Distributed Central Pattern Generator Model for Robotics Application Based on Phase Sensitivity Analysis. - Jonas Buchli; Auke Jan Ijspeert (BioADIT, 2004)

A Dynamical Systems Approach to Learning: A Frequency-Adaptive Hopper Robot. - Jonas Buchli; Ludovic Righetti; Auke Jan Ijspeert (ECAL, 2005)

Finding Resonance: Adaptive Frequency Oscillators for Dynamic Legged Locomotion. - Jonas Buchli; Fumiya Iida; Auke Jan Ijspeert (IROS, 2006)

Adaptive Four Legged Locomotion Control Based on Nonlinear Dynamical Systems. - Giorgio Brambilla; Jonas Buchli; Auke Jan Ijspeert (SAB, 2006)

Engineering entrainment and adaptation in limit cycle systems. - Jonas Buchli; Ludovic Righetti; Auke Jan Ijspeert (Biol. Cybern., 2006)

Engineering limit cycle systems - adaptive frequency oscillators and applications to adaptive locomotion control of compliant robots. - Jonas Buchli (2007)

Self-organized adaptive legged locomotion in a compliant quadruped robot. - Jonas Buchli; Auke Jan Ijspeert (Auton. Robots, 2008)

Path integral-based stochastic optimal control for rigid body dynamics. - Evangelos A. Theodorou; Jonas Buchli; Stefan Schaal (ADPRL, 2009)

Compliant quadruped locomotion over rough terrain. - Jonas Buchli; Mrinal Kalakrishnan; Michael N. Mistry; Peter Pastor; Stefan Schaal (IROS, 2009)

Learning locomotion over rough terrain using terrain templates. - Mrinal Kalakrishnan; Jonas Buchli; Peter Pastor; Stefan Schaal (IROS, 2009)

Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. - Robert D. Gregg; Ludovic Righetti; Jonas Buchli; Stefan Schaal (Humanoids, 2010)

Reinforcement learning of full-body humanoid motor skills. - Freek Stulp; Jonas Buchli; Evangelos A. Theodorou; Stefan Schaal (Humanoids, 2010)

Fast, robust quadruped locomotion over challenging terrain. - Mrinal Kalakrishnan; Jonas Buchli; Peter Pastor; Michael N. Mistry; Stefan Schaal (ICRA, 2010)

Inverse dynamics control of floating base systems using orthogonal decomposition. - Michael N. Mistry; Jonas Buchli; Stefan Schaal (ICRA, 2010)

Reinforcement learning of motor skills in high dimensions: A path integral approach. - Evangelos A. Theodorou; Jonas Buchli; Stefan Schaal (ICRA, 2010)

Variable Impedance Control - A Reinforcement Learning Approach. - Jonas Buchli; Evangelos A. Theodorou; Freek Stulp; Stefan Schaal (Robotics: Science and Systems, 2010)

A Generalized Path Integral Control Approach to Reinforcement Learning. - Evangelos A. Theodorou; Jonas Buchli; Stefan Schaal (J. Mach. Learn. Res., 2010)

Learning Policy Improvements with Path Integrals. - Evangelos A. Theodorou; Jonas Buchli; Stefan Schaal (AISTATS, 2010)

Control of legged robots with optimal distribution of contact forces. - Ludovic Righetti; Jonas Buchli; Michael N. Mistry; Stefan Schaal (Humanoids, 2011)

Reinforcement learning of impedance control in stochastic force fields. - Freek Stulp; Jonas Buchli; Alice Ellmer; Michael N. Mistry; Evangelos A. Theodorou; Stefan Schaal (ICDL-EPIROB, 2011)

Inverse dynamics control of floating-base robots with external constraints: A unified view. - Ludovic Righetti; Jonas Buchli; Michael N. Mistry; Stefan Schaal (ICRA, 2011)

Learning to grasp under uncertainty. - Freek Stulp; Evangelos A. Theodorou; Jonas Buchli; Stefan Schaal (ICRA, 2011)

Editorial: Special Issue on Legged Locomotion. - Jonas Buchli; Jerry E. Pratt; Nicholas Roy (Int. J. Robotics Res., 2011)

Learning variable impedance control. - Jonas Buchli; Freek Stulp; Evangelos A. Theodorou; Stefan Schaal (Int. J. Robotics Res., 2011)

Learning, planning, and control for quadruped locomotion over challenging terrain. - Mrinal Kalakrishnan; Jonas Buchli; Peter Pastor; Michael N. Mistry; Stefan Schaal (Int. J. Robotics Res., 2011)

