Publications

2024

L. Bernreiter, S. Khattak, L. Ott, R. Siegwart, M. Hutter, C. Cadena A framework for collaborative multi-robot mapping using spectral graph wavelets. International Journal of Robotics Research, 2024

V. Reijgwart, M. Pantic, R. Siegwart, L. Ott Waverider: Leveraging Hierarhical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance. IEEE International Conference on Robotics & Automation, 2024

A. et. al Padalkar Open x-embodiment: Robotic learning datasets and rt-x models. IEEE International Conference on Robotics & Automation, 2024

2023

V. Schorp, W. Panitch, K. Shivakumar, V. Viswanath, J. Kerr, Y. Avigal, D. Fer, L. Ott, K. Goldberg Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening. International Conference on Automation Science and Engineering (CASE), 2023

J. Forster, L. Ott, J. Nieto, N. Lawrance, R. Siegwart, J. J. Chung Automatic extension of a symbolic mobile manipulation skill set. Robotics and Autonomous Systems, 2023

C. Lanegger, H. Oleynikova, M. Pantic, L. Ott, R. Siegwart To Fuse or Not to Fuse: Measuring Consistency in Multi-Sensor Fusion for Aerial Robots. International Symposium on Experimental Robotics, 2023

M. Pantic, E. Hampp, R. Flammer, W. Zhang, T. Stastny, L. Ott, R. Siegwart Soliro - a hybrid dynamic tilt-wing aerial manipulator with minimal actuators. International Symposium on Experimental Robotics, 2023

V. Reijgwart, C. Cadena, R. Siegwart, L. Ott Efficient volumetric mapping of multi-scale environments using wavelet-based compression. Robotics: Science and Systems, 2023

K. Blomqvist, J. J. Chung, L. Ott, R. Siegwart NeRFing it: Offline Object Segmentation Through Implicit Modeling. IEEE International Conference on Robotics & Automation, 2023

M. Pantic, I. Meijer, R. B{\"a}hnemann, N. Alatur, O. Andersson, C. Cadena, R. Siegwart, L. Ott Obstacle avoidance using raycasting and Riemannian Motion Policies at kHz rates for MAVs. IEEE International Conference on Robotics & Automation, 2023

L. Bernreiter, L. Ott, R. Siegwart, C. Cadena SphNet: A Spherical Network for Semantic Pointcloud Segmentation. IEEE International Conference on Robotics & Automation, 2023

G. Schiavi, P. Wulkop, G. Rizzi, L. Ott, R. Siegwart, J. J. Chung Learning agent-aware affordances for closed-loop interaction with articulated objects. IEEE International Conference on Robotics & Automation, 2023

N. Alatur, O. Andersson, R. Siegwart, L. Ott Material-agnostic Shaping of Granular Materials with Optimal Transport. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

K. Blomqvist, F. Milano, J. J. Chung, L. Ott, R. Siegwart Neural Implicit Vision-Language Feature Fields. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

K. Blomqvist, L. Ott, J. J. Chung, R. Siegwart Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

C. Lanegger, M. Pantic, R. B{\"a}hnemann, R. Siegwart, L. Ott Chasing Millimeters: Design, Navigation and State Estimation for Precise In-flight Marking on Ceilings. Autonomous Robots, 2023

G. Rizzi, J.J. Chung, A. Gawel, L. Ott, M. Tognon, R. Siegwart Robust Sampling-based Control of Mobile Manipulators for Interaction with Articulated Objects. IEEE Transactions on Robotics, 2023

2022

J. J. Chung, J. F{\"o}rster, P. Wulkop, L. Ott, N. Lawrance, R. Siegwart It’s just semantics: How to get robots to understand the world the way we do. International Symposium on Robotics Research, 2022

K. Blomqvist, J. J. Chung, L. Ott, R. Siegwart Semi-automatic 3d object keypoint annotation and detection for the masses. International Conference on Pattern Recognition, 2022

F. Afzal Maken, F. Ramos, L. Ott Bayesian iterative closest point for mobile robot localization. International Journal of Robotics Research, 2022

F. Afzal Maken, F. Ramos, L. Ott Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation. IEEE Robotics and Automation Letters, 2022

W. Zhi, T. Lai, L. Ott, E. Bonilla, F. Ramos Learning Efficient and Robust Ordinary Differential Equations via Invertible Neural Networks. International Conference on Machine Learning, 2022

L. Bernreiter, S. Khattak, L. Ott, R. Siegwart, M. Hutter, C. Cadena Collaborative Robot Mapping using Spectral Graph Analysis. IEEE International Conference on Robotics & Automation, 2022

