Semester Project
Semester Projects at IRIS
Low-Dose CT Phantom for Neonates & Children – Materials, Manufacturing & Clinical Validation
Three-dimensional medical imaging techniques such as Computed Tomography (CT) and MRI are indispensable in modern clinical workflows. CT utilizes X-rays acquired from multiple angles to reconstruct detailed volumetric patient anatomy data. Due to the harmful effects of ionizing radiation, especially in vulnerable populations such as infants, it is critical to minimize radiation exposure while maintaining diagnostic image quality. Optimizing CT parameters requires systematic studies, yet direct experimentation on infants is ethically and medically unacceptable. This project aims to develop a novel infant head phantom that accurately replicates the radiological properties of an infant’s head. The phantom will serve as a testbed for CT imaging studies, enabling the optimization of scan parameters that balance minimal radiation exposure with high-quality image acquisition tailored for pediatric neuroimaging.
Keywords
pediatric CT imaging, child radiation safety, low-dose CT, medical imaging phantom, 3D-printed phantom, biomedical engineering thesis, materials for radiology, imaging dose reduction, ETH Zurich research, clinical radiology innovation
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Semester Project , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-04-30 , Earliest start: 2025-05-01
Applications limited to ETH Zurich
Organization Multiscale Robotics Lab
Hosts Landers Fabian
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
Applications limited to ETH Zurich
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
Utilizing human body for ambient electromagnetic energy harvesting
The goal of the project is to develop wearable devices, for use in environmental electromagnetic energy recovery based on human body application.
Keywords
Flexible electronics, electromagnetic energy harvesting
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-04-23 , Earliest start: 2025-05-31
Organization Biomedical and Mobile Health Technology Lab
Hosts Li Yuanlong
Topics Engineering and Technology
Metal oxide-based textile logic electronics
The goal of the project is to develop metal oxide-based logic electronics, for use in rectification and/or memristor application.
Keywords
Metal oxide, smart textile, wearable electronics, logic electronics, electrochemistry
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-04-21 , Earliest start: 2025-05-31 , Latest end: 2025-11-30
Organization Biomedical and Mobile Health Technology Lab
Hosts Li Yuanlong
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
Language-guided Drone Control
Explore the use of large vision language models to control a drone.
Keywords
Human-drone interaction, large language models (LLMs), Robotics
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Semester Project , Master Thesis
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Published since: 2025-04-10 , Earliest start: 2025-05-01 , Latest end: 2026-02-28
Organization Robotics and Perception
Hosts Geles Ismail
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
Low-Voltage Soft Actuators for Developing Untethered Robotic Systems
We are building the next generation of HALVE (Hydraulically Amplified Low-Voltage Electrostatic) actuators which are flexible, pouch-based electrostatic actuators that operate at voltages 5–10× lower than traditional soft electrostatic systems. You will help us explore novel actuator geometries, ultra-thin functional layers, and new fabrication techniques to unlock scalable, energy-efficient soft robotic systems.
Keywords
soft robotics, low-voltage actuation, dielectric elastomers, electrostatic actuators, fabrication, PVDF-TrFE-CTFE, vapor deposition, CNC sealing, mechatronics, materials science
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-04-07 , Earliest start: 2025-04-14 , Latest end: 2026-01-31
Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne , Empa
Organization Soft Robotics Lab
Hosts Albayrak Deniz , Hinchet Ronan
Topics Engineering and Technology
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
Master Thesis / Project - SENSEI: Sensor Teaching in Multi-Activity classification from Video and Wearables for Wheelchair Users
In this project, we focus on continuous and quantitative monitoring of activities of daily living (ADL) in SCI individuals with the goal of identifying cardiovascular events and PI-related risk behaviors. ADLs specific to SCI patients and their lifestyles shall be discussed and narrowed down in the scope of this work, therefore an autonomous camera-based system is proposed to classify ADLs. The Current work builds on a previous project where a SlowFast network [1] was trained to identify SCI-specific classes and we aim to further improve the classification and temporal resolution for transferring to wearables' time-series data.
