Semester Project
Semester Projects at IRIS
Internships (Industrial or Research) on Body Modelling and Sensing Technology for Health Care in SCI
This hands-on work (internship or semester project) within a clinical setting will bring you close to intelligent health management while exploring multiple data systems. You will experience multimodal data of robotics rehabilitation, general clinical practice, and detailed clinical studies applied in classification and dimensionality reduction.
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Machine learning, time-series, HR, ECG, BP, wearables, nearables, Medical and health science, healthcare, Android studio, App development
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Semester Project , Internship , Lab Practice , Bachelor Thesis , Master Thesis , Other specific labels , ETH Zurich (ETHZ)
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Published since: 2025-07-10 , Earliest start: 2025-09-01 , Latest end: 2026-06-30
Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne , Empa , Eawag , Zurich University of the Arts , Zurich University of Applied Sciences , Wyss Translational Center Zurich , University of Zurich , University of St. Gallen , University of Lucerne , University of Lausanne , University of Geneva , University of Fribourg , University of Berne , University of Basel , Lucerne University of Applied Sciences and Arts , Institute for Research in Biomedicine , IBM Research Zurich Lab , Swiss Institute of Bioinformatics , CSEM - Centre Suisse d'Electronique et Microtechnique , Corporates Switzerland , CERN , Hochschulmedizin Zürich , Université de Neuchâtel , Università della Svizzera italiana , Swiss National Science Foundation , University of Konstanz , University of Hamburg , University of Erlangen-Nuremberg , University of Cologne , Universität zu Lübeck , Universität Ulm , Universität der Bundeswehr München , TU Dresden , TU Darmstadt , TU Berlin , Technische Universität Hamburg , Max Planck Society , Otto Von Guericke Universitat, Magdeburg , RWTH Aachen University , Ludwig Maximilians Universiy Munich , Humboldt-Universität zu Berlin , European Molecular Biology Laboratory (EMBL) , Eberhard Karls Universität Tübingen , Max Delbruck Center for Molecular Medicine (MDC) , Technische Universität München , Imperial College London , National Institute for Medical Research , Royal College of Art , UCL - University College London , University of Aberdeen , University of Cambridge , University of Manchester , University of Nottingham , University of Oxford , University of Leeds , Delft University of Technology , Maastricht Science Programme , Radboud University Nijmegen , Utrecht University
Organization Sensory-Motor Systems Lab
Hosts Paez Diego, Dr. , Paez Diego, Dr. , Paez Diego, Dr.
Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Learning-based Traversability Estimation from Experience
Traversability estimation is a critical component in path planning and navigation for mobile robots, especially for legged platforms like quadrupeds that can navigate diverse terrains. Traditionally, traversability estimation relies on data from onboard sensors such as RGB or stereo cameras. However, this approach limits the robot's awareness to its immediate surroundings. By utilizing satellite imagery, we can extend the robot's perception and perform long-range traversability estimation, enabling more efficient global path planning and exploration.
Keywords
Learning-based, Traversability, Navigation, Deep Learning, Legged Robots
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Semester Project , Master Thesis
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Published since: 2025-07-10 , Earliest start: 2025-08-01 , Latest end: 2026-04-30
Organization Robotic Systems Lab
Hosts Richter Julia
Topics Information, Computing and Communication Sciences
Quadruped Glider Feasibility Study
Nature offers elegant examples of energy-efficient aerial locomotion through gliding animals such as flying squirrels and sugar gliders. Inspired by these creatures, this project explores the feasibility of a quadruped robot capable of transitioning from (wheeled-)legged locomotion to gliding flight. This study focuses on a practical first step: mounting a deployable wing on top of a quadruped robot, such as the Unitree Go2. The robot would walk or climb to an elevated launch point, deploy its glider, and perform a controlled passive glide. This opens the door for future hybrid locomotion platforms capable of efficiently navigating both rough ground and long aerial descents. The student(s) will evaluate aerodynamic feasibility through glider performance modeling (e.g., glide ratio, sink rate, stall speed), simulate integration with a quadruped platform, and explore deployment and stability challenges. If viable, preliminary hardware evaluations using off-the-shelf components could be considered. The project also leaves room for long-term vision: future iterations may investigate more integrated, bioinspired control surfaces, should the base platform prove successful, such as membranes between limbs. When done as a two-person project, one student can focus on flight dynamics and aerodynamic simulation, while the other focuses on mechanical integration and physical feasibility. The long-term goal is to assess whether a high-fidelity real-world prototype could be achievable and valuable in robotic exploration or rescue operations.
Keywords
Quadruped Locomotion, Fixed-Wing Flight, Bioinspired Robotics, Passive Gliding, Deployable Wings, Hybrid Mobility, Simulation, Robot Design
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-10
Organization Robotic Systems Lab
Hosts Fischer Oliver , Klemm Victor , Rohr David
Topics Information, Computing and Communication Sciences , Engineering and Technology
Continuous-Time Multi-Sensor Odometry in the Wild
This project provides the opportunity for an academic exchange with the Vision for Robotics Lab (V4RL) at the University of Cyprus (UCY). Led by Prof. Margarita Chli, the lab has recently won a prestigious ERC grant for the “SkEyes” project, to advance robotic perception for drone swarms and bridging our research activities between ETH Zurich and the University of Cyprus. This master project is offered as part of this research effort.
Keywords
Continuous-Time Odometry, Sensor Fusion
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Semester Project , Master Thesis
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Published since: 2025-07-09 , Earliest start: 2025-07-01 , Latest end: 2026-03-31
Applications limited to ETH Zurich
Organization Autonomous Systems Lab
Hosts Mascaro Rubén
Topics Information, Computing and Communication Sciences
Perceptive Bipedal‑Wheeled Locomotion Using Direct Depth‑Camera Inputs
Recent work [1] trains perceptive quadrupedal locomotion policies directly from depth images using teacher‑student distillation and RL fine‑tuning, achieving robust traversal over challenging terrain. The egocentric vision problem usually requires RL fine-tuning or more complex training schemes to enable active perception due to the information gap between teacher and student observations. This project aims to bring depth camera-based perceptive locomotion policies to a wheeled-bipedal robot. We believe that this might be more adequate than elevation map-based perception, due to the highly dynamic nature of its locomotion. We put high emphasis on novel training schemes to reduce the number of training phases. Initial inspiration could be drawn from [2]. References: [1]: https://arxiv.org/abs/2505.11164 [2]: https://arxiv.org/abs/2412.09149
Keywords
Perceptive locomotion · Depth camera · Bipedal‑wheeled Robot · End‑to‑end RL · Sim‑to‑real
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-09
Organization Robotic Systems Lab
Hosts Schwarke Clemens , Klemm Victor
Topics Information, Computing and Communication Sciences , Engineering and Technology
Machine Learning Based Estimation of Blood Pressure via Pulse Transit Time and Vascular Dynamics from piezoelectric sensors
This project explores the development and validation of an AI based system for non-invasive blood pressure estimation. The method focuses on deriving pulse transit time (PTT) using dual A-mode piezoelectric sensors (ultrasound) and characterizing vascular features such as arterial wall diameter and flow velocity. The work contributes toward a future wearable ultrasound-based solution for continuous cardiovascular monitoring.
