Budgeted Knowledge Transfer for State-Wise Heterogeneous RL Agents. - Farbod Farshidian; Zeinab Talebpour; Majid Nili Ahmadabadi (ICONIP (1), 2012)

Learning of closed-loop motion control. - Farbod Farshidian; Michael Neunert; Jonas Buchli (IROS, 2014)

Unified motion control for dynamic quadrotor maneuvers demonstrated on slung load and rotor failure tasks. - Cedric de Crousaz; Farbod Farshidian; Michael Neunert; Jonas Buchli (ICRA, 2015)

Risk Sensitive, Nonlinear Optimal Control: Iterative Linear Exponential-Quadratic Optimal Control with Gaussian Noise. - Farbod Farshidian; Jonas Buchli (CoRR, 2015)

Efficient whole-body trajectory optimization using contact constraint relaxation. - Michael Neunert; Farbod Farshidian; Jonas Buchli (Humanoids, 2016)

Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking. - Michael Neunert; Cedric de Crousaz; Fadri Furrer; Mina Kamel; Farbod Farshidian; Roland Siegwart; Jonas Buchli (ICRA, 2016)

Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems. - Farbod Farshidian; Diego Pardo; Jonas Buchli (CoRR, 2016)

Real-time motion planning of legged robots: A model predictive control approach. - Farbod Farshidian; Edo Jelavic; Asutosh Satapathy; Markus Giftthaler; Jonas Buchli (Humanoids, 2017)

An efficient optimal planning and control framework for quadrupedal locomotion. - Farbod Farshidian; Michael Neunert; Alexander W. Winkler; Gonzalo Rey; Jonas Buchli (ICRA, 2017)

Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control. - Markus Giftthaler; Farbod Farshidian; Timothy Sandy; Lukas Stadelmann; Jonas Buchli (ICRA, 2017)

Online walking motion and foothold optimization for quadruped locomotion. - Alexander W. Winkler; Farbod Farshidian; Michael Neunert; Diego Pardo; Jonas Buchli (ICRA, 2017)

Robust whole-body motion control of legged robots. - Farbod Farshidian; Edo Jelavic; Alexander W. Winkler; Jonas Buchli (IROS, 2017)

Optimal and Learning Control for Autonomous Robots. - Jonas Buchli; Farbod Farshidian; Alexander W. Winkler; Timothy Sandy; Markus Giftthaler (CoRR, 2017)

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. - Michael Neunert; Farbod Farshidian; Alexander W. Winkler; Jonas Buchli (IEEE Robotics Autom. Lett., 2017)

Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints. - Alexander W. Winkler; Farbod Farshidian; Diego Pardo; Michael Neunert; Jonas Buchli (IEEE Robotics Autom. Lett., 2017)

Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies. - Joel Rey; Klas Kronander; Farbod Farshidian; Jonas Buchli; Aude Billard (Auton. Robots, 2018)

Deep Value Model Predictive Control. - David Hoeller; Farbod Farshidian; Marco Hutter 001 (CoRL, 2019)

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. - Tim Seyde; Jan Carius; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (ICRA, 2019)

A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. - Abel Gawel; Roland Siegwart; Marco Hutter 001; Timothy Sandy; Hermann Blum; Johannes Pankert; Koen Krämer; Luca Bartolomei 002; Selen Ercan; Farbod Farshidian; Margarita Chli; Fabio Gramazio (IROS, 2019)

Feedback MPC for Torque-Controlled Legged Robots. - Ruben Grandia; Farbod Farshidian; René Ranftl; Marco Hutter 001 (IROS, 2019)

Frequency-Aware Model Predictive Control. - Ruben Grandia; Farbod Farshidian; Alexey Dosovitskiy; René Ranftl; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Whole-Body MPC for a Dynamically Stable Mobile Manipulator. - Maria Vittoria Minniti; Farbod Farshidian; Ruben Grandia; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton. - Yves Zimmermann; Emek Baris Küçüktabak; Farbod Farshidian; Robert Riener; Marco Hutter 001 (IROS, 2020)

