Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna
Julia Richter, Turcan Tuna, Manthan Patel, Takahiro Miki, Devon Higgins, James Fox, Cesar Cadena, Andres Diaz, Marco Hutter
Papers
34 papers, 2015–2026. Each thumbnail plays a few seconds of the paper’s footage.
2026
Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
Zewei Zhang, Kehan Wen, Michael Xu, Junzhe He, Chenhao Li, Takahiro Miki, Clemens Schwarke, Chong Zhang, Xue Bin Peng, Marco Hutter
DAPPER: Discriminability-Aware Policy-to-Policy Preference-Based Reinforcement Learning for Query-Efficient Robot Skill Acquisition
Yuki Kadokawa, Jonas Frey, Takahiro Miki, Takamitsu Matsubara, Marco Hutter
2025
Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility
Zewei Zhang, Chenhao Li, Takahiro Miki, Marco Hutter
Learning Quiet Walking for a Small Home Robot
Ryo Watanabe, Takahiro Miki, Fan Shi, Yuki Kadokawa, Filip Bjelonic, Kento Kawaharazuka, Andrei Cramariuc, Marco Hutter
Bridging Perception and Control for Legged Locomotion and Navigation in the Wild
Takahiro Miki
2024
Learning to Open and Traverse Doors with a Legged Manipulator
Mike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter
Identifying Terrain Physical Parameters from Vision: Towards Physical-Parameter-Aware Locomotion and Navigation
Jiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter
Dataset and Lessons Learned from the 2024 SaTML LLM Capture-the-Flag Competition
2nd place · Team RSLLM
Edoardo Debenedetti, Javier Rando, Daniel Paleka, … Takahiro Miki, Chenhao Li, … Florian Tramèr, Sahar Abdelnabi, Lea Schönherr
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros
Learning robust autonomous navigation and locomotion for wheeled-legged robots
Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter
Learning to walk in confined spaces using 3D representation
Best Paper · Service Robotics
Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter
Learning risk-aware quadrupedal locomotion using distributional reinforcement learning
Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter
Learning a Risk-Averse Locomotion Policy from Uncertainty Estimates
Thomas B. Brunner, Takahiro Miki, Josip Josifovski, Joonho Lee, Alois Knoll, Marco Hutter
2023
MEM: Multi-Modal Elevation Mapping for Robotics and Learning
Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter
Scientific exploration of challenging planetary analog environments with a team of legged robots
Philip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Marco Hutter
Event-based Agile Object Catching with a Quadrupedal Robot
Benedek Forrai, Takahiro Miki, Daniel Gehrig, Marco Hutter, Davide Scaramuzza
2022
Elevation mapping for locomotion and navigation using GPU
Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter
Team CERBERUS wins the DARPA Subterranean Challenge: Technical overview and lessons learned
DARPA SubT Final · 1st place
Marco Tranzatto et al.
CERBERUS in the DARPA Subterranean Challenge
DARPA SubT Final · 1st place
Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis
Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Combining learning-based locomotion policy with model-based manipulation for legged mobile manipulators
Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter
CERBERUS: Autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the DARPA Subterranean Challenge
Marco Tranzatto et al.
Reconstructing occluded elevation information in terrain maps with self-supervised learning
Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter
2021
Real-time optimal navigation planning using learned motion costs
Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, Marco Hutter
Solving Occlusion in Terrain Mapping with Neural Networks
Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter
Circus ANYmal: A quadruped learning dexterous manipulation with its limbs
Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter
2020
Perceptive locomotion in rough terrain: online foothold optimization
Fabian Jenelten, Takahiro Miki, Aravind E. Vijayan, Marko Bjelonic, Marco Hutter
A mobile dual-arm manipulation robot system for stocking and disposing of items in a convenience store by using universal vacuum grippers for grasping items
Ryo Sakai, Shinichi Katsumata, Takahiro Miki, Taiki Yano, Wenpeng Wei, Yuya Okadome, Nobuhiro Chihara, Nobutaka Kimura, Yusuke Nakai, Isamu Matsuo, Toshihiko Shimizu
2019
UAV/UGV autonomous cooperation: UAV assists UGV to climb a cliff by attaching a tether
Takahiro Miki, Petr Khrapchenkov, Koichi Hori
2018
Finding the North on a Lunar Microrover: a Lunar Surface Environment Simulator for the Development of Vision-Based Navigation Pipelines
Fabian Dubois, Louis-Jerome Burtz, Oriol Gasquez, Takahiro Miki
Multi-agent Time-based Decision-making for the Search and Action Problem
Takahiro Miki, Marija Popović, Abel Gawel, Gregory Hitz, Roland Siegwart
Robust rough-terrain locomotion with a quadrupedal robot
Peter Fankhauser, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, Marco Hutter
2015
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