Keywords
machine learning, deep learning, artificial intelligence, blood pressure, pulse transit time, vascular imaging, Doppler
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Semester Project , Internship , Master Thesis
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Published since: 2025-07-09 , Earliest start: 2025-09-01 , Latest end: 2026-08-01
Organization Biomedical and Mobile Health Technology Lab
Hosts Otesteanu Corin, Dr
Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Artificial intelligence for anxiety level classification using data from wearable devices
The aim of this project is to study the feasibility of using wearable devices for anxiety detection using machine learning models. By creating a robust framework for continuous monitoring and early assessment, it has the potential to meaningfully impact the users wellbeing.
Keywords
wearable technology, anxiety monitoring, health tracking, machine learning, artificial intelligence
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Semester Project , Internship , Master Thesis
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Published since: 2025-07-09 , Earliest start: 2025-08-01 , Latest end: 2026-06-01
Organization Biomedical and Mobile Health Technology Lab
Hosts Otesteanu Corin, Dr
Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Machine learning for Motion Estimation and Fatigue Monitoring Using Triboelectric Nanogenerators
This project explores the feasibility of using triboelectric nanogenerators (TENGs) for joint angle analysis and fatigue monitoring during repetitive human movements using machine learning and deep learning.
Keywords
machine learning, artificial intelligence, generative AI, triboelectric nanogenerator, joint angle estimation, motion analysis, fatigue detection
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Semester Project , Internship , Master Thesis
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Published since: 2025-07-09 , Earliest start: 2025-09-01 , Latest end: 2026-08-01
Organization Biomedical and Mobile Health Technology Lab
Hosts Otesteanu Corin, Dr
Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Activity and fatigue detection using machine learning based on real-world data from smart clothing
The aim of this project is to use machine learning methods to extract useful information such as activity type and fatigue level from real-world data acquired from our textile-based wearable technology during sport activities.
Keywords
smart clothing, wearable technology, textile sensor, fitness tracking, sports medicine, fatigue, machine learning, artificial intelligence, computer science
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-09 , Earliest start: 2025-07-01 , Latest end: 2026-03-31
Organization Biomedical and Mobile Health Technology Lab
Hosts Ahmadizadeh Chakaveh
Topics Information, Computing and Communication Sciences , Engineering and Technology
Design data acquisition solution for smart clothing
The aim of this project is to develop and improve wearable electronics solutions for data acquisition from textile-based sensors used in our smart clothing.
Keywords
smart clothing, wearable technology, textile sensor, fitness tracking, sports medicine, PCB, electronics, computer science
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-09 , Earliest start: 2025-07-01 , Latest end: 2025-12-31
Organization Biomedical and Mobile Health Technology Lab
Hosts Ahmadizadeh Chakaveh
Topics Information, Computing and Communication Sciences , Engineering and Technology
Learning Continuous-Time Feedback Laws for Hierarchical Reinforcement Learning
Hierarchical reinforcement learning (HRL) typically operates by decomposing tasks into high-level planners and low-level controllers. While high-level policies often evolve at discrete timescales, the low-level controller must generate fast, robust behaviors. This is usually framed as feedback laws or motion trajectories. In this project, we propose to learn continuous-time dynamical systems in the form of ODEs as low-level feedback controllers. The idea is to learn an ordinary differential equation (ODE) whose integral curve realizes the low-level trajectory, or whose vector field provides feedback behavior. These models offer several advantages: they are interpretable, temporally coherent, and can generalize better under time perturbations. The student will implement and evaluate ODE-based controllers within a hierarchical RL setup and compare their performance against standard low-level policy architectures (e.g., feedforward MLPs, recurrent policies). We are also open to shape the projects in the context of operator learning. References as inspiration: https://arxiv.org/pdf/1806.07366 https://arxiv.org/pdf/1909.12077 https://arxiv.org/pdf/2006.04439 https://arxiv.org/pdf/2402.15715
Keywords
Reinforcement Learning, Neural ODEs, Feedback Control, Hierarchical Policies, Continuous-Time Policies, Operator Learning
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-07
Organization Robotic Systems Lab
Hosts Klemm Victor
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Automatic Failure Detection for Drones
Automatic failure detection is an essential topic for aerial robots as small failures can already lead to catastrophic crashes. Classical methods in fault detection typically use a system model as a reference and check that the observed system dynamics are within a certain error margin. In this project, we want to explore sequence modeling as an alternative approach that feeds all available sensor data into a neural network. The network will be pre-trained on simulation data and finetuned on real-world flight data. Such a machine learning-based approach has significant potential because neural networks are very good at picking up patterns in the data that are hidden/invisible to hand-crafted detection algorithms.
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Semester Project , Master Thesis
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Published since: 2025-07-07 , Earliest start: 2025-02-01 , Latest end: 2026-01-31
Organization Robotics and Perception
Hosts Bauersfeld Leonard
Topics Engineering and Technology
Rigid Body Dynamics as Sum of Squares: Reformulation and Investigation with Optimality Certificates
Rigid-body dynamics are foundational to robotics and mechanical systems. Surprisingly, although their equations often contain trigonometric or rational terms, they can typically be reformulated as (rational) polynomial systems. This opens the door to a powerful toolset: Sum-of-Squares (SOS) optimization. In this project, the student will explore how to reformulate the equations of rigid-body systems into polynomial forms suitable for SOS-based analysis (or its dual, the moment hierarchy). Through this lens, many classic robotics problems, such as verifying the global stability of visuomotor controller [1] or certifying optimality of solutions [2], can be recast as (convex) optimization problems. This project will investigate how far these methods scale: Can we extend them to complex robots? Can we prove properties like exponential stability or generate globally valid Lyapunov functions for general mechanical systems? Can we extract optimality certificates for complex dynamic trajectories? The student will implement tools for converting rigid-body models (e.g., simple pendulums, planar robots) into their polynomial equivalents, and then apply SOS programming and S-procedure techniques to verify Lyapunov stability or derive optimal controllers. References: [1] G. Chou and R. Tedrake, “Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization,” in IEEE Conference on Decision and Control (CDC), 2023. doi: 10.48550/arXiv.2304.12405. [2] S. Teng, A. Jasour, R. Vasudevan, and M. Jadidi, “Convex Geometric Motion Planning on Lie Groups via Moment Relaxation,” in Robotics: Science and Systems XIX, 2023. doi: 10.15607/RSS.2023.XIX.058.
