Ruben Grandia

51 papers A* 4A 5Journal 37Unranked 5
YearRankTypeTitle / Venue / Authors
2026 J jnl
Kamino: GPU-based Massively Parallel Simulation of Multi-Body Systems with Challenging Topologies.
CoRR
Vassilios Tsounis, Guirec Maloisel, Christian Schumacher, Ruben Grandia, Agon Serifi, David Müller, Chris Amevor, Tobias Widmer, Moritz Bächer
2025 J jnl
A Versatile Quaternion-Based Constrained Rigid Body Dynamics.
ACM Trans. Graph.
Guirec Maloisel, Ruben Grandia, Christian Schumacher, Espen Knoop, Moritz Bächer
2025 — conf
AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning.
SIGGRAPH (Conference Paper Track)
Lucas N. Alegre, Agon Serifi, Ruben Grandia, David Müller, Espen Knoop, Moritz Bächer
2025 J jnl
AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning.
CoRR
Lucas N. Alegre, Agon Serifi, Ruben Grandia, David Müller, Espen Knoop, Moritz Bächer
2025 J jnl
Attention-Based Map Encoding for Learning Generalized Legged Locomotion.
CoRR
Junzhe He, Chong Zhang, Fabian Jenelten, Ruben Grandia, Moritz Bächer, Marco Hutter
2025 J jnl
Attention-based map encoding for learning generalized legged locomotion.
Sci. Robotics
Junzhe He, Chong Zhang, Fabian Jenelten, Ruben Grandia, Moritz Bächer, Marco Hutter
2025 A conf
Autonomous Human-Robot Interaction via Operator Imitation.
IROS
Sammy Christen, David Müller, Agon Serifi, Ruben Grandia, Georg Wiedebach, Michael A. Hopkins, Espen Knoop, Moritz Bächer
2025 J jnl
Autonomous Human-Robot Interaction via Operator Imitation.
CoRR
Sammy Christen, David Müller, Agon Serifi, Ruben Grandia, Georg Wiedebach, Michael A. Hopkins, Espen Knoop, Moritz Bächer
2025 J jnl
Design and Control of a Bipedal Robotic Character.
CoRR
Ruben Grandia, Espen Knoop, Michael A. Hopkins, Georg Wiedebach, Jared Bishop, Steven Pickles, David Müller, Moritz Bächer
2025 J jnl
Olaf: Bringing an Animated Character to Life in the Physical World.
CoRR
David Müller, Espen Knoop, Dario Mylonopoulos, Agon Serifi, Michael A. Hopkins, Ruben Grandia, Moritz Bächer
2025 J jnl
On Solving the Dynamics of Constrained Rigid Multi-Body Systems with Kinematic Loops.
CoRR
Vassilios Tsounis, Ruben Grandia, Moritz Bächer
2025 J jnl
Robot Crash Course: Learning Soft and Stylized Falling.
CoRR
Pascal Strauch, David Müller, Sammy Christen, Agon Serifi, Ruben Grandia, Espen Knoop, Moritz Bächer
2024 — conf
Design and Control of a Bipedal Robotic Character.
Robotics: Science and Systems
Ruben Grandia, Espen Knoop, Michael A. Hopkins, Georg Wiedebach, Jared Bishop, Steven Pickles, David Müller, Moritz Bächer
2024 A* conf
Robot Motion Diffusion Model: Motion Generation for Robotic Characters.
SIGGRAPH Asia
Agon Serifi, Ruben Grandia, Espen Knoop, Markus Gross, Moritz Bächer
2024 J jnl
VMP: Versatile Motion Priors for Robustly Tracking Motion on Physical Characters.
Comput. Graph. Forum
Agon Serifi, Ruben Grandia, Espen Knoop, Markus Gross, Moritz Bächer
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
Optimal Design of Robotic Character Kinematics.
ACM Trans. Graph.
Guirec Maloisel, Christian Schumacher, Espen Knoop, Ruben Grandia, Moritz Bächer
2023 J jnl
Perceptive Locomotion Through Nonlinear Model-Predictive Control.
IEEE Trans. Robotics
Ruben Grandia, Fabian Jenelten, Shaohui Yang, 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 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 A conf
Elevation Mapping for Locomotion and Navigation using GPU.
IROS
Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter
2022 J jnl
Elevation Mapping for Locomotion and Navigation using GPU.
CoRR
Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter
2022 J jnl
Offline motion libraries and online MPC for advanced mobility skills.
Int. J. Robotics Res.
Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian Suzano Medeiros, Vuk Pajovic, Edo Jelavic, Stelian Coros, 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
2021 J jnl
Adaptive CLF-MPC With Application To Quadrupedal Robots.
CoRR
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter
2021 J jnl
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation.
CoRR
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, 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
2021 A* conf
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control.
ICRA
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter
2021 A conf
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots.
IROS
Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter
2020 J jnl
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control.
CoRR
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter
2020 — conf
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.
Robotics: Science and Systems
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames
2020 J jnl
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.
CoRR
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames
2020 J jnl
Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet.
IEEE Robotics Autom. Lett.
Giorgio Valsecchi, Ruben Grandia, Marco Hutter
2020 J jnl
Towards autonomous inspection of concrete deterioration in sewers with legged robots.
J. Field Robotics
Hendrik Kolvenbach, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice F. Fallon, Marco Hutter
2020 J jnl
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots.
CoRR
Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter
2019 A conf
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation.
IROS
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, 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 J jnl
Haptic Inspection of Planetary Soils With Legged Robots.
IEEE Robotics Autom. Lett.
Hendrik Kolvenbach, Christian Bärtschi, Lorenz Wellhausen, Ruben Grandia, 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
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
Contact Invariant Model Learning for Legged Robot Locomotion.
IEEE Robotics Autom. Lett.
Ruben Grandia, Diego Pardo, Jonas Buchli
2018 J jnl
Frequency-Aware Model Predictive Control.
CoRR
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter
2017 — conf
Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion.
Robotics: Science and Systems
Diego Pardo, Michael Neunert, Alexander W. Winkler, Ruben Grandia, Jonas Buchli