Improving Long-Range Navigation with Spatially-Enhanced Recurrent Memory via End-to-End Reinforcement Learning - Fan Yang; Per Frivik; David Hoeller; Chen Wang; Cesar Cadena; Marco Hutter (CoRR, 2025)

ANYmal parkour: Learning agile navigation for quadrupedal robots - David Hoeller; Nikita Rudin; Dhionis V. Sako; Marco Hutter (Sci. Robotics, 2024)

Learning Agile Locomotion on Risky Terrains - Chong Zhang; Nikita Rudin; David Hoeller; Marco Hutter (IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, 2024)

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments - 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; et al. (IEEE Robotics Autom. Lett., 2023)

ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments - 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; et al. (CoRR, 2023)

ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots - David Hoeller; Nikita Rudin; Dhionis V. Sako; Marco Hutter (CoRR, 2023)

Learning Agile Locomotion on Risky Terrains - Chong Zhang; Nikita Rudin; David Hoeller; Marco Hutter (CoRR, 2023)

Neural Scene Representation for Locomotion on Structured Terrain - David Hoeller; Nikita Rudin; Christopher B. Choy; Animashree Anandkumar; Marco Hutter (IEEE Robotics Autom. Lett., 2022)

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation - Mayank Mittal; David Hoeller; Farbod Farshidian; Marco Hutter; Animesh Garg (IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, 2022)

Advanced Skills by Learning Locomotion and Local Navigation End-to-End - Nikita Rudin; David Hoeller; Marko Bjelonic; Marco Hutter (IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, 2022)

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments - Jonas Frey; David Hoeller; Shehryar Khattak; Marco Hutter (IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, 2022)

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments - Jonas Frey; David Hoeller; Shehryar Khattak; Marco Hutter (CoRR, 2022)

Neural Scene Representation for Locomotion on Structured Terrain - David Hoeller; Nikita Rudin; Christopher B. Choy; Animashree Anandkumar; Marco Hutter (CoRR, 2022)

Advanced Skills by Learning Locomotion and Local Navigation End-to-End - Nikita Rudin; David Hoeller; Marko Bjelonic; Marco Hutter (CoRR, 2022)

Learning a State Representation and Navigation in Cluttered and Dynamic Environments - David Hoeller; Lorenz Wellhausen; Farbod Farshidian; Marco Hutter (IEEE Robotics Autom. Lett., 2021)

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning - Nikita Rudin; David Hoeller; Philipp Reist; Marco Hutter (Conference on Robot Learning, 8-11 November 2021, London, UK, 2021)

Joint Space Control via Deep Reinforcement Learning - Visak Kumar; David Hoeller; Balakumar Sundaralingam; Jonathan Tremblay; Stan Birchfield (IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, 2021)

Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning - Viktor Makoviychuk; Lukasz Wawrzyniak; Yunrong Guo; Michelle Lu; Kier Storey; Miles Macklin; David Hoeller; Nikita Rudin; Arthur Allshire; Ankur Handa; Gavriel State (Proceedings of the Neural Information Processing Systems Track on Datasets and Benchmarks 1, NeurIPS Datasets and Benchmarks 2021, December 2021, virtual, 2021)

Learning a State Representation and Navigation in Cluttered and Dynamic Environments - David Hoeller; Lorenz Wellhausen; Farbod Farshidian; Marco Hutter (CoRR, 2021)

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation - Mayank Mittal; David Hoeller; Farbod Farshidian; Marco Hutter; Animesh Garg (CoRR, 2021)

Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning - Viktor Makoviychuk; Lukasz Wawrzyniak; Yunrong Guo; Michelle Lu; Kier Storey; Miles Macklin; David Hoeller; Nikita Rudin; Arthur Allshire; Ankur Handa; Gavriel State (CoRR, 2021)

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning - Nikita Rudin; David Hoeller; Philipp Reist; Marco Hutter (CoRR, 2021)

Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion - Xingye Da; Zhaoming Xie; David Hoeller; Byron Boots; Anima Anandkumar; Yuke Zhu; Buck Babich; Animesh Garg (4th Conference on Robot Learning, CoRL 2020, 16-18 November 2020, Virtual Event / Cambridge, MA, USA, 2020)

Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot - Napat Karnchanachari; Miguel de la Iglesia Valls; David Hoeller; Marco Hutter (Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, L4DC 2020, Online Event, Berkeley, CA, USA, 11-12 June 2020, 2020)

Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot - Napat Karnchanachari; Miguel de la Iglesia Valls; David Hoeller; Marco Hutter (CoRR, 2020)

Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion - Xingye Da; Zhaoming Xie; David Hoeller; Byron Boots; Animashree Anandkumar; Yuke Zhu; Buck Babich; Animesh Garg (CoRR, 2020)

Joint Space Control via Deep Reinforcement Learning - Visak Kumar; David Hoeller; Balakumar Sundaralingam; Jonathan Tremblay; Stan Birchfield (CoRR, 2020)

Deep Value Model Predictive Control - David Hoeller; Farbod Farshidian; Marco Hutter (3rd Annual Conference on Robot Learning, CoRL 2019, Osaka, Japan, October 30 - November 1, 2019, Proceedings, 2019)

Deep Value Model Predictive Control - Farbod Farshidian; David Hoeller; Marco Hutter (CoRR, 2019)