Keywords
Rigid-Body Dynamics, Polynomial Systems, SOS Optimization, Lyapunov Stability, Convex Programming
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-07
Organization Robotic Systems Lab
Hosts Klemm Victor
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Versatile, Robust and Simulatable Multi-Robot SLAM
This project provides the opportunity for an academic exchange with the Vision for Robotics Lab (V4RL) at the University of Cyprus (UCY). Led by Prof. Margarita Chli, the lab has recently won a prestigious ERC grant for the “SkEyes” project, to advance robotic perception for drone swarms and bridging our research activities between ETH Zurich and the University of Cyprus. This master project is offered as part of this research effort.
Keywords
Multi-Robot SLAM
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Semester Project , Master Thesis
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Published since: 2025-07-07 , Earliest start: 2025-07-01 , Latest end: 2026-03-31
Applications limited to ETH Zurich
Organization Autonomous Systems Lab
Hosts Mascaro Rubén
Topics Information, Computing and Communication Sciences
Learning Robust Agile Flight via Adaptive Curriculum
This project focuses on developing robust reinforcement learning controllers for agile drone navigation using adaptive curricula. Commonly, these controllers are trained with a static, pre-defined curriculum. The goal is to develop a dynamic, adaptive curriculum that evolves online based on the agents' performance to increase the robustness of the controllers.
Keywords
Reinforcement Learning, Drones
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Semester Project , Master Thesis
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Published since: 2025-07-07 , Earliest start: 2023-11-01 , Latest end: 2024-12-31
Organization Robotics and Perception
Hosts Xing Jiaxu
Topics Engineering and Technology
Learning Rapid UAV Exploration with Foundation Models
Recent research has demonstrated significant success in integrating foundational models with robotic systems. In this project, we aim to investigate how these foundational models can enhance the vision-based navigation of UAVs. The drone will utilize learned semantic relationships from extensive world-scale data to actively explore and navigate through unfamiliar environments. While previous research primarily focused on ground-based robots, our project seeks to explore the potential of integrating foundational models with aerial robots to enhance agility and flexibility.
Keywords
Visual Navigation, Foundation Models, Drones
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Semester Project , Master Thesis
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Published since: 2025-07-07 , Earliest start: 2024-01-25 , Latest end: 2024-12-31
Organization Robotics and Perception
Hosts Xing Jiaxu
Topics Engineering and Technology
Energy-Efficient Path Planning for Autonomous Quadrotors in Inspection Tasks
Autonomous quadrotors are increasingly used in inspection tasks, where flight time is often limited by battery capacity. his project aims to explore and evaluate state-of-the-art path planning approaches that incorporate energy efficiency into trajectory optimization.
Keywords
Path Planning, Quadrotors
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Semester Project , Master Thesis
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Published since: 2025-07-07 , Earliest start: 2024-11-11 , Latest end: 2025-08-13
Organization Robotics and Perception
Hosts Bauersfeld Leonard
Topics Engineering and Technology
Event-based Particle Image Velocimetry
When drones are operated in industrial environments, they are often flown in close proximity to large structures, such as bridges, buildings or ballast tanks. In those applications, the interactions of the induced flow produced by the drone’s propellers with the surrounding structures are significant and pose challenges to the stability and control of the vehicle. A common methodology to measure the airflow is particle image velocimetry (PIV). Here, smoke and small particles suspended in the surrounding air are tracked to estimate the flow field. In this project, we aim to leverage the high temporal resolution of event cameras to perform smoke-PIV, overcoming the main limitation of frame-based cameras in PIV setups. Applicants should have a strong background in machine learning and programming with Python/C++. Experience in fluid mechanics is beneficial but not a hard requirement.
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Semester Project , Master Thesis
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Published since: 2025-07-07 , Earliest start: 2024-07-01 , Latest end: 2025-03-01
Organization Robotics and Perception
Hosts Bauersfeld Leonard
Topics Information, Computing and Communication Sciences , Engineering and Technology
Wearable 2D Capacitive Auxetic Structures for Motion Monitoring
The aim of this project is to develop a single sensor capable of measuring both unidirectional strain and bending angle.
Keywords
wearable, flexible electronics, 3D printing, capacitive strain sensors
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-06 , Earliest start: 2025-08-01 , Latest end: 2026-12-31
Organization Biomedical and Mobile Health Technology Lab
Hosts Kateb Pierre
Topics Engineering and Technology
Wearable kirigami antenna for motion monitoring
The aim of the project is to develop a simple method for fabrication of kirigami-inspired laser-cut or molded antennas on flexible substrates. This technology will enable advancements in wearable electronics for wireless communication and sensing applications.
Keywords
wearable, flexible electronics, kirigami, laser cutting, 3D printing, antenna design, conductivity, wireless communication
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-06 , Earliest start: 2025-03-24 , Latest end: 2026-08-31
Organization Biomedical and Mobile Health Technology Lab
Hosts Kateb Pierre
Topics Engineering and Technology
Deep Reinforcement Learning to Control Microrobots in 3D Dynamic Flow Environments
Identifying effective control strategies for the automation of acoustic robotic systems is challenging in a microfluidic environment. This project focuses on reinforcement learning (RL) to control microrobots in chaotic microfluidic flow and vortices.
Keywords
Reinforcement learning, Artificial Intelligence, Ultrasound, Fluid control
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-07-05 , Earliest start: 2025-07-01 , Latest end: 2025-10-31
Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)
Hosts Medany Mahmoud
Topics Information, Computing and Communication Sciences , Engineering and Technology
Further development of a (gamified) finger training software for a clinical setting
Interessted in designing your own game for patients to train their finger function? Apply to this project:) Finger individuation (the ability to only move one finger independent of the others) is essential for hand function but often impaired after stroke or brain injury. A validated device exists for clinical assessment, including a basic gamified task but for training, more is needed. This project aims to expand finger rehabilitation by developing a training software with engaging exercise games. Based on clinical requirements, you will design, code, and implement motivating training games and excercises into a simple user interface to support finger rehabilitation in clinical settings.
Keywords
Game design, user-centered design, rehabilitation excercise, finger traning
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Semester Project , Internship
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Published since: 2025-07-04 , Earliest start: 2025-08-04 , Latest end: 2025-12-19
Organization Rehabilitation Engineering Lab
Hosts Knill Anna
Topics Information, Computing and Communication Sciences , Engineering and Technology
Real-Time Delay-Adaptive RL Policy for Autonomous Excavation
Gravis Robotics is an ETH spinoff from the Robotic Systems Lab (RSL) working on the automation of heavy machinery (https://gravisrobotics.com/). In this project, you will be working with the Gravis team to develop an RL digging policy that adapts to large and continuously changing time delays. You will conduct your project at Gravis with joint supervision with RSL.
