Computational Robotics Lab

Computational Robotics Lab

We develop theoretical foundations for future generations of intelligent robots.

The Computational Robotics Lab (CRL) is a research group within the Department of Computer Science at ETH Zurich. CRL is led by Prof. Dr. Stelian Coros.

We develop theoretical foundations to shape the way future generations of robots are made, how they operate in complex environments, and how they interact with us. In this quest, we define Computational Robotics as the fusion of simulation, algorithms, and data. In brief, we formalize advanced simulation models to provide robots with an innate understanding of the laws of physics. Leveraging these models, we devise practical algorithms for motion planning, motion control and computational design problems. Whenever possible, we exploit data to efficiently learn solution spaces, to create faithful digital twins through real-to-sim methodologies, and to enable humans to teach robots new skills.

Differentiable Stripe Patterns for Inverse Design of Structured Surfaces - Supplementary video

4:51

Differentiable Stripe Patterns for Inverse Design of Structured Surfaces - Supplementary video

Жыл бұрын

Neural Metamaterial Networks for Nonlinear Material Design - Accompanying video

3:56

Neural Metamaterial Networks for Nonlinear Material Design - Accompanying video

Жыл бұрын

Ungar - A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming - Supplementary

4:58

Ungar - A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming - Supplementary

Жыл бұрын

Differentiable Task Assignment and Motion Planning - Supplementary

4:52

Differentiable Task Assignment and Motion Planning - Supplementary

Жыл бұрын

Centralized Model Predictive Control for Collaborative Loco-Manipulation - RSS 2023 Supplementary

4:58

Centralized Model Predictive Control for Collaborative Loco-Manipulation - RSS 2023 Supplementary

Жыл бұрын

Control-Aware Design Optimization for Bio-Inspired Quadruped Robots - Supplementary

1:48

Control-Aware Design Optimization for Bio-Inspired Quadruped Robots - Supplementary

Жыл бұрын

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion

5:29

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion

Жыл бұрын

Learning Solution Manifolds for Control Problems via Energy Minimization - IROS 2022 Presentation

6:09

Learning Solution Manifolds for Control Problems via Energy Minimization - IROS 2022 Presentation

Жыл бұрын

Gradient-Based Trajectory Optimization With Learned Dynamics - Supplementary

3:01

Gradient-Based Trajectory Optimization With Learned Dynamics - Supplementary

Жыл бұрын

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control - IROS 2022 Presentation

6:57

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control - IROS 2022 Presentation

Жыл бұрын

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control - Supplementary

2:34

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control - Supplementary

2 жыл бұрын

Nonlinear MPC for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis - Presentation

4:59

Nonlinear MPC for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis - Presentation

2 жыл бұрын

Multi-Arm Payload Manipulation via Mixed Reality - ICRA 2022 Accompanying video

3:06

Multi-Arm Payload Manipulation via Mixed Reality - ICRA 2022 Accompanying video

2 жыл бұрын

Programmable Digital Weaves - RA-L 2022 Accompanying video

4:45

Programmable Digital Weaves - RA-L 2022 Accompanying video

2 жыл бұрын

NTopo: Mesh-free Topology Optimization using Implicit Neural Representations - NeurIPS 2021

4:35

NTopo: Mesh-free Topology Optimization using Implicit Neural Representations - NeurIPS 2021

2 жыл бұрын

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model Based Control - IROS 2021 Talk

15:00

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model Based Control - IROS 2021 Talk

3 жыл бұрын

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model Based Control - Supplementary

2:10

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model Based Control - Supplementary

3 жыл бұрын

PODS: Policy Optimization via Differentiable Simulation - ICML supporting information

1:39

PODS: Policy Optimization via Differentiable Simulation - ICML supporting information

3 жыл бұрын

PODS: Policy Optimization via Differentiable Simulation

4:13

PODS: Policy Optimization via Differentiable Simulation

3 жыл бұрын

Designing actuation systems for animatronic figures - Sigggraph 2021 fast forward

0:36

Designing actuation systems for animatronic figures - Sigggraph 2021 fast forward

3 жыл бұрын

Designing actuation systems for animatronic figures - Sigggraph 2021 Accompanying video

3:39

Designing actuation systems for animatronic figures - Sigggraph 2021 Accompanying video

3 жыл бұрын

Designing actuation systems for animatronic figures - Sigggraph 2021 Full talk

16:39

Designing actuation systems for animatronic figures - Sigggraph 2021 Full talk

3 жыл бұрын

Manipulability optimization for multi-arm teleoperation - ICRA 2021 Presentation

11:07

Manipulability optimization for multi-arm teleoperation - ICRA 2021 Presentation

3 жыл бұрын

Manipulability optimization for multi-arm teleoperation - ICRA 2021 short version

2:40

Manipulability optimization for multi-arm teleoperation - ICRA 2021 short version

3 жыл бұрын

Designing actuation systems for animatronic figures - Sigggraph 2021 short version

4:51

Designing actuation systems for animatronic figures - Sigggraph 2021 short version

3 жыл бұрын

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