Farbod Farshidian

93 papers A* 16A 7Misc 1Journal 65Unranked 4

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Generalizing from References using a Multi-Task Reference and Goal-Driven RL Framework. CoRR Jiashun Wang, M. Eva Mungai, He Li, Jean-Pierre Sleiman, Jessica K. Hodgins, Farbod Farshidian
2026	J	`jnl`	System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot. CoRR Benjamin Bokser, Daniel Gonzalez, Surya Singh, Aaron Preston, Alex Bahner, Annika Wollschläger, Arianna Ilvonen, Asa Eckert-Erdheim, Ashwin Khadke, Bilal Hammoud, Dean Molinaro, Fabian Jenelten, Henry Mayne, Howie Choset, Igor Bogoslavskyi, Itic Tinman, James Tigue, Jan Preisig, Kaiyu Zheng, Kenny Sharma, Kim Ang, Laura Lee, Liana Margolese, Nicole Lin, Oscar Frias, Paul Drews, Ravi Boggavarapu, Rick Burnham, Samuel Zapolsky, Sangbae Kim, Scott Biddlestone, Sean Mayorga, Shamel Fahmi, Tyler McCollum, Velin Dimitrov, William Moyne, Yu-Ming Chen, Farbod Farshidian, Marco Hutter, David Perry, Al Rizzi, Gabe Nelson
2026	J	`jnl`	ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control. CoRR Jean-Pierre Sleiman, He Li, Alphonsus Adu-Bredu, Robin Deits, Arun Kumar, Kevin Bergamin, Mohak Bhardwaj, Scott Biddlestone, Nicola Burger, Matthew A. Estrada, Francesco Iacobelli, Twan Koolen, Alexander Lambert, Erica Lin, M. Eva Mungai, Zach Nobles, Shane Rozen-Levy, Yuyao Shi, Jiashun Wang, Jakob Welner, Fangzhou Yu, Mike Zhang, Alfred Rizzi, Jessica K. Hodgins, Sylvain Bertrand, Yeuhi Abe, Scott Kuindersma, Farbod Farshidian
2025	J	`jnl`	Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control. CoRR Xiaoyu Huang, Takara Truong, Yunbo Zhang, Fangzhou Yu, Jean-Pierre Sleiman, Jessica K. Hodgins, Koushil Sreenath, Farbod Farshidian
2025	J	`jnl`	Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control. ACM Trans. Graph. Xiaoyu Huang, Takara Truong, Yunbo Zhang, Fangzhou Yu, Jean-Pierre Sleiman, Jessica K. Hodgins, Koushil Sreenath, Farbod Farshidian
2025	A*	`conf`	High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures. ICRA A. J. Miller, Fangzhou Yu, Michael Brauckmann, Farbod Farshidian
2025	J	`jnl`	High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures. CoRR A. J. Miller, Fangzhou Yu, Michael Brauckmann, Farbod Farshidian
2025	J	`jnl`	Learning coordinated badminton skills for legged manipulators. CoRR Yuntao Ma, Andrei Cramariuc, Farbod Farshidian, Marco Hutter
2025	J	`jnl`	Learning coordinated badminton skills for legged manipulators. Sci. Robotics Yuntao Ma, Andrei Cramariuc, Farbod Farshidian, Marco Hutter
2024	J	`jnl`	DTC: Deep Tracking Control. Sci. Robotics Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter
2023	J	`jnl`	Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. IEEE Robotics Autom. Lett. Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger
2023	J	`jnl`	DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. ACM Trans. Graph. Ruben Grandia, Farbod Farshidian, Espen Knoop, Christian Schumacher, Marco Hutter, Moritz Bächer
2023	J	`jnl`	DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion. CoRR Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter
2023	J	`jnl`	LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems. IEEE Trans. Robotics Edo Jelavic, Kaixian Qu, Farbod Farshidian, Marco Hutter
2023	A*	`conf`	Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. ICRA Yuntao Ma, Farbod Farshidian, Marco Hutter
2023	J	`jnl`	Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. CoRR Yuntao Ma, Farbod Farshidian, Marco Hutter
2023	J	`jnl`	Perceptive Locomotion Through Nonlinear Model-Predictive Control. IEEE Trans. Robotics Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter
2023	J	`jnl`	Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation. CoRR Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
2023	J	`jnl`	Versatile multicontact planning and control for legged loco-manipulation. Sci. Robotics Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
2022	A*	`conf`	A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. ICRA Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter
2022	J	`jnl`	A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. CoRR Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter
2022	J	`jnl`	Adaptive CLF-MPC With Application to Quadrupedal Robots. IEEE Robotics Autom. Lett. Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter
2022	A	`conf`	Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. IROS Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg
2022	J	`jnl`	Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. CoRR Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger
2022	J	`jnl`	Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
2022	J	`jnl`	Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. IEEE Robotics Autom. Lett. Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter
2022	J	`jnl`	Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators. CoRR Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter
2022	J	`jnl`	Constrained stochastic optimal control with learned importance sampling: A path integral approach. Int. J. Robotics Res. Jan Carius, René Ranftl, Farbod Farshidian, Marco Hutter
2022	A	`conf`	Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. IROS Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter
2022	J	`jnl`	Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. CoRR Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter
2022	J	`jnl`	Perceptive Locomotion through Nonlinear Model Predictive Control. CoRR Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter
2022	—	`conf`	Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
2022	J	`jnl`	TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. CoRR Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter
2022	J	`jnl`	TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. IEEE Trans. Robotics Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter
2022	A*	`conf`	Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. ICRA Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter
2022	J	`jnl`	Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. CoRR Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter
2021	J	`jnl`	A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. CoRR Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter
2021	J	`jnl`	A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. IEEE Robotics Autom. Lett. Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter
2021	J	`jnl`	Adaptive CLF-MPC With Application To Quadrupedal Robots. CoRR Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter
2021	J	`jnl`	Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. CoRR Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg
2021	A*	`conf`	Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. ICRA Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter
2021	A*	`conf`	Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. ICRA Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter
2021	J	`jnl`	Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. CoRR Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter
2021	A*	`conf`	Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. ICRA Edo Jelavic, Farbod Farshidian, Marco Hutter
2021	J	`jnl`	Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. CoRR Edo Jelavic, Farbod Farshidian, Marco Hutter
2021	A*	`conf`	Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. ICRA Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
2021	J	`jnl`	Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. CoRR Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
2021	A*	`conf`	Imitation Learning from MPC for Quadrupedal Multi-Gait Control. ICRA Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter
2021	J	`jnl`	Imitation Learning from MPC for Quadrupedal Multi-Gait Control. CoRR Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter
2021	J	`jnl`	Learning a State Representation and Navigation in Cluttered and Dynamic Environments. CoRR David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter
2021	J	`jnl`	Learning a State Representation and Navigation in Cluttered and Dynamic Environments. IEEE Robotics Autom. Lett. David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter
2021	A*	`conf`	Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. ICRA Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter
2021	J	`jnl`	Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. CoRR Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter
2020	J	`jnl`	Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. CoRR Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter
2020	J	`jnl`	DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning. IEEE Robotics Autom. Lett. Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter
2020	J	`jnl`	MPC-Net: A First Principles Guided Policy Search. IEEE Robotics Autom. Lett. Jan Carius, Farbod Farshidian, Marco Hutter
2020	A	`conf`	Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton. IROS Yves Zimmermann, Emek Baris Küçüktabak, Farbod Farshidian, Robert Riener, Marco Hutter
2019	A	`conf`	A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. IROS Abel Gawel, Roland Siegwart, Marco Hutter, Timothy Sandy, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio
2019	J	`jnl`	A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. CoRR Abel Gawel, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio, Roland Siegwart, Marco Hutter, Timothy Sandy
2019	Misc	`conf`	Deep Value Model Predictive Control. CoRL David Hoeller, Farbod Farshidian, Marco Hutter
