Robotic Systems Lab

Open Opportunities

Live Limited View Dynamic Gaussian Splatting ETH Zurich Robotic Systems Lab In this project we seek to reconstruct 3D Gaussian Splatting scenes and capture motion as it happens. Computer Graphics, Computer Vision, Intelligent Robotics Master Thesis

Large Scale 3D Gaussian Splatting SLAM ETH Zurich Robotic Systems Lab This project aims to create large scale 3D Gaussian Splatting scenes using online robotic data. Computer Graphics, Computer Vision, Intelligent Robotics Master Thesis

Learning Diverse Behaviors: Diffusion Meets RL ETH Zurich Robotic Systems Lab This thesis will tackle the challenge of multi-modality in robot learning by integrating diffusion models into reinforcement learning (RL). The project is in collaboration with Prof. Gerhard Neumann from KIT (https://alr.iar.kit.edu/21_65.php) Intelligent Robotics, Knowledge Representation and Machine Learning Master Thesis, Semester Project

Applying Large Language Models (LLMs) to enhance skill acquisition for ANYmal robot ETH Zurich Robotic Systems Lab The goal of this project is to apply LLMs to teach the ANYmal robot new low-level skills via Reinforcement Learning (RL) that the task planner identifies to be missing. Intelligent Robotics Master Thesis

ANYmal - Navigation using self-supervised depth image representation ETH Zurich Robotic Systems Lab Project Objective: This project aims to develop a new method to integrate depth perception into robots. Specifically we are tackling the task of navigation and locomotion for our legged robot ANYmal. Instead of training RL policies from scratch, we would like to understand the potential performance impacts by using self-supervised training, e.g. using DINO, for monocular depth images. The training may consist of leveraging existing datasets and focuses on learning a useful representation that includes not only geometric hints but potentially also semantic information from depth analog to the recent advantages achieved using RGB images. Computer Hardware, Computer Perception, Memory and Attention, Computer Software, Computer Vision, Electrical and Electronic Engineering Master Thesis, Semester Project

Reinforcement Learning for Control of Shape-Shifting Robot Legs ETH Zurich Robotic Systems Lab We are working toward robots that transform their shape adapt to new tasks and environments. This project will entail developing control policies in simulation and deploying them on hardware, with the goal of controlling a quadruped that can change the shape of its legs to accomplish new and useful tasks (see attached image a). Intelligent Robotics, Robotics and Mechatronics, Simulation and Modelling Master Thesis, Semester Project

Reinforcement Learning for Excavation Planning ETH Zurich Robotic Systems Lab We aim to develop a reinforcement learning-based global excavation planner that can plan for the long term and execute a wide range of excavation geometries. The system will be deployed on our legged excavator. Intelligent Robotics Master Thesis, Semester Project

Reinforcement Learning for Particle-Based Excavation in Isaac Sim ETH Zurich Robotic Systems Lab We want to train RL agents on our new particle simulator, accelerated on the GPU via warp in Isaac sim. Intelligent Robotics Master Thesis, Semester Project

Terrain Neural Scene Reconstruction for RL ETH Zurich Robotic Systems Lab In this project, our goal is to build a practical solution for reconstructing 3D earthworks scenes using incomplete point cloud data. We plan to train an encoder-decoder neural network that can accurately recreate the missing parts of the scene. However, our main emphasis lies in creating powerful latent representations that will enable us to train reinforcement learning agents for digging tasks. Intelligent Robotics Master Thesis, Semester Project

Sample Efficienct Reinforcement Learning for Particle-Based Excavation ETH Zurich Robotic Systems Lab We want to train RL agents on our new particle simulator, accelerated on the GPU via warp in Isaac sim. Information, Computing and Communication Sciences Master Thesis, Semester Project