Torque-control based compliant actuation of a quadruped robot. - Michele Focchi; Thiago Boaventura; Claudio Semini; Marco Frigerio; Jonas Buchli; Darwin G. Caldwell (AMC, 2012)

Dynamic torque control of a hydraulic quadruped robot. - Thiago Boaventura Cunha; Claudio Semini; Jonas Buchli; Marco Frigerio; Michele Focchi; Darwin G. Caldwell (ICRA, 2012)

On the role of load motion compensation in high-performance force control. - Thiago Boaventura Cunha; Michele Focchi; Marco Frigerio; Jonas Buchli; Claudio Semini; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (IROS, 2012)

Code generation of algebraic quantities for robot controllers. - Marco Frigerio; Jonas Buchli; Darwin G. Caldwell (IROS, 2012)

Model-Free Reinforcement Learning of Impedance Control in Stochastic Environments. - Freek Stulp; Jonas Buchli; Alice Ellmer; Michael N. Mistry; Evangelos A. Theodorou; Stefan Schaal (IEEE Trans. Auton. Ment. Dev., 2012)

Quadrupedal trotting with active compliance. - Ioannis Havoutis; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (ICM, 2013)

A reactive controller framework for quadrupedal locomotion on challenging terrain. - Victor Barasuol; Jonas Buchli; Claudio Semini; Marco Frigerio; Edson R. de Pieri; Darwin G. Caldwell (ICRA, 2013)

Stability and performance of the compliance controller of the quadruped robot HyQ. - Thiago Boaventura Cunha; Gustavo A. Medrano-Cerda; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (IROS, 2013)

Is Active Impedance the Key to a Breakthrough for Legged Robots? - Claudio Semini; Victor Barasuol; Thiago Boaventura Cunha; Marco Frigerio; Jonas Buchli (ISRR, 2013)

A comparison of search-based planners for a legged robot. - Muhammad Asif Arain; Ioannis Havoutis; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (RoMoCo, 2013)

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots. - Marco Hutter 001; Michael Blösch; Jonas Buchli; Claudio Semini; Stéphane Bazeille; Ludovic Righetti; Jeannette Bohg (SSRR, 2013)

Vision enhanced reactive locomotion control for trotting on rough terrain. - Stéphane Bazeille; Victor Barasuol; Michele Focchi; Ioannis Havoutis; Marco Frigerio; Jonas Buchli; Claudio Semini; Darwin G. Caldwell (TePRA, 2013)

A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms - Marco Frigerio; Jonas Buchli; Darwin G. Caldwell (CoRR, 2013)

Optimal distribution of contact forces with inverse-dynamics control. - Ludovic Righetti; Jonas Buchli; Michael N. Mistry; Mrinal Kalakrishnan; Stefan Schaal (Int. J. Robotics Res., 2013)

From dynamic movement primitives to associative skill memories. - Peter Pastor; Mrinal Kalakrishnan; Franziska Meier; Freek Stulp; Jonas Buchli; Evangelos A. Theodorou; Stefan Schaal (Robotics Auton. Syst., 2013)

ROCK∗ - Efficient black-box optimization for policy learning. - Jemin Hwangbo; Christian Gehring; Hannes Sommer; Roland Siegwart; Jonas Buchli (Humanoids, 2014)

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

Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops. - Michele Focchi; Gustavo A. Medrano-Cerda; Thiago Boaventura Cunha; Marco Frigerio; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (CoRR, 2014)

Quadruped robot trotting over irregular terrain assisted by stereo-vision. - Stéphane Bazeille; Victor Barasuol; Michele Focchi; Ioannis Havoutis; Marco Frigerio; Jonas Buchli; Darwin G. Caldwell; Claudio Semini (Intell. Serv. Robotics, 2014)

Towards Industrial Robot Learning from Demonstration. - Wilson Kien Ho Ko; Yan Wu 002; Keng Peng Tee; Jonas Buchli (HAI, 2015)

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)

Event-based estimation and control for remote robot operation with reduced communication. - Sebastian Trimpe; Jonas Buchli (ICRA, 2015)

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

An Open Source, Fiducial Based, Visual-Inertial State Estimation System. - Michael Neunert; Michael Blösch; Jonas Buchli (CoRR, 2015)

Projection based whole body motion planning for legged robots. - Diego Pardo; Michael Neunert; Alexander W. Winkler; Jonas Buchli (CoRR, 2015)