Keywords
Reinforcement Learning Sim2Real
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Semester Project , Master Thesis
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Published since: 2025-07-04 , Earliest start: 2025-09-01 , Latest end: 2026-09-01
Organization Robotic Systems Lab
Hosts Egli Pascal Arturo
Topics Engineering and Technology
3D-Printed Hydrogel-Based Composites with Engineered Core–Shell Magnetoelectric Networks For Biomedical Applications.
Magnetoelectric materials are highly promising in biomedicine due to their unique ability to couple magnetic and electric fields. This coupling allows for remote and precise control of various biological processes. For instance, in drug delivery, magnetoelectric nanoparticles can be directed to specific locations within the body using an external magnetic field, followed by electrical stimulation to trigger the release of therapeutic agents. Their responsiveness and multifunctionality make magnetoelectrics a versatile tool in advancing non-invasive medical treatments and targeted therapies. In this project we aim to improve the core-shell architecture of the magnetoelectric nanoparticles (ME NPs). Afterwards, a reliable protocol to create a homogenous and colloidally stable inks (i.e. mixture of the ME NPs and a hydrogel) will be established. The ink formulation will be tested within the custom-made 3D printer. Finally, multifunctional composites will be fabricated and tested for the brain tissue stimulation.
Keywords
Nanoparticle, Iron Oxide, Barium Titanate, Surface engineering, Ink formulation, Additive Manufacturing, Digital Light Processing, Brain Tissue, Wireless Stimulation
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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-07-02 , Earliest start: 2025-07-02 , Latest end: 2026-03-31
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Organization Multiscale Robotics Lab
Hosts Pustovalov Vitaly
Topics Engineering and Technology , Chemistry , Biology
Learning Acrobatic Excavator Maneuvers
Gravis Robotics is an ETH spinoff from the Robotic Systems Lab (RSL) working on the automation of heavy machinery (https://gravisrobotics.com/). In this project you will be working with the Gravis team to develop an algorithm that allows a 25-ton excavator to perform an acrobatics maneuver, the jump turn.
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Semester Project , Master Thesis
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Published since: 2025-07-02 , Earliest start: 2025-08-01 , Latest end: 2025-12-01
Organization Robotic Systems Lab
Hosts Egli Pascal Arturo , Zhang Weixuan , Eyschen Pol
Topics Engineering and Technology
Deep Learning of Residual Physics For Soft Robot Simulation
Incorporating state-of-the-art deep learning approaches to augment conventional soft robotic simulations for a fast, accurate and useful simulation for real soft robots.
Keywords
Soft Robotics, Machine Learning, Physical Modeling, Simulation
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Semester Project , Master Thesis
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Published since: 2025-07-01 , Earliest start: 2025-03-01 , Latest end: 2026-03-01
Organization Soft Robotics Lab
Hosts Michelis Mike , Katzschmann Robert, Prof. Dr.
Topics Information, Computing and Communication Sciences , Engineering and Technology
LiDAR-Visual-Inertial Odometry with a Unified Representation
Lidar-Visual-Inertial odometry approaches [1-3] aim to overcome the limitations of the individual sensing modalities by estimating a pose from heterogenous measurements. Lidar-inertial odometry often diverges in environments with degenerate geometric structures and visual-inertial odometry can diverge in environments with uniform texture. Many existing lidar-visual-inertial odometry approaches use independent lidar-inertial and visual-inertial pipelines [2-3] to compute odometry estimates that are combined in a joint optimisation to obtain a single pose estimate. These approaches are able to obtain a robust pose estimate in degenerate environments but often underperform lidar-inertial or visual-inertial methods in non-degenerate scenarios due to the complexity of maintaining and combining odometry estimates from multiple representations.
Keywords
Odometry, SLAM, Sensor Fusion
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Semester Project , Master Thesis
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Published since: 2025-07-01 , Earliest start: 2025-07-01 , Latest end: 2026-02-28
Applications limited to ETH Zurich
Organization Autonomous Systems Lab
Hosts Mascaro Rubén , Chli Margarita
Topics Information, Computing and Communication Sciences
Volumetric Bioprinting of Engineered Muscle Tissues
We are working with an innovative volumetric printing technique – Xolography – to fabricate engineered muscle tissues that function as bioactuators for biohybrid systems. You will work at the interface between biology and robotics, helping us exploring new designs and strategies to advance the field of muscle tissue engineering and muscle-powered living machines.
Keywords
bioprinting, muscle, tissue engineering, 3D cell culture, hydrogels, biohybrid robotics, regenerative medicine, 3D models, biomaterials, biofabrication.
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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-06-27 , Earliest start: 2025-07-15
Organization Soft Robotics Lab
Hosts Badolato Asia
Topics Medical and Health Sciences , Engineering and Technology , Chemistry , Biology
Development of Wireless Ion Sensing Platforms using Metamaterials and Soft Biointerfaces
This project explores the design and realization of a flexible, wireless ion-sensing patch by integrating resonant metamaterial structures with bio-interfacing soft materials. The system is intended for noninvasive detection of physiologically relevant ions from skin-interfaced fluids using passive sensing mechanisms
Keywords
flexible electronics, metamaterials, wireless biosensors, resonant sensors, skin-compatible interfaces
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Published since: 2025-06-26 , Earliest start: 2025-08-01 , Latest end: 2025-12-31
Organization Biomedical and Mobile Health Technology Lab
Hosts Zada Muhammad
Topics Engineering and Technology
Learning Manipulation beyond Single End-Effector
Robots, like humans, should be able to use different parts of their morphology (base, elbow, hips, feet) for interaction. This project focuses on learning multi-modal interactions from demonstrations for mobile manipulators.
Keywords
machine learning, manipulation, robotics
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Semester Project , Master Thesis
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Published since: 2025-06-25 , Earliest start: 2024-01-08
Organization Robotic Systems Lab
Hosts Mittal Mayank
Topics Information, Computing and Communication Sciences , Behavioural and Cognitive Sciences
Differentiable Simulation for Precise End-Effector Tracking
Unlock the potential of differentiable simulation on ALMA, a quadrupedal robot equipped with a robotic arm. Differentiable simulation enables precise gradient-based optimization, promising greater tracking accuracy and efficiency compared to standard reinforcement learning approaches. This project dives into advanced simulation and control techniques, paving the way for improvements in robotic trajectory tracking.
Keywords
Differentiable Simulation, Learning, ALMA
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-06-17 , Earliest start: 2025-01-27
Organization Robotic Systems Lab
Hosts Mittal Mayank , Schwarke Clemens , Klemm Victor
Topics Information, Computing and Communication Sciences
AI-Driven Push Notifications for Monitoring and Enhancing Adherence in At-Home Neurorehabilitation
Adherence to rehabilitation therapy is crucial for the recovery of hand functionality in stroke and traumatic brain injury (TBI) patients. However, sustaining patient motivation to train at home remains a challenge. This project aims to explore the impact of push notifications delivered via LLM chatbots on adherence to physical therapy among stroke and TBI patients. By investigating the optimal frequency and content of notifications, the goal is to develop an AI-driven notification/reminder system that fosters continuous engagement with the rehabilitation plan, ultimately promoting increased therapy and better functional outcomes for patients.