K. Blomqvist, J.J. Chung, L. Ott, R. Siegwart Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses. International Conference on Pattern Recognition, 2022

M. Breyer, L. Ott, R. Siegwart, J. J. Chung Closed-Loop Next-Best-View Planning for Target-Driven Grasping. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

A. Dietsche, L. Ott, R. Siegwart, R. Brockers Visual Loop Closure Detection for a Future Mars Science Helicopter. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

M. Kulkarni, M. Dharmadhikari, M. Tranzatto, S. Zimmermann, V. Reijgwart, P. De Petris, H. Nguyen, N. Khedekar, C. Papachristos, L. Ott, R Siegwart, M. Hutter, A. Kostas Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots. IEEE International Conference on Robotics & Automation, 2022

C. Lanegger, M. Ruggia, M. Tognon, L. Ott, R. Siegwart Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings. Robotics: Science and Systems, 2022

G. Rizzi, J.J. Chung, A. Gawel, L. Ott, M Tognon, R. Siegwart Robust Sampling-based Control of Mobile Manipulators for Interaction with Articulated Objects. IEEE Transactions on Robotics, 2022

W. Zhang, L. Ott, M. Tognon, R. Siegwart Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces through Proprioceptive and Tactile Sensing. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

W. Zhi, T. Lai, L. Ott, F. Ramos Diffeomorphic Transforms for Generalised Imitation Learning. Learning for Dynamics & Control, 2022 [Best paper award]

M. Pantic, C. Cadena, R. Siegwart, L. Ott Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields. Workshop on ”Motion Planning with Implicit Neural Representations of Geometry” at 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), 2022

2021

F. Afzal Maken, F. Ramos, L. Ott Stein ICP for Uncertainty Estimation in Point Cloud Matching. IEEE Robotics and Automation Letters, 2021

L. Bernreiter, L. Ott, J. Nieto, R. Siegwart, C. Cadena Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems. IEEE International Conference on Robotics & Automation, 2021

L. Bernreiter, L. Ott, J. Nieto, R. Siegwart, C. Cadena PHASER: A Robust and Correspondence-Free Global Pointcloud Registration. IEEE Robotics and Automation Letters, 2021

R. Oliveira, L. Ott, F. Ramos No-regret approximate inference via Bayesian optimisation. Uncertainty in Artificial Intelligence, 2021

M. Pantic, L. Ott, C. Cadena, R. Siegwart, J. Nieto Mesh Manifold based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles. IEEE Robotics and Automation Letters, 2021

L. Schmid, V. Reijgwart, L. Ott, J. Nieto, R. Siegwart, C. Cadena A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift. IEEE Robotics and Automation Letters, 2021

W. Zhang, L. Ott, M. Tognon, R. Siegwart, J. Nieto Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots. IEEE International Conference on Robotics & Automation, 2021

W. Zhi, T. Lai, L. Ott, F. Ramos Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements. IEEE International Conference on Robotics & Automation, 2021

W. Zhi, T. Lai, L. Ott, F. Ramos Trajectory Generation in New Environments from Past Experiences. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

W. Zhi, L. Ott, F. Ramos Probabilistic Trajectory Prediction with Structural Constraints. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

2020

F. Afzal Maken, F. Ramos, L. Ott Estimating Motion Uncertainty with Bayesian ICP. IEEE International Conference on Robotics & Automation, 2020

L. Barcelos, R. Oliveira, R. Possas, L. Ott, F. Ramos DISCO: Double Likelihood-free Inference Stochastic Control. IEEE International Conference on Robotics & Automation, 2020

T. Blau, L. Ott, F. Ramos Bayesian Curiosity for Efficient Exploration in Reinforcement Learning. Australasian Conference on Robotics and Automation, 2020

M. Breyer, J. J. Chung, L. Ott, R. Siegwart, J. Nieto Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter. Conference on Robot Learning, 2020

L. Schmid, M. Pantic, R. Khanna, L. Ott, R. Siegwart, J. Nieto An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments. IEEE Robotics and Automation Letters, 2020

W. Zhang, M. Brunner, L. Ott, M. Kamel, R. Siegwart, J. Nieto Learning dynamics for improving control of overactuated flying systems. IEEE Robotics and Automation Letters, 2020

2019

F. Afzal Maken, F. Ramos, L. Ott Speeding up Iterative Closest Point Using Stochastic Gradient Descent. IEEE International Conference on Robotics & Automation, 2019

G. Francis, L. Ott, F. Ramos Fast Stochastic Functional Path Planning in Occupancy Maps. IEEE International Conference on Robotics & Automation, 2019

G. Francis, L. Ott, R. Marchant, F. Ramos Occupancy Map Building through Bayesian Exploration. International Journal of Robotics Research, 2019

