Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning. - Nikita Rudin; David Hoeller; Philipp Reist; Marco Hutter 001 (CoRL, 2021)

Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning. - Viktor Makoviychuk; Lukasz Wawrzyniak; Yunrong Guo; Michelle Lu; Kier Storey; Miles Macklin; David Hoeller; Nikita Rudin; Arthur Allshire; Ankur Handa; Gavriel State (NeurIPS Datasets and Benchmarks, 2021)

Advanced Skills by Learning Locomotion and Local Navigation End-to-End. - Nikita Rudin; David Hoeller; Marko Bjelonic; Marco Hutter 001 (IROS, 2022)

Neural Scene Representation for Locomotion on Structured Terrain. - David Hoeller; Nikita Rudin; Christopher B. Choy; Animashree Anandkumar; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning. - Nikita Rudin; Hendrik Kolvenbach; Vassilios Tsounis; Marco Hutter 001 (IEEE Trans. Robotics, 2022)

Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning. - Eric Vollenweider; Marko Bjelonic; Victor Klemm; Nikita Rudin; Joonho Lee; Marco Hutter 001 (ICRA, 2023)

ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments. - Mayank Mittal; Calvin Yu; Qinxi Yu; Jingzhou Liu; Nikita Rudin; David Hoeller; Jia Lin Yuan; Pooria Poorsarvi Tehrani; Ritvik Singh; Yunrong Guo; Hammad Mazhar; Ajay Mandlekar; et al. (CoRR, 2023)

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments. - Mayank Mittal; Calvin Yu; Qinxi Yu; Jingzhou Liu; Nikita Rudin; David Hoeller; Jia Lin Yuan; Ritvik Singh; Yunrong Guo; Hammad Mazhar; Ajay Mandlekar; Buck Babich; et al. (IEEE Robotics Autom. Lett., 2023)

Barry: A High-Payload and Agile Quadruped Robot. - Giorgio Valsecchi; Nikita Rudin; Lennart Nachtigall; Konrad Mayer; Fabian Tischhauser; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2023)

Symmetry Considerations for Learning Task Symmetric Robot Policies. - Mayank Mittal; Nikita Rudin; Victor Klemm; Arthur Allshire; Marco Hutter 001 (ICRA, 2024)

SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies. - Alexander Spiridonov; Fabio Buehler; Moriz Berclaz; Valerio Schelbert; Jorit Geurts; Elena Krasnova; Emma Steinke; Jonas Toma; Joschua Wuethrich; Recep Polat; Wim Zimmermann; Philip Arm; et al. (ICRA, 2024)

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End. - Chong Zhang; Jin Jin; Jonas Frey; Nikita Rudin; Matías Mattamala; César Cadena 001; Marco Hutter 001 (ICRA, 2024)

Learning Agile Locomotion on Risky Terrains. - Chong Zhang; Nikita Rudin; David Hoeller; Marco Hutter 001 (IROS, 2024)

ANYmal parkour: Learning agile navigation for quadrupedal robots. - David Hoeller; Nikita Rudin; Dhionis V. Sako; Marco Hutter 001 (Sci. Robotics, 2024)

Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning. - Nikita Rudin; Junzhe He; Joshua Aurand; Marco Hutter 001 (CoRR, 2025)