Keywords
Computer vision, activity classification, video processing, Deep Learning, ADL, soft-labelling, probabilistic networks
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Semester Project , Course Project , Internship , Bachelor Thesis , Master Thesis , ETH for Development (ETH4D) (ETHZ) , ETH Zurich (ETHZ)
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Published since: 2025-03-25 , Earliest start: 2025-05-01 , Latest end: 2026-02-28
Applications limited to EPFL - Ecole Polytechnique Fédérale de Lausanne , ETH Zurich , Zurich University of the Arts , Wyss Translational Center Zurich , University of Zurich , Zurich University of Applied Sciences , CERN , CSEM - Centre Suisse d'Electronique et Microtechnique , Department of Quantitative Biomedicine , Lucerne University of Applied Sciences and Arts , Institute for Research in Biomedicine , IBM Research Zurich Lab , University of St. Gallen , University of Lucerne , University of Lausanne , University of Geneva , University of Fribourg , University of Berne , University of Basel , Université de Neuchâtel , Swiss Institute of Bioinformatics , Swiss National Science Foundation , Swiss Federal Institute for Forest, Snow and Landscape Research , Institute of Robotics and Intelligent Systems D-MAVT , TU Berlin , TU Darmstadt , TU Dresden , RWTH Aachen University , Technische Universität München , Technische Universität Hamburg , Max Planck Society , University of Oxford , University of Leeds , University of Cambridge , UCL - University College London , National Institute for Medical Research , Imperial College London , Royal College of Art , Empa , Università della Svizzera italiana , Hochschulmedizin Zürich , Hong Kong University of Science and Technology , University of Washington , Tokyo Institute of Technology , The University of Tokyo
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 , Behavioural and Cognitive Sciences
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: 2025-03-01 , Latest end: 2025-08-31
Organization Robotic Systems Lab
Hosts Werner Lennart , Egli Pascal Arturo , Terenzi Lorenzo , Nan Fang , Zhang Weixuan
Topics Information, Computing and Communication Sciences
Differential Particle Simulation for Robotics
This project focuses on applying differential particle-based simulation to address challenges in simulating real-world robotic tasks involving interactions with fluids, granular materials, and soft objects. Leveraging the differentiability of simulations, the project aims to enhance simulation accuracy with limited real-world data and explore learning robotic control using first-order gradient information.
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Semester Project , Master Thesis
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Published since: 2025-03-10 , Earliest start: 2025-01-01 , Latest end: 2025-12-31
Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne
Organization Robotic Systems Lab
Hosts Nan Fang , Ma Hao
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
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Published since: 2025-03-09 , Earliest start: 2025-03-24 , Latest end: 2026-08-31
Organization Biomedical and Mobile Health Technology Lab
Hosts Kateb Pierre
Topics Engineering and Technology
Development of intelligent lab-on-a-chip devices for high-throughput cell manipulation and microrobot production
Microfluidic devices can be employed in biological research as lab-on-a-chip (LoC) and organ-on-a-chip (OoC) systems. These platforms enable precise in-situ cell manipulation within a highly controlled environment. In the project, we aim to develop an intelligent LoC/OoC device featuring a flexible smart “switch”, for massive production of biohybrid microrobots and high-throughput cell manipulation and drug testing.
Keywords
Lab-on-a-chip, organ-on-a-chip, magnetic microrobot, cell manipulation
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-03-05 , Earliest start: 2025-03-10 , Latest end: 2025-12-31
Applications limited to ETH Zurich , Empa , EPFL - Ecole Polytechnique Fédérale de Lausanne , University of Basel , University of Berne , University of Fribourg , University of Geneva , University of Lausanne , University of Lucerne , University of St. Gallen , University of Zurich , Zurich University of Applied Sciences , Zurich University of the Arts , Hochschulmedizin Zürich , Lucerne University of Applied Sciences and Arts
Organization Multiscale Robotics Lab
Hosts Zhu Jiawei
Topics Engineering and Technology , Biology
Novel Winch Control for Robotic Climbing
While legged robots have demonstrated impressive locomotion performance in structured environments, challenges persist in navigating steep natural terrain and loose, granular soil. These challenges extend to extraterrestrial environments and are relevant to future lunar, martian, and asteroidal missions. In order to explore the most extreme terrains, a novel winch system has been developed for the ANYmal robot platform. The winch could potentially be used as a fail-safe device to prevent falls during unassisted traverses of steep terrain, as well as an added driven degree of freedom for assisted ascending and descending of terrain too steep for unassisted traversal. The goal of this project is to develop control policies that utilize this new hardware and enable further climbing robot research.