2019	J	`jnl`	Deep Value Model Predictive Control. CoRR Farbod Farshidian, David Hoeller, Marco Hutter
2019	J	`jnl`	DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning. CoRR Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter
2019	A	`conf`	Feedback MPC for Torque-Controlled Legged Robots. IROS Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter
2019	J	`jnl`	Feedback MPC for Torque-Controlled Legged Robots. CoRR Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter
2019	J	`jnl`	Frequency-Aware Model Predictive Control. IEEE Robotics Autom. Lett. Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter
2019	A*	`conf`	Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. ICRA Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter
2019	J	`jnl`	Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. CoRR Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter
2019	J	`jnl`	MPC-Net: A First Principles Guided Policy Search. CoRR Jan Carius, Farbod Farshidian, Marco Hutter
2019	J	`jnl`	Whole-Body MPC for a Dynamically Stable Mobile Manipulator. CoRR Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter
2019	J	`jnl`	Whole-Body MPC for a Dynamically Stable Mobile Manipulator. IEEE Robotics Autom. Lett. Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter
2018	J	`jnl`	Frequency-Aware Model Predictive Control. CoRR Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter
2018	J	`jnl`	Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies. Auton. Robots Joel Rey, Klas Kronander, Farbod Farshidian, Jonas Buchli, Aude Billard
2017	A*	`conf`	An efficient optimal planning and control framework for quadrupedal locomotion. ICRA Farbod Farshidian, Michael Neunert, Alexander W. Winkler, Gonzalo Rey, Jonas Buchli
2017	J	`jnl`	Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control. CoRR Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli
2017	A*	`conf`	Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control. ICRA Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli
2017	J	`jnl`	Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints. IEEE Robotics Autom. Lett. Alexander W. Winkler, Farbod Farshidian, Diego Pardo, Michael Neunert, Jonas Buchli
2017	J	`jnl`	Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints. CoRR Alexander W. Winkler, Farbod Farshidian, Diego Pardo, Michael Neunert, Jonas Buchli
2017	A*	`conf`	Online walking motion and foothold optimization for quadruped locomotion. ICRA Alexander W. Winkler, Farbod Farshidian, Michael Neunert, Diego Pardo, Jonas Buchli
2017	J	`jnl`	Optimal and Learning Control for Autonomous Robots. CoRR Jonas Buchli, Farbod Farshidian, Alexander W. Winkler, Timothy Sandy, Markus Giftthaler
2017	J	`jnl`	Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach. CoRR Farbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli
2017	—	`conf`	Real-time motion planning of legged robots: A model predictive control approach. Humanoids Farbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli
2017	J	`jnl`	Robust Whole-Body Motion Control of Legged Robots. CoRR Farbod Farshidian, Edo Jelavic, Alexander W. Winkler, Jonas Buchli
2017	A	`conf`	Robust whole-body motion control of legged robots. IROS Farbod Farshidian, Edo Jelavic, Alexander W. Winkler, Jonas Buchli
2017	J	`jnl`	Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. IEEE Robotics Autom. Lett. Michael Neunert, Farbod Farshidian, Alexander W. Winkler, Jonas Buchli
2016	J	`jnl`	An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion. CoRR Farbod Farshidian, Michael Neunert, Alexander W. Winkler, Gonzalo Rey, Jonas Buchli
2016	—	`conf`	Efficient whole-body trajectory optimization using contact constraint relaxation. Humanoids Michael Neunert, Farbod Farshidian, Jonas Buchli
2016	A*	`conf`	Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking. ICRA Michael Neunert, Cedric de Crousaz, Fadri Furrer, Mina Kamel, Farbod Farshidian, Roland Siegwart, Jonas Buchli
2016	J	`jnl`	Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems. CoRR Farbod Farshidian, Diego Pardo, Jonas Buchli
2016	J	`jnl`	Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. CoRR Michael Neunert, Farbod Farshidian, Alexander W. Winkler, Jonas Buchli
2015	J	`jnl`	Risk Sensitive, Nonlinear Optimal Control: Iterative Linear Exponential-Quadratic Optimal Control with Gaussian Noise. CoRR Farbod Farshidian, Jonas Buchli
2015	A*	`conf`	Unified motion control for dynamic quadrotor maneuvers demonstrated on slung load and rotor failure tasks. ICRA Cedric de Crousaz, Farbod Farshidian, Michael Neunert, Jonas Buchli
2014	A	`conf`	Learning of closed-loop motion control. IROS Farbod Farshidian, Michael Neunert, Jonas Buchli
2012	—	`conf`	Budgeted Knowledge Transfer for State-Wise Heterogeneous RL Agents. ICONIP (1) Farbod Farshidian, Zeinab Talebpour, Majid Nili Ahmadabadi