MPC-Net: A First Principles Guided Policy Search. - Jan Carius; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning. - Vassilios Tsounis; Mitja Alge; Joonho Lee; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. - Magnus Gaertner; Marko Bjelonic; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. - Edo Jelavic; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. - Maria Vittoria Minniti; Ruben Grandia; Kevin Fäh; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Imitation Learning from MPC for Quadrupedal Multi-Gait Control. - Alexander Reske; Jan Carius; Yuntao Ma; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. - Fan Shi 002; Timon Homberger; Joonho Lee; Takahiro Miki; Moju Zhao; Farbod Farshidian; Kei Okada; Masayuki Inaba; Marco Hutter 001 (ICRA, 2021)

Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. - Jean-Pierre Sleiman; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Learning a State Representation and Navigation in Cluttered and Dynamic Environments. - David Hoeller; Lorenz Wellhausen; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2021)

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. - Jean-Pierre Sleiman; Farbod Farshidian; Maria Vittoria Minniti; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2021)

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (Humanoids, 2022)

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. - Jia-Ruei Chiu; Jean-Pierre Sleiman; Mayank Mittal; Farbod Farshidian; Marco Hutter 001 (ICRA, 2022)

Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. - Ibrahim Ibrahim; Farbod Farshidian; Jan Preisig; Perry Franklin; Paolo Rocco; Marco Hutter 001 (ICRA, 2022)

Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. - Jin Cheng 002; Firas Abi-Farraj; Farbod Farshidian; Marco Hutter 001 (IROS, 2022)

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. - Mayank Mittal; David Hoeller; Farbod Farshidian; Marco Hutter 001; Animesh Garg (IROS, 2022)

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (CoRR, 2022)

Constrained stochastic optimal control with learned importance sampling: A path integral approach. - Jan Carius; René Ranftl; Farbod Farshidian; Marco Hutter 001 (Int. J. Robotics Res., 2022)

Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. - Yuntao Ma; Farbod Farshidian; Takahiro Miki; Joonho Lee; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Adaptive CLF-MPC With Application to Quadrupedal Robots. - Maria Vittoria Minniti; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. - Fabian Jenelten; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2022)

Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. - Yuntao Ma; Farbod Farshidian; Marco Hutter 001 (ICRA, 2023)

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation. - Jean-Pierre Sleiman; Farbod Farshidian; Marco Hutter 001 (CoRR, 2023)

DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion. - Fabian Jenelten; Junzhe He; Farbod Farshidian; Marco Hutter 001 (CoRR, 2023)

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. - Elena Arcari; Maria Vittoria Minniti; Anna Scampicchio; Andrea Carron; Farbod Farshidian; Marco Hutter 001; Melanie N. Zeilinger (IEEE Robotics Autom. Lett., 2023)

Versatile multicontact planning and control for legged loco-manipulation. - Jean-Pierre Sleiman; Farbod Farshidian; Marco Hutter 001 (Sci. Robotics, 2023)

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. - Ruben Grandia; Farbod Farshidian; Espen Knoop; Christian Schumacher; Marco Hutter 001; Moritz Bächer (ACM Trans. Graph., 2023)

Perceptive Locomotion Through Nonlinear Model-Predictive Control. - Ruben Grandia; Fabian Jenelten; Shaohui Yang; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2023)

LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems. - Edo Jelavic; Kaixian Qu; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2023)

DTC: Deep Tracking Control. - Fabian Jenelten; Junzhe He; Farbod Farshidian; Marco Hutter 001 (Sci. Robotics, 2024)

Learning coordinated badminton skills for legged manipulators. - Yuntao Ma; Andrei Cramariuc; Farbod Farshidian; Marco Hutter 001 (Sci. Robotics, 2025)

High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures. - AJ Miller; Fangzhou Yu; Michael Brauckmann; Farbod Farshidian (CoRR, 2025)

Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control. - Xiaoyu Huang; Takara Truong; Yunbo Zhang; Fangzhou Yu; Jean-Pierre Sleiman; Jessica K. Hodgins; Koushil Sreenath; Farbod Farshidian (ACM Trans. Graph., 2025)