Keywords
App Development, Stroke, Traumatic Brain Injury, Rehabilitation, Adherence to Therapy, Push Notifications, mHealth Apps, Large Language Models, Interdisciplinary Research, React Native
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-06-17 , Earliest start: 2025-06-22 , Latest end: 2026-09-01
Organization Rehabilitation Engineering Lab
Hosts Retevoi Alexandra
Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Personalized Low Latency Interactive AI Project
We are seeking one highly motivated student to join our innovative project focused on developing a cutting-edge voice recognition and personalization platform for wheelchair users This project aims to deliver low-latency, context-aware, and personalized AI interactions in noisy, multi-user environments, leveraging advanced models and distilled LLMs, combined with biosignal tracking and GDPR-compliant data management.
Keywords
Voice recognition, AI personalization, low latency, LLMs, biosignal tracking, neurofeedback, multi-user environments, audio processing
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Semester Project , Internship , Master Thesis
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Published since: 2025-06-11 , Earliest start: 2025-08-01
Organization Sensory-Motor Systems Lab
Hosts Paez Diego, Dr.
Topics Engineering and Technology
How to Touch: Exploring Tactile Representations for Reinforcement Learning
Developing and benchmarking tactile representations for dexterous manipulation tasks using reinforcement learning.
Keywords
Reinforcement Learning, Dexterous Manipulation, Tactile Sensing
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-06-04 , Earliest start: 2024-12-15 , Latest end: 2025-06-01
Applications limited to ETH Zurich
Organization Robotic Systems Lab
Hosts Bhardwaj Arjun , Zurbrügg René
Topics Information, Computing and Communication Sciences
AI-Driven Rock Reshaping Simulation and Control
This project develops an intelligent system for controlling rock fracture by combining finite element analysis (FEM) with machine learning. FEM simulations train a graph neural network (GNN) to predict fracture patterns. A reinforcement learning (RL) agent then uses this predictive GNN to learn optimal actions for guiding fractures towards a desired rock geometry, enabling precise and goal-oriented control.
Keywords
machine learning, deep learning, reinforcement learning, graph neural networks, construction robotics, space robotics
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Semester Project , Master Thesis
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Published since: 2025-06-02 , Earliest start: 2025-07-07
Organization Robotic Systems Lab
Hosts Spinelli Filippo
Topics Information, Computing and Communication Sciences , Engineering and Technology
Development of Neuromuscular Biohybrid Robots
Biohybrid robots integrate living cells and synthetic components to achieve motion. These systems often rely on engineered skeletal muscle tissues that contract upon electrical stimulation for actuation. Neuromuscular-powered biohybrid robots take this concept further by integrating motor neurons to induce muscle contractions, mimicking natural muscle actuation. In our lab, we are developing neuromuscular actuators using advanced 3D co-culture systems and biofabrication techniques to enable functional macro-scale biohybrid robots.
Keywords
Tissue engineering, mechanical engineering, biology, neuroengineering, biomaterials, biohybrid robotics, 3D in vitro models, biofabrication, bioprinting, volumetric printing.
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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-05-28 , Earliest start: 2025-06-02
Organization Soft Robotics Lab
Hosts Badolato Asia , Katzschmann Robert, Prof. Dr.
Topics Medical and Health Sciences , Engineering and Technology , Biology
Learning Terrain Traversal from Human Strategies for Agile Robotics
Teaching robots to walk on complex and challenging terrains, such as rocky paths, uneven ground, or cluttered environments, remains a fundamental challenge in robotics and autonomous navigation. Traditional approaches rely on handcrafted rules, terrain classification, or reinforcement learning, but they often struggle with generalization to real-world, unstructured environments.
Keywords
3D reconstruction, egocentric video, SMPL representation
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Semester Project , Master Thesis
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Published since: 2025-05-21 , Earliest start: 2025-05-26
Organization Computer Vision and Geometry Group
Hosts Wang Xi , Frey Jonas , Patel Manthan , Kaufmann Manuel , Li Chenhao
Topics Information, Computing and Communication Sciences
HandoverNarrate: Language-Guided Task-Aware Motion Planning for Handovers with Legged Manipulators
This project addresses the challenge of task-oriented human-robot handovers, where a robot must transfer objects in a manner that directly facilitates the human’s next action. In our prior work, we demonstrated that robots can present objects appropriately for immediate human use by leveraging large language models (LLMs) to reason about task context. However, integrating task-specific physical constraints—such as ensuring a full mug remains upright during transport—into the motion planning process remains unsolved. In this project, we aim to extend our existing motion planning framework for legged manipulators by incorporating such constraints. We propose using LLMs to dynamically generate task-aware constraint formulations based on high-level task descriptions and object states. These constraints will then be used to adjust the cost function of the model predictive controller in real time, enabling more context-sensitive and physically appropriate handovers.
Keywords
language-guided motion planning, legged robotics, human-robot collaboration
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Semester Project , Bachelor Thesis
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Published since: 2025-05-21
Applications limited to ETH Zurich
Organization Robotic Systems Lab
Hosts Tulbure Andreea
Topics Information, Computing and Communication Sciences
Humanoid Locomotion in Rough Terrain via Imitation Learning
TLDR: Make Humanoid walk in rough terrain using human demonstration and RL
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Semester Project , Master Thesis
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Published since: 2025-05-21 , Earliest start: 2025-05-31 , Latest end: 2025-09-30
Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne , University of Zurich
Organization Robotic Systems Lab
Hosts Frey Jonas
Topics Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences
Embedded algorithms of IMUs in a neurorehabilitation device
The goal of this project is to help develop embedded firmware for a imu based rehabilitation device. This project is part of the SmartVNS project which utilizes movement-gated control of vagus nerve stimulation for stroke rehabilitation.
Keywords
electrical engineering PCB Embedded systems neurorehabilitation
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Semester Project , Master Thesis
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Published since: 2025-05-19 , Earliest start: 2024-01-06 , Latest end: 2024-12-31
Organization Rehabilitation Engineering Lab
Hosts Donegan Dane , Viskaitis Paulius
Topics Medical and Health Sciences , Engineering and Technology
Development of Regulatory Documentation for a Novel Neurorehabilitation Device: Preparation for FDA and Swissmedic Compliance
Stroke is a leading cause of long-term disability, affecting millions annually and necessitating innovative approaches to rehabilitation. The Rehabilitation Engineering Laboratory (RELab) at ETH Zurich is developing a novel closed-loop neurorehabilitation device that integrates real-time motion tracking with non-invasive brain stimulation to enhance neural plasticity and promote motor recovery in stroke patients. To advance this technology toward clinical trials, comprehensive regulatory documentation is essential to meet the stringent requirements of the U.S. Food and Drug Administration (FDA) and Swissmedic. This project focuses on preparing an Investigational Device Exemption (IDE) application for the FDA and supporting documentation for Swissmedic compliance, including technical descriptions, risk analyses, and clinical study protocols. The student will conduct literature reviews, draft regulatory documents, and support risk management in accordance with ISO 14971, contributing to the device’s regulatory pathway. This work offers a unique opportunity to gain expertise in medical device regulation, bridging biomedical engineering and neuroscience, and advancing a transformative solution for stroke rehabilitation.
