles #Robotics
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Congratulations to @ki_ki_ki1, master of perceptive RL-based legged locomotion, for a successful defense of the thesis “Bridging Perception and Control for Legged Locomotion and Navigation in the Wild".@ETH_en @eth_dmavt @pulkitology
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ANYmal just learned parkour in the wild! 9 expert skills → 1 foundation policy → RL fine-tuning → any terrain with a single end-to-end policy from cameras to motor control.
Paper: arxiv.org/abs/2505.11164
Watch: piped.video/QDU_FicBPDo
@rdn_nikita Junzhe He Joshua Aurand
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Take a look at our new work where we combined learning-based locomotion with model-based arm control for legged mobile manipulators.
@ki_ki_ki1 @junja941
IEEE RA-L: ieeexplore.ieee.org/abstract…
Youtube: piped.video/watch?v=ZCv8W_Nz…
arXiv: arxiv.org/abs/2201.03871
#robotics #IEEE #ICRA2022
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Our teleoperated walking excavator with automated chassis #HEAP on its way to work to remove rock slides in a steep river bed in Switzerland. Watch SRF Aktuell on Friday for the full story. With @swissrobotics @vbs_ddps @ETH_en @sbbnews @Swisscom @Menzi_Muck_eu @Moog_Industrial
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Congratulations to Vassilios Tsounis for the successful PhD defense on the application of RL for motion planning and control of quadrupeds! @eth_dmavt @rsiegwart
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@BotJunkie Amazing stand-up maneuver! But why not avoid falling in the first place? @leggedrobotics @CerberusSubt
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Check out our #RSS2024 paper "Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers" to identify weak spots in the SOTA neural-net controllers.
Full video: piped.video/WMgUrhZ2Tps
#legged_robot #reinforcementlearning
RL controllers for quadruped locomotion are great but black-box. Are they safe enough? Our work in #RSS2024 reveals the risk of small noises and low-frequency velocity commands falling SOTA controller, which helped win DARPA SubT Challenge, even on the simplest flat terrain.
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Check out our #CoRL2024 paper where we train ANYmal with an arm to traverse a variety of doors by inferring the open direction through interaction, just like how people test doors they haven't seen before.
Full video: piped.video/tQDZXN_k5NU
Paper: arxiv.org/abs/2409.04882
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Congrats Dr. Jan Carius, truly exceptional defense presentation! Thanks to @MarcoPavoneSU, Scott Kuindersma, and René Ranftl, @nccrrobotics @eth_dmavt @ETH_en
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The monkeys are becoming more comfortable with our robot 🥰#monkeybusiness #robots #brancoweiss
@InkawuP @junja941 @samuel_zimi @eth_dmavt @ETH_en
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#ANYmal helped out Santa and Schmutzli today delivering some 🍫 … did you see them around in LEE building?
@ETH_en @eth_dmavt
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Robot vs human push-up competition? 🤔 Come visit our robot show at #Scientifica19! Sunday, 1pm and 3pm
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Congratulations to Dr. Hendrik Kolvenbach for his excellent thesis and defense presentation. Let's bring legged robots to space! @ETH_en @eth_dmavt
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#ANYmal going anywhere! After more than a year of hard work, we present a new level of rough terrain mobility: Learning quadrupedal locomotion over challenging terrain" robotics.sciencemag.org/cont…
@SciRobotics @ERC_Research @ETH_en @THING_H2020
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At 11 am UTC, Marco Hutter, assistant professor at @ETH and co-founder of @anybotics, presents our newest contributions regarding the autonomy of #ANYmal.
Zoom link: zoom.us/j/97705904684?pwd=dC…
@ETH_en @THING_H2020 @IEEESpectrum @icra2020 #ICRA2020 #LeggedRobots
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Make sure that you do not miss our #ICRA workshop on Friday!
