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Farbod Farshidian
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2020 – today
- 2024
- [j19]Fabian Jenelten
, Junzhe He
, Farbod Farshidian, Marco Hutter
:
DTC: Deep Tracking Control. Sci. Robotics 9(86) (2024) - 2023
- [j18]Elena Arcari
, Maria Vittoria Minniti
, Anna Scampicchio
, Andrea Carron
, Farbod Farshidian
, Marco Hutter
, Melanie N. Zeilinger
:
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. IEEE Robotics Autom. Lett. 8(6): 3222-3229 (2023) - [j17]Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter:
Versatile multicontact planning and control for legged loco-manipulation. Sci. Robotics 8(81) (2023) - [j16]Ruben Grandia
, Farbod Farshidian
, Espen Knoop
, Christian Schumacher
, Marco Hutter
, Moritz Bächer
:
DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. ACM Trans. Graph. 42(4): 96:1-96:14 (2023) - [j15]Ruben Grandia
, Fabian Jenelten
, Shaohui Yang
, Farbod Farshidian
, Marco Hutter
:
Perceptive Locomotion Through Nonlinear Model-Predictive Control. IEEE Trans. Robotics 39(5): 3402-3421 (2023) - [j14]Edo Jelavic
, Kaixian Qu
, Farbod Farshidian
, Marco Hutter
:
LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems. IEEE Trans. Robotics 39(6): 4190-4210 (2023) - [c27]Yuntao Ma, Farbod Farshidian, Marco Hutter:
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. ICRA 2023: 12149-12155 - [i38]Yuntao Ma, Farbod Farshidian, Marco Hutter:
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. CoRR abs/2303.05486 (2023) - [i37]Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter:
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation. CoRR abs/2308.09179 (2023) - [i36]Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter:
DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion. CoRR abs/2309.15462 (2023) - 2022
- [j13]Jan Carius
, René Ranftl, Farbod Farshidian, Marco Hutter:
Constrained stochastic optimal control with learned importance sampling: A path integral approach. Int. J. Robotics Res. 41(2): 189-209 (2022) - [j12]Maria Vittoria Minniti
, Ruben Grandia
, Farbod Farshidian
, Marco Hutter
:
Adaptive CLF-MPC With Application to Quadrupedal Robots. IEEE Robotics Autom. Lett. 7(1): 565-572 (2022) - [j11]Yuntao Ma
, Farbod Farshidian
, Takahiro Miki
, Joonho Lee
, Marco Hutter
:
Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. IEEE Robotics Autom. Lett. 7(2): 2377-2384 (2022) - [j10]Fabian Jenelten
, Ruben Grandia
, Farbod Farshidian
, Marco Hutter
:
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. IEEE Trans. Robotics 38(6): 3395-3413 (2022) - [c26]Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids 2022: 622-629 - [c25]Ibrahim Ibrahim
, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter:
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. ICRA 2022: 221-227 - [c24]Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter:
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. ICRA 2022: 4686-4693 - [c23]Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg:
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. IROS 2022: 1647-1654 - [c22]Jin Cheng
, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter:
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. IROS 2022: 6197-6204 - [i35]Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter:
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators. CoRR abs/2201.03871 (2022) - [i34]Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter:
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. CoRR abs/2202.12385 (2022) - [i33]Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter:
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. CoRR abs/2203.02221 (2022) - [i32]Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR abs/2203.07429 (2022) - [i31]Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter:
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. CoRR abs/2206.14049 (2022) - [i30]Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter:
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. CoRR abs/2207.14635 (2022) - [i29]Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter:
Perceptive Locomotion through Nonlinear Model Predictive Control. CoRR abs/2208.08373 (2022) - [i28]Elena Arcari, Maria Vittoria Minniti
, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger:
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. CoRR abs/2211.10270 (2022) - 2021
- [j9]Jean-Pierre Sleiman
, Farbod Farshidian
, Maria Vittoria Minniti
, Marco Hutter
:
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. IEEE Robotics Autom. Lett. 6(3): 4688-4695 (2021) - [j8]David Hoeller
, Lorenz Wellhausen
, Farbod Farshidian
, Marco Hutter
:
Learning a State Representation and Navigation in Cluttered and Dynamic Environments. IEEE Robotics Autom. Lett. 6(3): 5081-5088 (2021) - [c21]Maria Vittoria Minniti
, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter:
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. ICRA 2021: 1651-1657 - [c20]Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. ICRA 2021: 2316-2323 - [c19]Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter:
Imitation Learning from MPC for Quadrupedal Multi-Gait Control. ICRA 2021: 5014-5020 - [c18]Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter:
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. ICRA 2021: 8209-8215 - [c17]Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter:
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. ICRA 2021: 8266-8272 - [c16]Edo Jelavic, Farbod Farshidian, Marco Hutter:
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. ICRA 2021: 8366-8372 - [i27]Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter:
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. CoRR abs/2101.06067 (2021) - [i26]Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter:
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. CoRR abs/2103.00946 (2021) - [i25]David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter:
Learning a State Representation and Navigation in Cluttered and Dynamic Environments. CoRR abs/2103.04351 (2021) - [i24]Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg:
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. CoRR abs/2103.10534 (2021) - [i23]Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter:
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. CoRR abs/2103.13987 (2021) - [i22]Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter:
Imitation Learning from MPC for Quadrupedal Multi-Gait Control. CoRR abs/2103.14331 (2021) - [i21]Edo Jelavic, Farbod Farshidian, Marco Hutter:
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. CoRR abs/2104.04247 (2021) - [i20]Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter:
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. CoRR abs/2106.04202 (2021) - [i19]Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Adaptive CLF-MPC With Application To Quadrupedal Robots. CoRR abs/2112.04536 (2021) - 2020
- [j7]Jan Carius
, Farbod Farshidian
, Marco Hutter
:
MPC-Net: A First Principles Guided Policy Search. IEEE Robotics Autom. Lett. 5(2): 2897-2904 (2020) - [j6]Vassilios Tsounis
, Mitja Alge, Joonho Lee
, Farbod Farshidian
, Marco Hutter
:
DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning. IEEE Robotics Autom. Lett. 5(2): 3699-3706 (2020) - [c15]Yves Zimmermann, Emek Baris Küçüktabak, Farbod Farshidian, Robert Riener
, Marco Hutter:
Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton. IROS 2020: 7417-7424 - [i18]Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. CoRR abs/2011.08811 (2020)
2010 – 2019
- 2019
- [j5]Ruben Grandia
, Farbod Farshidian
, Alexey Dosovitskiy
, René Ranftl
, Marco Hutter
:
Frequency-Aware Model Predictive Control. IEEE Robotics Autom. Lett. 4(2): 1517-1524 (2019) - [j4]Maria Vittoria Minniti
, Farbod Farshidian
, Ruben Grandia
, Marco Hutter
:
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. IEEE Robotics Autom. Lett. 4(4): 3687-3694 (2019) - [c14]David Hoeller, Farbod Farshidian, Marco Hutter:
Deep Value Model Predictive Control. CoRL 2019: 990-1004 - [c13]Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. ICRA 2019: 5544-5550 - [c12]Abel Gawel, Roland Siegwart, Marco Hutter, Timothy Sandy, Hermann Blum
, Johannes Pankert, Koen Krämer, Luca Bartolomei
, Selen Ercan, Farbod Farshidian, Margarita Chli
, Fabio Gramazio:
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. IROS 2019: 2300-2307 - [c11]Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter:
Feedback MPC for Torque-Controlled Legged Robots. IROS 2019: 4730-4737 - [i17]Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter:
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. CoRR abs/1902.10415 (2019) - [i16]Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter:
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. CoRR abs/1903.03823 (2019) - [i15]Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter:
Feedback MPC for Torque-Controlled Legged Robots. CoRR abs/1905.06144 (2019) - [i14]Jan Carius, Farbod Farshidian, Marco Hutter:
MPC-Net: A First Principles Guided Policy Search. CoRR abs/1909.05197 (2019) - [i13]Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter:
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning. CoRR abs/1909.08399 (2019) - [i12]Farbod Farshidian, David Hoeller, Marco Hutter:
Deep Value Model Predictive Control. CoRR abs/1910.03358 (2019) - [i11]Abel Gawel, Hermann Blum
, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio, Roland Siegwart, Marco Hutter, Timothy Sandy:
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. CoRR abs/1912.01870 (2019) - 2018
- [j3]Joel Rey, Klas Kronander
, Farbod Farshidian, Jonas Buchli, Aude Billard:
Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies. Auton. Robots 42(1): 45-64 (2018) - [i10]Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter:
Frequency-Aware Model Predictive Control. CoRR abs/1809.04539 (2018) - 2017
- [j2]Michael Neunert
, Farbod Farshidian, Alexander W. Winkler
, Jonas Buchli:
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. IEEE Robotics Autom. Lett. 2(3): 1502-1509 (2017) - [j1]Alexander W. Winkler
, Farbod Farshidian, Diego Pardo, Michael Neunert, Jonas Buchli:
Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints. IEEE Robotics Autom. Lett. 2(4): 2201-2208 (2017) - [c10]Farbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli:
Real-time motion planning of legged robots: A model predictive control approach. Humanoids 2017: 577-584 - [c9]Farbod Farshidian, Michael Neunert, Alexander W. Winkler
, Gonzalo Rey, Jonas Buchli:
An efficient optimal planning and control framework for quadrupedal locomotion. ICRA 2017: 93-100 - [c8]Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann
, Jonas Buchli:
Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control. ICRA 2017: 3411-3417 - [c7]Alexander W. Winkler
, Farbod Farshidian, Michael Neunert, Diego Pardo, Jonas Buchli:
Online walking motion and foothold optimization for quadruped locomotion. ICRA 2017: 5308-5313 - [c6]Farbod Farshidian, Edo Jelavic, Alexander W. Winkler, Jonas Buchli:
Robust whole-body motion control of legged robots. IROS 2017: 4589-4596 - [i9]Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli:
Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control. CoRR abs/1701.08051 (2017) - [i8]Farbod Farshidian, Edo Jelavic, Alexander W. Winkler, Jonas Buchli:
Robust Whole-Body Motion Control of Legged Robots. CoRR abs/1703.02326 (2017) - [i7]Alexander W. Winkler, Farbod Farshidian, Diego Pardo, Michael Neunert, Jonas Buchli:
Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints. CoRR abs/1705.10313 (2017) - [i6]Jonas Buchli, Farbod Farshidian, Alexander W. Winkler, Timothy Sandy, Markus Giftthaler:
Optimal and Learning Control for Autonomous Robots. CoRR abs/1708.09342 (2017) - [i5]Farbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli:
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach. CoRR abs/1710.04029 (2017) - 2016
- [c5]Michael Neunert, Farbod Farshidian, Jonas Buchli:
Efficient whole-body trajectory optimization using contact constraint relaxation. Humanoids 2016: 43-48 - [c4]Michael Neunert, Cedric de Crousaz, Fadri Furrer, Mina Kamel
, Farbod Farshidian, Roland Siegwart
, Jonas Buchli:
Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking. ICRA 2016: 1398-1404 - [i4]Michael Neunert, Farbod Farshidian, Alexander W. Winkler, Jonas Buchli:
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. CoRR abs/1607.04537 (2016) - [i3]Farbod Farshidian, Diego Pardo, Jonas Buchli:
Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems. CoRR abs/1609.02198 (2016) - [i2]Farbod Farshidian, Michael Neunert, Alexander W. Winkler, Gonzalo Rey, Jonas Buchli:
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion. CoRR abs/1609.09861 (2016) - 2015
- [c3]Cedric de Crousaz, Farbod Farshidian, Michael Neunert, Jonas Buchli:
Unified motion control for dynamic quadrotor maneuvers demonstrated on slung load and rotor failure tasks. ICRA 2015: 2223-2229 - [i1]Farbod Farshidian, Jonas Buchli:
Risk Sensitive, Nonlinear Optimal Control: Iterative Linear Exponential-Quadratic Optimal Control with Gaussian Noise. CoRR abs/1512.07173 (2015) - 2014
- [c2]Farbod Farshidian, Michael Neunert, Jonas Buchli:
Learning of closed-loop motion control. IROS 2014: 1441-1446 - 2012
- [c1]Farbod Farshidian, Zeinab Talebpour, Majid Nili Ahmadabadi:
Budgeted Knowledge Transfer for State-Wise Heterogeneous RL Agents. ICONIP (1) 2012: 439-446
Coauthor Index
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