Keywords
Robot, Space, Climbing, Winch, Control
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Semester Project , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-03-05 , Earliest start: 2024-10-07
Organization Robotic Systems Lab
Hosts Vogel Dylan
Topics Information, Computing and Communication Sciences , Engineering and Technology
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
Magnetic microrobots for targeted therapies
Recent advancements in medical robotics have significantly enhanced precision and innovation in healthcare, indicating a new era of minimally invasive procedures that reduce patient complications and discomfort. In particular, the development of robots constructed from materials with elastic moduli similar to soft biological tissues offers substantial promise for biomedical applications, as their inherent mechanical compliance improves safety during procedures. This project aims to fabricate double-compartment, soft, tether-free magnetic microrobots and to investigate their locomotion strategies. Critical parameters, including shape and magnetic anisotropy, will be examined in detail. Finally, the prototypes will be loaded with a model drug and evaluated in vitro using a silicone model.
Keywords
Nanoparticles, Iron Oxide, Hydrogel, Magnetic Navigation, Anisotropy
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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-03-04 , Earliest start: 2025-03-09 , Latest end: 2025-08-31
Applications limited to ETH Zurich
Organization Multiscale Robotics Lab
Hosts Pustovalov Vitaly
Topics Engineering and Technology , Earth Sciences , Chemistry
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: 2025-03-02 , 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
Volumetric Bucket-Fill Estimation
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 a perceptive bucket-fill estimation system. You will conduct your project at Gravis under joint supervision from RSL.
Keywords
Autonomous Excavation
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Semester Project , Master Thesis
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Published since: 2025-02-28 , Earliest start: 2025-01-01 , Latest end: 2026-01-01
Organization Robotic Systems Lab
Hosts Egli Pascal Arturo
Topics Engineering and Technology
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: 2025-02-21 , Earliest start: 2023-11-01 , Latest end: 2024-12-31
Organization Robotics and Perception
Hosts Xing Jiaxu
Topics Engineering and Technology
Maturation Platform for Engineered 3D Muscle Tissues
The frontier of research in soft robotics aims at replacing classic soft materials used for actuators with biological ones (muscle) to take advantage of the innate adaptability, energy efficiency, and softness of biological systems. To grow more performant muscle tissues for robotics, we need to engineer a maturation platform for the muscle tissues that can provide the necessary mechanical and electrical cues. Therefore, in this project, we will aim to engineer a maturation platform for skeletal muscle bioactuators. The maturation platform will work as a device that applies cyclic stretch to the growing skeletal muscle tissue by pneumatic actuation. An initial prototype of the maturation platform has already been designed (see image). Your project will start from this prototype and do further optimization to result in a system that can give multiple stretching inputs to different muscle tissues.
Keywords
biohybrid robotics, soft robotics, 3D printing, biomaterials, actuation, material characterization
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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-02-19 , Earliest start: 2025-02-20 , Latest end: 2025-10-31
Applications limited to EPFL - Ecole Polytechnique Fédérale de Lausanne , ETH Zurich , Empa , IBM Research Zurich Lab , University of Zurich
Organization Soft Robotics Lab
Hosts Balciunaite Aiste , Katzschmann Robert, Prof. Dr.
Topics Engineering and Technology
Design and Force-feedback Control of a Robotic Platform for Autonomous Eye Injections
The objective of this project is to advance an existing robotic platform capable of autonomously delivering injections into the human eye. Rather than starting from scratch, the student will build on significant prior research. The primary task is to implement a force-feedback control algorithm that acts as the system’s safety mechanism. Specifically, the student will develop an admittance control algorithm, enabling the robot to adapt to unexpected disturbances by using real-time data from a 6D eye-tracking device and a force sensor.
Keywords
feedback control, admittance control, industrial design
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-02-19
Organization Multiscale Robotics Lab
Hosts Ehmke Claas
Topics Engineering and Technology
Design and Force-feedback Control of a Robotic Platform for Autonomous Eye Injections
The objective of this project is to advance an existing robotic platform capable of autonomously delivering injections into the human eye. Rather than starting from scratch, the student will build on significant prior research. The primary task is to implement a force-feedback control algorithm that acts as the system’s safety mechanism. Specifically, the student will develop an admittance control algorithm, enabling the robot to adapt to unexpected disturbances by using real-time data from a 6D eye-tracking device and a force sensor.