Keywords
regulatory affairs, medical device, non-invasive brain stimulation, FDA, Swissmedic, investigational device exemption, IDE, stroke rehabilitation, compliance
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Semester Project , Internship , Bachelor Thesis , Master Thesis
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Published since: 2025-05-19 , Earliest start: 2025-05-25 , Latest end: 2025-08-01
Organization Rehabilitation Engineering Lab
Hosts Donegan Dane , Viskaitis Paulius
Topics Medical and Health Sciences , Engineering and Technology
Global Optimization Enabled by Learning
We aim to characterize optimization landscapes using metrics such as Sobolev norms, measuring function smoothness, Hessian spectral properties, indicating curvature, and the tightness of semidefinite programming (SDP) relaxations (relevant for polynomial optimization). The core innovation lies in translating these metrics into differentiable objectives or regularizers. By incorporating these into the training process, we encourage the learned modules to produce downstream optimization problems that are inherently well-conditioned and possess favourable global structures
Keywords
Optimization, Learning, Optimal, Robotics
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Semester Project , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-05-19 , Earliest start: 2025-06-01 , Latest end: 2026-06-01
Organization Robotic Systems Lab
Hosts Talbot William , Tuna Turcan
Topics Engineering and Technology
Strategic Financial Modelling and Business Plan Development for a Breakthrough Neurorehabilitation Device
With over 14 million stroke cases annually, the global neurorehabilitation market presents a multi-billion-dollar opportunity for innovative solutions addressing motor recovery. The Rehabilitation Engineering Laboratory (RELab) at ETH Zurich is developing a revolutionary closed-loop neurorehabilitation device that leverages motion tracking and non-invasive brain stimulation to transform stroke rehabilitation. This project aims to develop a sophisticated financial model and a strategic business plan to propel the device to market leadership. The student will conduct market analysis, build financial projections, and craft a compelling business strategy, focusing on pricing, reimbursement, and investor engagement. By delivering investor-ready materials and a scalable commercialization plan, this work will position the device for rapid market entry and long-term success, offering the student a unique opportunity to blend business strategy, entrepreneurship, and healthcare innovation.
Keywords
financial modelling, business strategy, medical device, neurorehabilitation, startup, stroke rehabilitation, entrepreneurship, market entry, investment
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Semester Project , Internship , Bachelor Thesis , Master Thesis
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Published since: 2025-05-19 , Earliest start: 2025-05-25 , Latest end: 2025-09-01
Organization Rehabilitation Engineering Lab
Hosts Viskaitis Paulius
Topics Medical and Health Sciences , Engineering and Technology , Economics , Commerce, Management, Tourism and Services
Stanford – UC Berkeley Collaboration: Learning Progress Driven Reinforcement Learning for ANYmal
TLDR: Improving navigation capabilities of ANYmal - RL is simulation - optimizing learning progress.
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Semester Project , Master Thesis
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Published since: 2025-05-14 , Earliest start: 2025-05-14 , Latest end: 2025-08-31
Applications limited to EPFL - Ecole Polytechnique Fédérale de Lausanne , ETH Zurich , University of Zurich
Organization Robotic Systems Lab
Hosts Frey Jonas
Topics Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences
Fine-tuning Policies in the Real World with Reinforcement Learning
Explore online fine-tuning in the real world of sub-optimal policies.
Keywords
online fine-tuning, reinforcement learning (RL), continual learning, drones, robotics
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Semester Project , Master Thesis
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Published since: 2025-05-13 , Earliest start: 2025-06-01 , Latest end: 2026-04-30
Organization Robotics and Perception
Hosts Geles Ismail
Topics Information, Computing and Communication Sciences , Engineering and Technology
Inverse Reinforcement Learning from Expert Pilots
Use Inverse Reinforcement Learning (IRL) to learn reward functions from previous expert drone demonstrations.
Keywords
Inverse Reinforcement Learning, Drones, Robotics
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Semester Project , Master Thesis
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Published since: 2025-05-13 , Earliest start: 2025-06-01 , Latest end: 2026-04-30
Organization Robotics and Perception
Hosts Geles Ismail
Topics Information, Computing and Communication Sciences , Engineering and Technology
Advancing Low-Latency Processing for Event-Based Neural Networks
Design and implement efficient event-based networks to achieve low latency inference.
Keywords
Computer Vision, Event Cameras
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Semester Project , Master Thesis
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Published since: 2025-05-12 , Earliest start: 2024-12-12
Organization Robotics and Perception
Hosts Messikommer Nico
Topics Information, Computing and Communication Sciences
Visual Language Models for Long-Term Planning
This project uses Visual Language Models (VLMs) for high-level planning and supervision in construction tasks, enabling task prioritization, dynamic adaptation, and multi-robot collaboration for excavation and site management. prioritization, dynamic adaptation, and multi-robot collaboration for excavation and site management
Keywords
Visual Language Models, Long-term planning, Robotics
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Semester Project , Master Thesis
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Published since: 2025-05-07 , Earliest start: 2025-06-01 , Latest end: 2025-12-31
Organization Robotic Systems Lab
Hosts Terenzi Lorenzo
Topics Information, Computing and Communication Sciences
AI Agents for Excavation Planning
Recent advancements in AI, particularly with models like Claude 3.7 Sonnet, have showcased enhanced reasoning capabilities. This project aims to harness such models for excavation planning tasks, drawing parallels from complex automation scenarios in games like Factorio. We will explore the potential of these AI agents to plan and optimize excavation processes, transitioning from simulated environments to real-world applications with our excavator robot.
Keywords
GPT, Large Language Models, Robotics, Deep Learning, Reinforcement Learning
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Semester Project , Master Thesis
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Published since: 2025-05-07 , Earliest start: 2025-07-01 , Latest end: 2025-12-31
Organization Robotic Systems Lab
Hosts Terenzi Lorenzo
Topics Engineering and Technology
Modelling and Optimizing the Power Budget of a Bridge-Mounted Camera System for River Waste Monitoring
In this thesis, you will contribute to the Autonomous River Cleanup (ARC) by helping develop SARA, a bridge-mounted, camera-based system for monitoring river waste. Your focus will be on modeling the system’s power dynamics to determine the ideal battery and solar panel size, and balancing runtime throughout the day with overall the system size and weight. If time allows, you will also validate your findings with tests on the real hardware.