For more information: leggedrobots.org
#ICRA2021 #Robots #LeggedRobots #Robotics @shamelfahmi @KrzysztofTWalas @dkanou @navindak @MBjelonic
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Congrats to Dr. @MBjelonic for successfully defending his PhD thesis on #ANYmalOnWheels. This work combines the agility of legs with speed and efficiency of wheels. @nccrrobotics @NCCRDFAB @ETH_en @eth_dmavt
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Our paper "Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots" is accepted for #IROS2021 in #Prague!
Check out the full video: piped.video/_rPvKlvyw2w
#Robotics #Robots
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3. In our most recent work, we have combined TO and RL to synthesize a unifying control policy that leads to both accurate and robust locomotion (#ScienceRoboticsResearch, @ETH_en, @ScienceMagazine).
Full video: piped.video/watch?v=nipH-yl8…
Paper: science.org/doi/10.1126/scir…
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Check out @twominutepapers video on our recent @SciRobotics paper.
This Rescue Robot Doggy AI Is Amazing! 🦮
▶️Full video (ours): piped.video/XM-rKTOyD_k
📜Source paper: leggedrobotics.github.io/rl-…
#ai #twominutepapers #whatatimetobealive #holdontoyourpapers
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Heavy lifting up the stairs. #Robotics #ArtificialIntelligence #darpa #subtchallenge @arlteam @ETH_en @ASL_ETHZ @DARPA
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Our new paper explores the use of parallel elastic actuators in quadrupedal robot design and control, with a focus on utilizing learning-based techniques. Results show promising improvements in efficiency.
arxiv.org/pdf/2301.03509.pdf
#QuadrupedalRobotics #Robotics #DeepLearning
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Congratulations to (new Dr.) Ruben Grandia for an excellent thesis and defense!! Thanks to Aaron Ames and Michael Mistry for serving on the committee. @THING_H2020 @nccrrobotics @eth_dmavt @ETH_en
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All 16 legs of team @CerberusSubt passed the e-stop check and are qualified for the @DARPA #SubTChallenge final prize round.
🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿
@arlteam @ASL_ETHZ @dynamicrobots @ETH_en
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Start of the @ETH_en @eth_dmavt robotics summer school 2021. 25 ETH and 25 international students learn in one week how to make an autonomous search and rescue robot. #ARCHE @swissrobotics
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Congratulations to Giorgio for receiving the IEEE RAL best paper award! This work was done as part of the EU H2020 Project @THING_H2020. Check out the paper (ieeexplore.ieee.org/document…)
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We are happy to share our latest T-RO publication "TAMOLS: Terrain-Aware Motion Optimization for Legged Systems".
Full Video: piped.video/watch?v=oVWq3NGV…
arXiv: doi.org/10.48550/arXiv.2206.…
@ETH @ETH_en @IEEEorg @ieeeras @anybotics
#robotics
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Marc Raibert and Al Rizzi visited ETH Zurich and our lab today. Thank you for your inspiring talk and checking out our research!
#ai #robotics #engineering #research
@BostonDynamics @ETH_en
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Check out Marco Hutter’s keynote at #ICRA in Philadelphia! #robotics #reinforcementlearning
piped.video/abdLIFOzdRo
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Congratulations to Dr. Dominic Jud for successfully defending an excellent PhD thesis @ETH_en @eth_dmavt . See what an autonomous excavator can do: piped.video/Wjq3Nf9rWrM
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Final integration of @CerberusSubt in Schollberg for the @DARPA subT challenge. The #ANYmal pack can't wait to explore
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Congratulations Dr. Fabian Jenelten for a successful defense. You managed to bridge #MPC and #RL to make #ANYmal a robust and versatile climber! Stay tuned for great videos to come soon. @eth_dmavt @ETH_en
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RSL's field test engineers deployed two ANYmal C robots in the Seemühle underground mine as part of Team @CerberusSubt for the DARPA #subtchallenge
A big thank you to Vale Schoch and Peter Schoch for making this possible!
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ETH robotics summer school at the search and rescue training village in Wangen aA has started. robotics-summerschool.ethz.c… @leggedrobotics @ASL_ETHZ @nccrrobotics @ETH_en @swissrobotics
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