Publications

@article{frey2025boxi,
  title = {Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics},
  author = {Frey, Jonas and Tuna, Turcan and Fu, Lanke Frank Tarimo and Weibel, Cedric and Patterson, Katharine and Krummenacher, Benjamin and M{\"u}ller, Matthias and Nubert, Julian and Fallon, Maurice and Cadena, Cesar and others},
  year = {2025},
  journal = {Robotics: Science and Systems 2025},
}

@article{roth2025learned,
  title = {Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation},
  author = {Roth, Pascal and Frey, Jonas and Cadena, Cesar and Hutter, Marco},
  year = {2025},
  journal = {Robotics: Science and Systems 2025},
}

@article{patel2024roadrunner,
  author = {Patel, Manthan and Frey, Jonas and Atha, Deegan and Spieler, Patrick and Hutter, Marco and Khattak, Shehryar},
  journal = {IEEE Robotics and Automation Letters},
  title = {RoadRunner M&M - Learning Multi-Range Multi-Resolution Traversability Maps for Autonomous Off-Road Navigation},
  year = {2024},
  volume = {9},
  number = {12},
  pages = {11425-11432},
  doi = {10.1109/LRA.2024.3490404},
  webpage = {https://leggedrobotics.github.io/roadrunner_mm/},
  url = {https://arxiv.org/abs/2409.10940},
}

@inproceedings{mattamala24wild,
  url = {https://arxiv.org/abs/2404.07110},
  author = {Mattamala, Matías and Frey, Jonas and Libera, Piotr and Chebrolu, Nived and Martius, Georg and Cadena, Cesar and Hutter, Marco and Fallon, Maurice},
  title = {Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision},
  booktitle = {Autonomous Robots},
  year = {2024},
  eprint = {2404.07110},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
}

@article{frey2024roadrunner,
  url = {https://arxiv.org/abs/2402.19341},
  title = {RoadRunner - Learning Traversability Estimation for Autonomous Off-road Driving},
  author = {Frey, Jonas and Khattak, Shehryar and Patel, Manthan and Atha, Deegan and Nubert, Julian and Padgett, Curtis and Hutter, Marco and Spieler, Patrick},
  booktitle = {IEEE Transactions on Field Robotics 2024},
  year = {2024}
}

@inproceedings{jin2023resilient,
  url = {https://arxiv.org/abs/2310.03581},
  title = {Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End},
  author = {Jin, Jin and Zhang, Chong and Frey, Jonas and Rudin, Nikita and Mattamala, Matias and Cadena, Cesar and Hutter, Marco},
  booktitle = {41st IEEE Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024},
  year = {2023}
}

@inproceedings{frey2023fast,
  url = {https://arxiv.org/abs/2305.08510},
  title = {Fast Traversability Estimation for Wild Visual Navigation},
  author = {Frey, Jonas and Mattamala, Matias and Chebrolu, Nived and Cadena, Cesar and Fallon, Maurice and Hutter, Marco},
  booktitle = {Robotics: Science and Systems 2023},
  year = {2023}
}

@inproceedings{erni2023mem,
  url = {https://arxiv.org/abs/2309.16818v1},
  title = {MEM: Multi-Modal Elevation Mapping for Robotics and Learning},
  author = {Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco},
  booktitle = {36th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, October 1-5, 2023},
  year = {2023}
}

@article{chen2023smug,
  url = {https://arxiv.org/abs/2306.05309},
  title = {SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments},
  author = {Chen, Changan and Frey, Jonas and Arm, Philip and Hutter, Marco},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {11},
  pages = {7170--7177},
  year = {2023},
  publisher = {IEEE}
}

@inproceedings{frey2022locomotion,
  url = {https://arxiv.org/abs/2203.15854},
  title = {Locomotion policy guided traversability learning using volumetric representations of complex environments},
  author = {Frey, Jonas and Hoeller, David and Khattak, Shehryar and Hutter, Marco},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {5722--5729},
  year = {2022},
  organization = {IEEE}
}

@inproceedings{rupf2024zeroshot,
  title = {Zero-Shot Offline Imitation Learning via Optimal Transport},
  author = {Rupf, Thomas and Bagatella, Marco and Gürtler, Nico and Frey, Jonas and Martius, Georg},
  year = {2025},
  journal = {International Conference on Machine Learning (ICML)},
  eprint = {2410.08751},
  archiveprefix = {arXiv},
  primaryclass = {cs.LG},
  url = {https://arxiv.org/abs/2410.08751},
  learning = {true}
}

@article{geist2024position,
  learning = {true},
  title = {Learning with 3D rotations, a hitchhiker's guide to SO(3)},
  author = {Geist, A. René and Frey, Jonas and Zobro, Mikel and Levina, Anna and Martius, Georg},
  booktitle = {International Conference on Machine Learning},
  year = {2024},
  url = {https://arxiv.org/abs/2404.11735},
  eprint = {2404.11735},
  archiveprefix = {arXiv},
  primaryclass = {cs.LG},
}

@inproceedings{li2023learning,
  loc = {true},
  url = {https://arxiv.org/abs/2206.11693},
  title = {Learning agile skills via adversarial imitation of rough partial demonstrations},
  author = {Li, Chenhao and Vlastelica, Marin and Blaes, Sebastian and Frey, Jonas and Grimminger, Felix and Martius, Georg},
  booktitle = {Conference on Robot Learning},
  pages = {342--352},
  year = {2023},
  organization = {PMLR}
}