Keywords
system modelling, power electronics, simulations
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Semester Project , Bachelor Thesis
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Published since: 2025-04-27 , Earliest start: 2025-05-05 , Latest end: 2025-09-30
Applications limited to ETH Zurich
Organization Robotic Systems Lab
Hosts Elbir Emre
Topics Engineering and Technology
Domain Adaptation Techniques for Vision Algorithms on a Smartphone for River Waste Monitoring
In this thesis, you will work on SARA, a bridge-mounted, smartphone-based system for detecting and monitoring river waste. The focus will be on selecting lightweight detection and classification models suitable for smartphones and exploring domain adaptation techniques to improve performance across different locations with minimal retraining. Your work will build on previous research at ARC and current literature to develop solutions that balance model robustness and computational efficiency.
Keywords
machine learning, computer vision, domain adaptation techniques
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Published since: 2025-04-27 , Earliest start: 2025-05-05 , Latest end: 2025-09-30
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Organization Robotic Systems Lab
Hosts Elbir Emre
Topics Engineering and Technology
Optimal Robot Configuration for Autonomous Waste Sorting in Confined Spaces
In this thesis, you will contribute to the Autonomous River Cleanup (ARC) by helping improve MARC, our robotic platform for autonomous waste sorting. Your work will focus on optimizing the robot arm configuration by simulating different base locations and degrees of freedom to achieve faster and more efficient pick-and-place movements in a confined space. You will build on our existing simulation environment to model and evaluate various setups.
Keywords
modelling and simulations, robotics, robot dynamics
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Published since: 2025-04-27 , Earliest start: 2025-05-05 , Latest end: 2025-09-30
Applications limited to ETH Zurich
Organization Robotic Systems Lab
Hosts Elbir Emre
Topics Engineering and Technology
Thermal Protection of a Bridge-Mounted Camera System for River Waste Monitoring
The Autonomous River Cleanup (ARC) is developing SARA, the next iteration of a bridge-mounted, camera-based system to detect and measure riverine waste. Smartphones offer a compact, affordable, and powerful core for year-round monitoring but are vulnerable to shutdowns from extreme heat in summer and cold in winter. This thesis focuses on assessing these thermal challenges and designing protective solutions to ensure reliable, continuous operation.
Keywords
thermodynamics, heat transfer, testing
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Semester Project , Bachelor Thesis
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Published since: 2025-04-27 , Earliest start: 2025-05-05 , Latest end: 2025-09-30
Applications limited to ETH Zurich
Organization Robotic Systems Lab
Hosts Elbir Emre
Topics Engineering and Technology
Agile Flight of Flexible Drones in Confined Spaces
The project aims to create a controller for an interesting and challenging type of quadrotor, where the rotors are connected via flexible joints.
Keywords
Robotics, Autonomous Systems, Model Predictive Control, Quadcopter, Drone Racing, Approximate Dynamic Programming, Model-Based Reinforcement Learning
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Semester Project , Master Thesis
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Published since: 2025-04-17 , Earliest start: 2025-06-01 , Latest end: 2026-03-01
Organization Robotics and Perception
Hosts Reiter Rudolf
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Vision-Based World Models for Real-Time Robot Control
This project aims to use vision-based world models as a basis for model-based reinforcement learning, aiming to achieve a generalizable approach for drone navigation.
Keywords
Robotics, Autonomous Systems, Computer Vision, Foundation Models, Reinforcement Learning
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Semester Project , Master Thesis
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Published since: 2025-04-17 , Earliest start: 2025-05-01 , Latest end: 2026-02-28
Organization Robotics and Perception
Hosts Reiter Rudolf
Topics Information, Computing and Communication Sciences
Vision-Based Reinforcement Learning in the Real World
We aim to learn vision-based policies in the real world using state-of-the-art model-based reinforcement learning.
Keywords
Robotics, Autonomous Systems, Computer Vision, Reinforcement Learning
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Semester Project , Master Thesis
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Published since: 2025-04-17 , Earliest start: 2025-05-01 , Latest end: 2026-02-01
Organization Robotics and Perception
Hosts Reiter Rudolf
Topics Information, Computing and Communication Sciences , Engineering and Technology
Smart Microcapsules for Biomedical Advances
This Master's thesis/semester project focuses on the microfluidic fabrication of microcapsules with multi-environmental responsiveness. The aim is to develop microcapsule-based microrobots capable of adapting to various environmental cues. We envision that these microrobots will be used for complex tasks in biomedical applications.
Keywords
Microfluidics, Microcapsules, Microrobotics, Responsive Polymers, Biomedical Engineering
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Semester Project , Internship , Master Thesis , Student Assistant / HiWi , ETH Zurich (ETHZ)
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Published since: 2025-04-08 , Earliest start: 2025-07-01
Organization Multiscale Robotics Lab
Hosts Hu Minghan
Topics Medical and Health Sciences , Engineering and Technology , Chemistry
Combined Muscle and Nerve Tissue Engineering
Engineered muscle tissues have applications in regenerative medicine, drug testing, and understanding motion. A key challenge is restoring neuromuscular communication, especially in treating volumetric muscle loss (VML). This project aims to create functional neuromuscular constructs with biomimetic innervation. Scaffolds will be made using electrospun fibers, conductive materials, and drug-loaded graphene. Muscle and nerve cells derived from iPSCs will be seeded into these scaffolds. Constructs will be tested for motion, drug response, and integration in bio-hybrid robotic systems. The platform will advance muscle-nerve regeneration, drug testing, and bio-hybrid robotics.
Keywords
Tissue engineering, innervation, neural tissue, nerve, muscle tissue, scaffold, iPSCs, muscle cells, bioprinting, biofabrication, biohybrid robotics, soft robotics, 3D printing, biomaterials, electrical stimulation, actuation.
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Semester Project , Master Thesis
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Published since: 2025-04-06 , Earliest start: 2025-04-06 , Latest end: 2025-09-30
Organization Soft Robotics Lab
Hosts Filippi Miriam
Topics Medical and Health Sciences , Engineering and Technology , Biology
Develop Dexterous Humanoid Robotic Hands
Design and build dexterous human-like robotic hands with us at the Soft Robotics Lab and the ETH spin-off mimic. We will explore different possibilities of developing design features and sub-systems. The developed features shall be integrated into a fully functional robotic hand and applied to solve practical manipulation challenges.
