Publications

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

@article{chen2024identifying,
  author = {Chen, Jiaqi and Frey, Jonas and Zhou, Ruyi and Miki, Takahiro and Martius, Georg and Hutter, Marco},
  doi = {10.1109/LRA.2024.3455788},
  journal = {IEEE Robotics and Automation Letters},
  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},
  number = {11},
  pages = {9279-9286},
  ral = {true},
  title = {Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation},
  url = {https://arxiv.org/abs/2408.16567},
  volume = {9},
  year = {2024}
}

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

@misc{escontrela2025gaussgym,
  archiveprefix = {arXiv},
  author = {Escontrela, Alejandro and Kerr, Justin and Allshire, Arthur and \textbf{Jonas Frey} and Duan, Rocky and Sferrazza, Carmelo and Abbeel, Pieter},
  eprint = {2510.15352},
  loc = {true},
  primaryclass = {cs.RO},
  title = {GaussGym: An open-source real-to-sim framework for learning locomotion from pixels},
  url = {https://arxiv.org/abs/2510.15352},
  year = {2025}
}

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

@inproceedings{frey2022continual_workshop,
  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},
  title = {Continual Learning of Semantic Segmentation using Complementary 2D-3D Data Representations},
  url = {https://arxiv.org/abs/2111.02156},
  workshop = {true},
  year = {2021}
}

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

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

@inproceedings{frey2023fast_workshop,
  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)},
  title = {Fast Traversability Estimation for Wild Visual Navigation},
  url = {https://arxiv.org/abs/2305.08510},
  workshop = {true},
  year = {2023}
}

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

@article{frey2025boxi,
  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},
  journal = {Robotics: Science and Systems 2025},
  rss = {true},
  title = {Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics},
  year = {2025}
}

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

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

@article{kadokawa2026dapper,
  author = {Kadokawa, Yuki and Frey, Jonas and Miki, Takahiro and Matsubara, Takamitsu and Hutter, Marco},
  journal = {IEEE Robotics & Automation Magazine},
  ram = {true},
  title = {DAPPER: Discriminability-Aware Policy-to-Policy Preference-Based Reinforcement Learning for Query-Efficient Robot Skill Acquisition},
  year = {2026}
}

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

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

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

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

@inproceedings{liu2023unsupervised,
  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},
  cvpr = {true},
  pages = {3031--3040},
  title = {Unsupervised Continual Semantic Adaptation through Neural Rendering},
  url = {https://arxiv.org/abs/2211.13969},
  year = {2023}
}

@article{mattamala2024autonomous,
  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 = {Field Robotics: Workshop ICRA},
  title = {Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment},
  url = {https://arxiv.org/abs/2404.14157},
  workshop = {true},
  year = {2024}
}

@article{mattamala2025building,
  author = {Mattamala, Mat{\'\i}as and Chebrolu, Nived and Frey, Jonas and Frei{\ss}muth, Leonard and Oh, Haedam and Casseau, Benoit and Hutter, Marco and Fallon, Maurice},
  journal = {IEEE Transactions on Field Robotics 2025},
  tfr = {true},
  title = {Building Forest Inventories with Autonomous Legged Robots--System, Lessons, and Challenges Ahead},
  url = {https://arxiv.org/abs/2404.14157},
  year = {2024}
}

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

@article{nubert2025holistic,
  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 = {under review for IEEE Transactions on Robotics},
  title = {Holistic fusion: Task-and setup-agnostic robot localization and state estimation with factor graphs},
  tro = {true},
  year = {2025}
}

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

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

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

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

@article{thakker2025risk,
  author = {Thakker, Rohan and Patnaik, Adarsh and Kurtz, Vince and Frey, Jonas and Becktor, Jonathan and Moon, Sangwoo and Royce, Rob and Kaufmann, Marcel and Georgakis, Georgios and Roth, Pascal and others},
  journal = {Reliable Robotics: Workshop RSS},
  title = {Risk-Guided Diffusion: Toward Deploying Robot Foundation Models In Space, Where Failure Is Not An Option},
  url = {https://arxiv.org/abs/2506.17601},
  workshop = {true},
  year = {2025}
}

@inproceedings{tuna2025ws,
  author = {Tuna, Turcan and Frey, Jonas and Fu, Lanke Frank Tarimo and Fallon, Maurice and Cadena, Cesar and Hutter, Marco},
  booktitle = {CoRL 2025 - Open-Source Hardware in the Era of Robot Learning},
  title = {The GrandTour of Boxi},
  url = {https://open-hardware-robots.github.io/CoRL2025/},
  workshop = {true},
  year = {2025}
}

@misc{windecker2025navitrace,
  archiveprefix = {arXiv},
  author = {Windecker, Tim and Patel, Manthan and Reuss, Moritz and Schwarzkopf, Richard and Cadena, Cesar and Lioutikov, Rudolf and Hutter, Marco and \textbf{Jonas Frey}},
  comment = {under review},
  eprint = {2510.26909},
  primaryclass = {cs.RO},
  title = {NaviTrace: Evaluating Embodied Navigation of Vision-Language Models},
  url = {https://arxiv.org/abs/2510.26909},
  workshop = {false},
  year = {2025}
}

@inproceedings{windecker2025ws,
  author = {Windecker, Tim and Frey, Jonas and Patel, Manthan and Reuss, Moritz and Schwarzkopf, Richard and Cadena, Cesar and Lioutikov, Rudolf and Hutter, Marco},
  booktitle = {GRPs in the Wild: Workshop CoRL},
  title = {NaviTrace: Evaluating Embodied Navigation of Vision-Language Models},
  url = {https://openreview.net/forum?id=H2rNiI8s7s},
  workshop = {true},
  year = {2025}
}