P. Morere, L. Ott, F. Ramos Learning to Plan Hierarchically from Curriculum. IEEE Robotics and Automation Letters, 2019

R. Oliveira, L. Ott, F. Ramos Bayesian Optimisation under Uncertain Inputs. International Conference on Artificial Intelligence and Statistics, 2019

W. Zhi, L. Ott, R. Senanayake, F. Ramos Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction. Conference on Robot Learning, 2019

W. Zhi, L. Ott, R. Senanayake, F. Ramos Continuous Occupancy Map Fusion with Fast Bayesian Hilbert Maps. IEEE International Conference on Robotics & Automation, 2019

W. Zhi, R. Senanayake, L. Ott, F. Ramos Spatiotemporal Learning of Directional Uncertainty in Urban Environments with Kernel Recurrent Mixture Density Networks. IEEE Robotics and Automation Letters, 2019

2018

T. Blau, L. Ott, F. Ramos Improving Reinforcement Learning Pre-Training with Variational Dropout. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

R. Oliveira, F. Rocha, L. Ott, V. Guizilini, F. Ramos, V. Grassi Learning to Race through Coordinate Descent Bayesian Optimisation. IEEE International Conference on Robotics & Automation, 2018

2017

G. Francis, L. Ott, F. Ramos Functional Path Optimisation for Exploration in Continuous Occupancy Maps. International Symposium on Robotics Research, 2017

R. Oliveira, L. Ott, V. Guizilini, F. Ramos Bayesian Optimisation for Safe Navigation under Localisation Uncertainty. International Symposium on Robotics Research, 2017

G. Francis, L. Ott, F. Ramos Stochastic Functional Gradient for Motion Planning in Continuous Occupancy Maps. IEEE International Conference on Robotics & Automation, 2017

C. De Alvis, L. Ott, F. Ramos Online Learning for Scene Segmentation With Laser-Constrained CRFs. IEEE International Conference on Robotics & Automation, 2017

T. Ganegedara, L. Ott, F. Ramos Learning to Navigate by Growing Deep Networks. Australasian Conference on Robotics and Automation, 2017

2016

R. Oliveira, L. Ott, F. Ramos Active Perception for Modelling Energy Consumption in Off-Road Navigation. Australasian Conference on Robotics and Automation, 2016

C. De Alvis, L. Ott, F. Ramos Urban scene segmentation with laser-constrained CRFs. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

A. Bewley, Z. Ge, L. Ott, F. Ramos, B. Upcroft Simple online and realtime tracking. Proc. of the IEEE Int. Conf. on Image Processing (ICIP), 2016

T. Ganegedara, L. Ott, F. Ramos Online Adaptation of Deep Architectures with Reinforcement Learning. European Conference on Artificial Intelligence (ECAI), 2016

A. Bewley, L. Ott, F. Ramos, B. Upcroft {Alextrac: Affinity learning by exploring temporal reinforcement within association chains}. IEEE International Conference on Robotics & Automation, 2016

F. Ramos, L. Ott Hilbert maps: scalable continuous occupancy mapping with stochastic gradient descent. International Journal of Robotics Research, 2016

R. Senanayake, L. Ott, S. O'Callaghan, F. Ramos Spatio-Temporal Hilbert Maps for Continuous Occupancy Representation in Dynamic Environments. Neural Information Processing Systems, 2016

2015

F. Ramos, L. Ott {Hilbert maps: scalable continuous occupancy mapping with stochastic gradient descent}. Robotics: Science and Systems, 2015

2014

L. Ott, L. Pang, F. Ramos, S. Chawla {On Integrated Clustering and Outlier Detection}. Neural Information Processing Systems, 2014

L. Ott, F. Ramos {Unsupervised Online Learning for Long-Term Autonomy}. International Journal of Robotics Research, 2014

J. Souza, R. Marchant, L. Ott, D. Wolf, F. Ramos {Bayesian Pptimisation for Active Perception and Smooth Navigation}. IEEE International Conference on Robotics & Automation, 2014

2013

L. Ott, F. Ramos {Multi-Sensor Clustering using Layered Affinity Propagation}. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

2012

L. Ott, F. Ramos {Real-Time Clustering for Long-Term Autonomy}. International Symposium on Experimental Robotics, 2012

L. Ott, F. Ramos {Unsupervised Incremental Learning for Long-Term Autonomy}. IEEE International Conference on Robotics & Automation, 2012

2009

H. Schulz, L. Ott, J. Sturm, W. Burgard {Learning Kinematics from Direct Self-Observation using Nearest-Neighbor Methods}. German Workshop on Robotics, 2009