Keywords
humanoid, robotics, hand, dexterity, soft robotics, actuation, prototyping, modeling and control, mechatronics, biomimetic, design, 3D printing, silicone casting, electronics, machine learning, control
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Semester Project , Master Thesis
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Published since: 2025-03-24 , Earliest start: 2025-01-01 , Latest end: 2026-03-31
Organization Soft Robotics Lab
Hosts Weirich Stefan
Topics Engineering and Technology
Time-continuous Facial Motion Capture Using Event Cameras
Traditional facial motion capture systems, including marker-based methods and multi-camera rigs, often struggle to capture fine details such as micro-expressions and subtle wrinkles. While learning-based techniques using monocular RGB images have improved tracking fidelity, their temporal resolution remains limited by conventional camera frame rates. Event-based cameras present a compelling solution, offering superior temporal resolution without the cost and complexity of high-speed RGB cameras. This project explores the potential of event-based cameras to enhance facial motion tracking, enabling the precise capture of subtle facial dynamics over time.
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-03-19 , Earliest start: 2025-03-23 , Latest end: 2025-12-31
Organization Robotics and Perception
Hosts Pellerito Roberto
Topics Engineering and Technology
Intelligent Micromachines Made from Droplet-Based Factory
We invite applications for a Master's thesis / semester project that focuses on the fabrication of microrobots with custom shapes. Using our developed droplet printing technique, this project will explore how different microrobot shapes, created by different magnetic fields and materials, influence their control behaviors in blood vessels. This research aims to advance biomedical technologies, particularly in targeted drug delivery and minimally invasive procedures.
Keywords
Microrobotics, 4D Printing, Soft Materials, Biomedical Devices
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Semester Project , Master Thesis , Student Assistant / HiWi , ETH Zurich (ETHZ)
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Published since: 2025-03-18 , Earliest start: 2025-06-02
Organization Multiscale Robotics Lab
Hosts Hu Minghan
Topics Engineering and Technology , Chemistry
Better Scaling Laws for Neuromorphic Systems
This project explores and extends the novel "deep state-space models" framework by leveraging their transfer function representations.
Keywords
deep learning, state space models, transfer function, parameterizations, S4 model, Fourier Transform, Convolution, Neuromorphic Systems, Neuromorphic, Sequence Modeling, Event-based Vision
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Semester Project , Master Thesis
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Published since: 2025-03-18
Applications limited to University of Zurich , ETH Zurich
Organization Robotics and Perception
Hosts Zubic Nikola
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Generalist Excavator Transformer
We want to develop a generalist digging agent that is able to do multiple tasks, such as digging and moving loose soil, and/or control multiple excavators. We plan to use decision transformers, trained on offline data, to accomplish these tasks.
Keywords
Offline reinforcement learning, transformers, autonomous excavation
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Semester Project , Master Thesis
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Published since: 2025-03-11 , Earliest start: 2025-07-01 , Latest end: 2025-12-31
Organization Robotic Systems Lab
Hosts Werner Lennart , Egli Pascal Arturo , Terenzi Lorenzo , Nan Fang , Zhang Weixuan
Topics Information, Computing and Communication Sciences
Beyond Value Functions: Stable Robot Learning with Monte-Carlo GRPO
Robotics is dominated by on-policy reinforcement learning: the paradigm of training a robot controller by iteratively interacting with the environment and maximizing some objective. A crucial idea to make this work is the Advantage Function. On each policy update, algorithms typically sum up the gradient log probabilities of all actions taken in the robot simulation. The advantage function increases or decreases the probabilities of these taken actions by comparing their “goodness” versus a baseline. Current advantage estimation methods use a value function to aggregate robot experience and hence decrease variance. This improves sample efficiency at the cost of introducing some bias. Stably training large language models via reinforcement learning is well-known to be a challenging task. A line of recent work [1, 2] has used Group-Relative Policy Optimization (GRPO) to achieve this feat. In GRPO, a series of answers are generated for each query-answer pair. The advantage is calculated based on a given answer being better than the average answer to the query. In this formulation, no value function is required. Can we adapt GRPO towards robot learning? Value Functions are known to cause issues in training stability [3] and a result in biased advantage estimates [4]. We are in the age of GPU-accelerated RL [5], training policies by simulating thousands of robot instances simultaneously. This makes a new monte-carlo (MC) approach towards RL timely, feasible and appealing. In this project, the student will be tasked to investigate the limitations of value-function based advantage estimation. Using GRPO as a starting point, the student will then develop MC-based algorithms that use the GPU’s parallel simulation capabilities for stable RL training for unbiased variance reduction while maintaining a competitive wall-clock time.
Keywords
Robot Learning, Reinforcement Learning, Monte Carlo RL, GRPO, Advantage Estimation
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-03-05
Organization Robotic Systems Lab
Hosts Klemm Victor
Topics Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences
Generating Realistic Event Camera Data with Generative AI
In this project, the student applies concepts from current advances in image generation to create artificial events from standard frames. Multiple state-of-the-art deep learning methods will be explored in the scope of this project.
Keywords
Computer Vision, Event Cameras, Deep Learning
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Semester Project , Master Thesis
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Published since: 2025-02-10 , Earliest start: 2024-12-12
Organization Robotics and Perception
Hosts Messikommer Nico
Topics Information, Computing and Communication Sciences
Enhancing Robotic Motor Policies with Event Cameras
The goal of this project is to develop a shared embedding space for events and frames, enabling the training of a motor policy on simulated frames and deployment on real-world event data.
Keywords
Computer Vision, Event Cameras, Robotics, Unsupervised Domain Adaption
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Semester Project , Master Thesis
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Published since: 2025-02-10 , Earliest start: 2024-12-12
Organization Robotics and Perception
Hosts Messikommer Nico
Topics Information, Computing and Communication Sciences
Diffusion-based Shared Autonomy System for Telemanipulation
Robots may not be able to complete tasks fully autonomously in unstructured or unseen environments, however direct teleoperation from human operators may also be challenging due to the difficulty of providing full situational awareness to the operator as well as degradation in communication leading to the loss of control authority. This motivates the use of shared autonomy for assisting the operator thereby enhancing the performance during the task. In this project, we aim to develop a shared autonomy framework for teleoperation of manipulator arms, to assist non-expert users or in the presence of degraded communication. Imitation learning, such as diffusion models, have emerged as a popular and scalable approach for learning manipulation tasks [1, 2]. Additionally, recent works have combined this with partial diffusion to enable shared autonomy [3]. However, the tasks were restricted to simple 2D domains. In this project, we wish to extend previous work in the lab using diffusion-based imitation learning, to enable shared autonomy for non-expert users to complete unseen tasks or in degraded communication environments.
Keywords
Imitation learning, Robotics, Manipulation, Teleoperation
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Semester Project , ETH Zurich (ETHZ)
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Published since: 2024-12-02 , Earliest start: 2024-11-01 , Latest end: 2025-11-01
Applications limited to ETH Zurich , University of Zurich
Organization Robotic Systems Lab
Hosts Elanjimattathil Aravind
Topics Information, Computing and Communication Sciences , Engineering and Technology