@inproceedings{li2023versatile,
  loc = {true},
  url = {https://arxiv.org/abs/2209.07899},
  title = {Versatile skill control via self-supervised adversarial imitation of unlabeled mixed motions},
  author = {Li, Chenhao and Blaes, Sebastian and Kolev, Pavel and Vlastelica, Marin and Frey, Jonas and Martius, Georg},
  booktitle = {2023 IEEE international conference on robotics and automation (ICRA)},
  pages = {2944--2950},
  year = {2023},
  organization = {IEEE}
}

@inproceedings{schneider2023learning,
  loc = {true},
  url = {https://arxiv.org/abs/2309.14246},
  title = {Learning risk-aware quadrupedal locomotion using distributional reinforcement learning},
  author = {Schneider, Lukas and Frey, Jonas and Miki, Takahiro and Hutter, Marco},
  booktitle = {41st IEEE Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024},
  year = {2023}
}

@article{frey2025boxi,
  title = {Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics},
  author = {Frey, Jonas and Tuna, Turcan and Fu, Lanke Frank Tarimo and Weibel, Cedric and Patterson, Katharine and Krummenacher, Benjamin and M{\"u}ller, Matthias and Nubert, Julian and Fallon, Maurice and Cadena, Cesar and others},
  year = {2025},
  journal = {Robotics: Science and Systems 2025},
}

@article{nubert2025holistic,
  title = {Holistic fusion: Task-and setup-agnostic robot localization and state estimation with factor graphs},
  author = {Nubert, Julian and Tuna, Turcan and Frey, Jonas and Cadena, Cesar and Kuchenbecker, Katherine J and Khattak, Shehryar and Hutter, Marco},
  comment = {This paper is under review for IEEE Transactions on Robotics},
  journal = {arXiv preprint arXiv:2504.06479},
  year = {2025},
}

@article{krummenacher2025diffusion,
  title = {Diffusion Based Robust LiDAR Place Recognition},
  author = {Krummenacher, Benjamin and Frey, Jonas and Tuna, Turcan and Vysotska, Olga and Hutter, Marco},
  journal = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2025},
}

@article{chen2024identifying,
  author = {Chen, Jiaqi and Frey, Jonas and Zhou, Ruyi and Miki, Takahiro and Martius, Georg and Hutter, Marco},
  journal = {IEEE Robotics and Automation Letters},
  title = {Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation},
  year = {2024},
  volume = {9},
  number = {11},
  pages = {9279-9286},
  keywords = {Decoding;Friction;Visualization;Training;Robot sensing systems;Navigation;Legged locomotion;Deep learning;Visual perception;Terrain mapping;Legged Robots;deep learning for visual perception;field robots},
  doi = {10.1109/LRA.2024.3455788},
  url = {https://arxiv.org/abs/2408.16567},
}

@article{frey2022continual,
  url = {https://arxiv.org/abs/2111.02156},
  title = {Continual Adaptation of Semantic Segmentation using Complementary 2D-3D Data Representations},
  author = {Frey, Jonas and Blum, Hermann and Milano, Francesco and Siegwart, Roland and Cadena, Cesar},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {4},
  pages = {11665--11672},
  year = {2022},
  publisher = {IEEE}
}

@inproceedings{liu2023unsupervised,
  url = {https://arxiv.org/abs/2211.13969},
  title = {Unsupervised Continual Semantic Adaptation through Neural Rendering},
  author = {Liu, Zhizheng and Milano, Francesco and Frey, Jonas and Siegwart, Roland and Blum, Hermann and Cadena, Cesar},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages = {3031--3040},
  year = {2023}
}

@article{li2023seeing,
  publisher = {IEEE},
  url = {https://arxiv.org/abs/2305.07995},
  title = {Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning},
  author = {Li, Anqiao and Yang, Chenyu and Frey, Jonas and Lee, Joonho and Cadena, Cesar and Hutter, Marco},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {11},
  pages = {7687--7694},
  year = {2023}
}

@article{mattamala2024autonomous,
  workshop = {true},
  title = {Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment},
  author = {Mattamala, Mat{\'\i}as and Chebrolu, Nived and Casseau, Benoit and Frei{\ss}muth, Leonard and Frey, Jonas and Tuna, Turcan and Hutter, Marco and Fallon, Maurice},
  journal = {arXiv preprint arXiv:2404.14157},
  year = {2024},
  url = {https://arxiv.org/abs/2404.14157},
}

@inproceedings{frey2023fast_workshop,
  workshop = {true},
  url = {https://arxiv.org/abs/2305.08510},
  year = {2023},
  title = {Fast Traversability Estimation for Wild Visual Navigation},
  author = {Frey, Jonas and Mattamala, Matias and Chebrolu, Nived and Cadena, Cesar and Fallon, Maurice and Hutter, Marco},
  booktitle = {ICRA 2023 - Pretraining for Robotics (PT4R)}
}

@inproceedings{frey2022continual_workshop,
  workshop = {true},
  url = {https://arxiv.org/abs/2111.02156},
  year = {2021},
  title = {Continual Learning of Semantic Segmentation using Complementary 2D-3D Data Representations},
  author = {Frey, Jonas and Blum, Hermann and Milano, Francesco and Siegwart, Roland and Cadena, Cesar},
  booktitle = {NeurIPS - 2021 4th Robot Learning Workshop Self-Supervised and Lifelong Learning}
}