Victor Klemm

Robotics researcher · Robotic Systems Lab, ETH Zürich

Wheeled-legged robots, robot learning and differentiable simulation. Every blob is a paper. Scroll, drag or use the arrow keys.

IROS 2025 workshop · The Future of Hybrid Mobility

Publications

2026

  1. Solving a Giant Rubik's Cube with a Quadruped Robot Lukas Amiet, Gabriel Sánchez-Blanco Repgen, Mayank Mittal, Victor Klemm, Andrei Cramariuc, Marco Hutter, César Cadena arXiv 2026 arXiv PDF Project
  2. Bidirectional Voronoi-biased Exploration Curriculum for Reinforcement Learning Juri Pfammatter, Kaixian Qu, Clemens Schwarke, Victor Klemm, Marco Hutter arXiv 2026 arXiv PDF
  3. Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot Ethan Marot, Thomas Bi, Clemens Schwarke, Victor Klemm, Marco Hutter, Raffaello D'Andrea IROS 2026 arXiv PDF Video
  4. An Efficient Beam Search Algorithm for Active Perception in Mobile Robotics Kaixian Qu, Han Wang, Victor Klemm, César Cadena, Marco Hutter IJRR 2026 arXiv PDF DOI Project
  5. Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding Chong Zhang, Victor Klemm, Fan Yang, Marco Hutter T-RO 2026 arXiv PDF DOI

2025

  1. Multi-Domain Motion Embedding: Expressive Real-Time Mimicry for Legged Robots Matthias Heyrman, Chenhao Li, Victor Klemm, Dongho Kang, Stelian Coros, Marco Hutter arXiv 2025 arXiv PDF
  2. FOCI: Trajectory Optimization on Gaussian Splats Mario Gomez Andreu, Maximum Wilder-Smith, Victor Klemm, Vaishakh Patil, Jesús Tordesillas, Marco Hutter IROS 2025 arXiv PDF DOI Project
  3. Learning Deployable Locomotion Control via Differentiable Simulation Clemens Schwarke, Victor Klemm, Joshua Bagajo, Jean-Pierre Sleiman, Ignat Georgiev, Jesús Tordesillas, Marco Hutter CoRL 2025 arXiv PDF
  4. LEVA: A High-Mobility Logistic Vehicle with Legged Suspension Marco Arnold, Lukas Hildebrandt, Kaspar Janssen, Efe Ongan, Pascal Bürge, Ádám Gyula Gábriel, James Kennedy, Rishi Lolla, Quanisha Oppliger, Micha Schaaf, Joseph Church, Michael Fritsche, Victor Klemm, Turcan Tuna, Giorgio Valsecchi, Cedric Weibel, Michael Wüthrich, Marco Hutter ICRA 2025 arXiv PDF DOI
  5. MARLadona - Towards Cooperative Team Play Using Multi-Agent Reinforcement Learning Zichong Li, Filip Bjelonic, Victor Klemm, Marco Hutter ICRA 2025 arXiv PDF DOI
  6. Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation Jing Yuan Luo, Yunlong Song, Victor Klemm, Fan Shi, Davide Scaramuzza, Marco Hutter ICRA 2025 arXiv PDF DOI
  7. Nonsmooth Trajectory Optimization for Wheeled Balancing Robots With Contact Switches and Impacts Victor Klemm, Yvain de Viragh, David Rohr, Roland Siegwart, Marco Tognon T-RO 2025 DOI

2024

  1. Dataset and Lessons Learned from the 2024 SaTML LLM Capture-the-Flag Competition Edoardo Debenedetti, Javier Rando, Daniel Paleka, Fineas Silaghi, Dragos Albastroiu, Niv Cohen, Yuval Lemberg, Reshmi Ghosh, Rui Wen, Ahmed Salem, Giovanni Cherubin, Santiago Zanella-Beguelin, Robin Schmid, Victor Klemm, Takahiro Miki, Chenhao Li, Stefan Kraft, Mario Fritz, Florian Tramèr, Sahar Abdelnabi, Lea Schönherr NeurIPS 2024 arXiv PDF DOI
  2. DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation Joshua Bagajo, Clemens Schwarke, Victor Klemm, Ignat Georgiev, Jean-Pierre Sleiman, Jesús Tordesillas, Animesh Garg, Marco Hutter arXiv 2024 arXiv PDF
  3. Exploring Constrained Reinforcement Learning Algorithms for Quadrupedal Locomotion Joonho Lee, Lukas Schroth, Victor Klemm, Marko Bjelonic, Alexander Reske, Marco Hutter IROS 2024 arXiv PDF DOI
  4. Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots Simon Chamorro, Victor Klemm, Miguel de la Iglesia Valls, Christopher Pal, Roland Siegwart ICRA 2024 arXiv PDF DOI Video
  5. Symmetry Considerations for Learning Task Symmetric Robot Policies Mayank Mittal, Nikita Rudin, Victor Klemm, Arthur Allshire, Marco Hutter ICRA 2024 arXiv PDF DOI

2023

  1. Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks Clemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, Marco Hutter CoRL 2023 PDF
  2. RAYEN: Imposition of Hard Convex Constraints on Neural Networks Jesús Tordesillas, Victor Klemm, Jonathan P. How, Marco Hutter arXiv 2023 arXiv PDF Code
  3. Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter ICRA 2023 arXiv PDF DOI

2022

  1. A Survey of Wheeled-Legged Robots Marko Bjelonic, Victor Klemm, Joonho Lee, Marco Hutter CLAWAR 2022 DOI
  2. Design Optimization of a Four-Bar Leg Linkage for a Legged-Wheeled Balancing Robot Victor Klemm, Dominik Mannhart, Roland Siegwart CLAWAR 2022 DOI

2020

  1. CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System Dominik Mannhart, Fabio Dubois, Karen Bodie, Victor Klemm, Alessandro Morra, Marco Hutter ICRA 2020 PDF DOI
  2. LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops Victor Klemm, Alessandro Morra, Lionel Gulich, Dominik Mannhart, David Rohr, Mina Kamel, Yvain de Viragh, Roland Siegwart RA-L 2020 arXiv PDF DOI

2019

  1. Ascento: A Two-Wheeled Jumping Robot Victor Klemm, Alessandro Morra, Ciro Salzmann, Florian Tschopp, Karen Bodie, Lionel Gulich, Nicola Küng, Dominik Mannhart, Corentin Pfister, Marcus Vierneisel, Florian Weber, Robin Deuber, Roland Siegwart ICRA 2019 arXiv PDF DOI

Paper data from Semantic Scholar, arXiv and Crossref, refreshed weekly. Full record on Google Scholar.