Policy Learning with an Efficient Black-Box Optimization Algorithm. - Jemin Hwangbo; Christian Gehring; Hannes Sommer; Roland Siegwart; Jonas Buchli (Int. J. Humanoid Robotics, 2015)

Towards versatile legged robots through active impedance control. - Claudio Semini; Victor Barasuol; Thiago Boaventura Cunha; Marco Frigerio; Michele Focchi; Darwin G. Caldwell; Jonas Buchli (Int. J. Robotics Res., 2015)

Model-Based Hydraulic Impedance Control for Dynamic Robots. - Thiago Boaventura Cunha; Jonas Buchli; Claudio Semini; Darwin G. Caldwell (IEEE Trans. Robotics, 2015)

Coupled systems analyses for high-performance robust force control of wearable robots. - Thiago Boaventura Cunha; Jonas Buchli (BioRob, 2016)

An open source, fiducial based, visual-inertial motion capture system. - Michael Neunert; Michael Bloesch; Jonas Buchli (FUSION, 2016)

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)

Autonomous repositioning and localization of an in situ fabricator. - Timothy Sandy; Markus Giftthaler; Kathrin Dörfler; Matthias Kohler; Jonas Buchli (ICRA, 2016)

On reachability sets for optimal feedback controllers: Monitoring the approach of a region of attraction. - Christof Vömel; Diego Pardo; Jonas Buchli (ICRA, 2016)

Acceleration-based transparency control framework for wearable robots. - Thiago Boaventura Cunha; Jonas Buchli (IROS, 2016)

Numerical search for local (partial) differential flatness. - Carmelo Sferrazza; Diego Pardo; Jonas Buchli (IROS, 2016)

Fast derivatives of rigid body dynamics for control, optimization and estimation. - Michael Neunert; Markus Giftthaler; Marco Frigerio; Claudio Semini; Jonas Buchli (SIMPAR, 2016)

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

Evaluating Direct Transcription and Nonlinear Optimization Methods for Robot Motion Planning. - Diego Pardo; Lukas Möller; Michael Neunert; Alexander W. Winkler; Jonas Buchli (IEEE Robotics Autom. Lett., 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)

A projection approach to equality constrained iterative linear quadratic optimal control. - 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)

Design, development and experimental assessment of a robotic end-effector for non-standard concrete applications. - Nitish Kumar; Norman Hack; Kathrin Dörfler; Alexander Nikolas Walzer; Gonzalo Javier Rey; Fabio Gramazio; Matthias Daniel Kohler; Jonas Buchli (ICRA, 2017)

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. - Carlos Mastalli; Michele Focchi; Ioannis Havoutis; Andreea Radulescu; Sylvain Calinon; Jonas Buchli; Darwin G. Caldwell; Claudio Semini (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)

Dynamically decoupling base and end-effector motion for mobile manipulation using visual-inertial sensing. - Timothy Sandy; Jonas Buchli (IROS, 2017)

Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion. - Diego Pardo; Michael Neunert; Alexander W. Winkler; Ruben Grandia; Jonas Buchli (Robotics: Science and Systems, 2017)

Automatic differentiation of rigid body dynamics for optimal control and estimation. - Markus Giftthaler; Michael Neunert; Markus Stäuble; Marco Frigerio; Claudio Semini; Jonas Buchli (Adv. Robotics, 2017)

Mobile Robotic Fabrication at 1: 1 scale: the In situ Fabricator. - Markus Giftthaler; Timothy Sandy; Kathrin Dörfler; Ian Brooks; Mark Buckingham; Gonzalo Rey; Matthias Kohler; Fabio Gramazio; Jonas Buchli (CoRR, 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)

Accurate and Adaptive in Situ Fabrication of an Undulated Wall Using an on-Board Visual Sensing System. - Manuel Lussi; Timothy Sandy; Kathrin Dörfler; Norman Hack; Fabio Gramazio; Matthias Kohler; Jonas Buchli (ICRA, 2018)

A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control. - Markus Giftthaler; Michael Neunert; Markus Stäuble; Jonas Buchli; Moritz Diehl (IROS, 2018)

Nonlinear Disturbance Attenuation Control of Hydraulic Robotics. - Peng Lu 003; Timothy Sandy; Jonas Buchli (ROBIO, 2018)

The control toolbox - An open-source C++ library for robotics, optimal and model predictive control. - Markus Giftthaler; Michael Neunert; Markus Stäuble; Jonas Buchli (SIMPAR, 2018)

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)

ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization. - Timothy Sandy; Simon Kerscher; Jonas Buchli (CoRR, 2018)

Contact Invariant Model Learning for Legged Robot Locomotion. - Ruben Grandia; Diego Pardo; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. - Michael Neunert; Markus Stäuble; Markus Giftthaler; Carmine Dario Bellicoso; Jan Carius; Christian Gehring; Marco Hutter 001; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Object-Based Visual-Inertial Tracking for Additive Fabrication. - Timothy Sandy; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization. - Alexander W. Winkler; C. Dario Bellicoso; Marco Hutter 001; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics. - Michael Neunert; Abbas Abdolmaleki; Markus Wulfmeier; Thomas Lampe; Jost Tobias Springenberg; Roland Hafner; Francesco Romano; Jonas Buchli; Nicolas Heess; Martin A. Riedmiller (CoRL, 2019)

Adaptive Unscented Kalman Filter-based Disturbance Rejection With Application to High Precision Hydraulic Robotic Control. - Peng Lu 003; Timothy Sandy; Jonas Buchli (IROS, 2019)

Value constrained model-free continuous control. - Steven Bohez; Abbas Abdolmaleki; Michael Neunert; Jonas Buchli; Nicolas Heess; Raia Hadsell (CoRR, 2019)

ConFusion: Sensor Fusion for Complex Robotic Systems Using Nonlinear Optimization. - Timothy Sandy; Lukas Stadelmann; Simon Kerscher; Jonas Buchli (IEEE Robotics Autom. Lett., 2019)

End-Effector Pose Correction for Versatile Large-Scale Multi-Robotic Systems. - Lukas Stadelmann; Timothy Sandy; Andreas Thoma; Jonas Buchli (IEEE Robotics Autom. Lett., 2019)

Local Search for Policy Iteration in Continuous Control. - Jost Tobias Springenberg; Nicolas Heess; Daniel J. Mankowitz; Josh Merel; Arunkumar Byravan; Abbas Abdolmaleki; Jackie Kay; Jonas Degrave; Julian Schrittwieser; Yuval Tassa; Jonas Buchli; Dan Belov; et al. (CoRR, 2020)

Shaking the foundations: delusions in sequence models for interaction and control. - Pedro A. Ortega; Markus Kunesch; Grégoire Delétang; Tim Genewein; Jordi Grau-Moya; Joel Veness; Jonas Buchli; Jonas Degrave; Bilal Piot; Julien Pérolat; Tom Everitt; Corentin Tallec; et al. (CoRR, 2021)

Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators. - Ludovic Righetti; Jonas Buchli; Auke Jan Ijspeert (SIAM J. Appl. Dyn. Syst., 2021)

Magnetic control of tokamak plasmas through deep reinforcement learning. - Jonas Degrave; Federico Felici; Jonas Buchli; Michael Neunert; Brendan D. Tracey; Francesco Carpanese; Timo Ewalds; Roland Hafner; Abbas Abdolmaleki; Diego de Las Casas; Craig Donner; Leslie Fritz; et al. (Nat., 2022)

Towards practical reinforcement learning for tokamak magnetic control. - Brendan D. Tracey; Andrea Michi; Yuri Chervonyi; Ian Davies; Cosmin Paduraru; Nevena Lazic; Federico Felici; Timo Ewalds; Craig Donner; Cristian Galperti; Jonas Buchli; Michael Neunert; et al. (CoRR, 2023)

Real-world fluid directed rigid body control via deep reinforcement learning. - Mohak Bhardwaj; Thomas Lampe; Michael Neunert; Francesco Romano; Abbas Abdolmaleki; Arunkumar Byravan; Markus Wulfmeier; Martin A. Riedmiller; Jonas Buchli (L4DC, 2024)

Preference Optimization as Probabilistic Inference. - Abbas Abdolmaleki; Bilal Piot; Bobak Shahriari; Jost Tobias Springenberg; Tim Hertweck; Rishabh Joshi; Junhyuk Oh; Michael Bloesch; Thomas Lampe; Nicolas Heess; Jonas Buchli; Martin A. Riedmiller (CoRR, 2024)

Learning from negative feedback, or positive feedback or both. - Abbas Abdolmaleki; Bilal Piot; Bobak Shahriari; Jost Tobias Springenberg; Tim Hertweck; Michael Bloesch; Rishabh Joshi; Thomas Lampe; Junhyuk Oh; Nicolas Heess; Jonas Buchli; Martin A. Riedmiller (ICLR, 2025)