Keywords
feedback control, compliance control, industrial design
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-02-19 , Earliest start: 2025-02-20
Organization Multiscale Robotics Lab
Hosts Ehmke Claas
Topics Engineering and Technology
Development of Core@Shell Magnetoelectric Nanoparticles for Targeted Brain Stimulation
Magnetoelectric materials are highly promising in biomedicine with their unique ability to couple magnetic and electric fields. This coupling allows remote and precise control of various biological processes. For instance, in drug delivery, magnetoelectric nanoparticles can be directed to specific locations in the body using an external magnetic field, followed by electrical stimulation to trigger the release of therapeutic agents. The responsiveness and multifunctionality make magnetoelectric nanoparticles versatile tools in advancing non-invasive medical treatments and targeted therapies.
Keywords
Surface engineering, Nanoparticles, Iron oxide, Barium titanate, Brain Stimulation
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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-02-18 , Earliest start: 2025-02-24 , Latest end: 2025-06-01
Applications limited to ETH Zurich
Organization Multiscale Robotics Lab
Hosts Pustovalov Vitaly
Topics Engineering and Technology , Chemistry
Solvothermal Synthesis of Metal Ferrite Nanoparticles for Small-Scale Robotic Applications
Metal ferrite nanoparticles have gathered attention due to their promising characteristics for biomedical applications, such as targeted drug delivery or diagnostics. Nanoparticle properties (e.g., morphology, size, magnetic response) play a critical role to enhance their efficacy during the application. On the other hand, reproducibility is still a considerable challenge in most of the synthesis approaches.
Keywords
Nanoparticles, Magnetism, Microrobotics, Iron oxide
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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-02-18 , Earliest start: 2025-02-24 , Latest end: 2025-06-01
Applications limited to ETH Zurich
Organization Multiscale Robotics Lab
Hosts Pustovalov Vitaly
Topics Engineering and Technology , Chemistry
Multi-Sensor Semantic Odometry
Semantic segmentation augments visual information from cameras or geometric information from LiDARs by classifying what objects are present in a scene. Fusing this semantic information with visual or geometric sensor data can improve the odometry estimate of a robot moving through the scene. Uni-modal semantic odometry approaches using camera images or LiDAR point clouds have been shown to outperform traditional single-sensor approaches. However, multi-sensor odometry approaches typically provide more robust estimation in degenerate environments.
Keywords
Odometry, Sensor fusion, Semantics
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Semester Project , Master Thesis
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Published since: 2025-02-17 , Earliest start: 2024-07-14 , Latest end: 2025-01-31
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Organization Autonomous Systems Lab
Hosts Chli Margarita , Mascaro Rubén
Topics Information, Computing and Communication Sciences
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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Published since: 2025-02-17 , Earliest start: 2025-01-05 , Latest end: 2025-06-30
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Organization Autonomous Systems Lab
Hosts Mascaro Rubén , Chli Margarita
Topics Information, Computing and Communication Sciences
Odometry and Mapping in Dynamic Environments
Existing lidar-inertial odometry approaches (e.g., FAST-LIO2 [1]) are capable of providing sufficiently accurate pose estimation in structured environments to capture high quality 3D maps of static structures in real-time. However, the presence of dynamic objects in an environment can reduce the accuracy of the odometry estimate and produce noisy artifacts in the captured 3D map. Existing approaches to handling dynamic objects [2-4] focus on detecting and filtering them from the captured 3D map but typically operate independently from the odometry pipeline, which means that the dynamic filtering does not improve the pose estimation accuracy.
Keywords
Odometry, Mapping, SLAM, Dynamic Environments
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Published since: 2025-02-17 , Earliest start: 2025-01-05 , Latest end: 2025-06-30
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Organization Autonomous Systems Lab
Hosts Mascaro Rubén , Chli Margarita
Topics Information, Computing and Communication Sciences , Engineering and Technology
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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Published since: 2025-02-14 , 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
Improving SLAM in the Operating Room Using Event Cameras
This project focuses on enhancing SLAM (Simultaneous Localization and Mapping) in operating rooms using event cameras, which outperform traditional cameras in dynamic range, motion blur, and temporal resolution. By leveraging these capabilities, the project aims to develop a robust, real-time SLAM system tailored for surgical environments, addressing challenges like high-intensity lighting and head movement-induced motion blur.
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Published since: 2025-02-13 , Earliest start: 2025-01-13 , Latest end: 2026-01-13
Applications limited to ETH Zurich , University of Zurich , Balgrist Campus
Organization Robotics and Perception
Hosts Cannici Marco , Fürnstahl Philipp, Prof. Dr.
Topics Information, Computing and Communication Sciences , Engineering and Technology
Design and Fabrication of Dexterous, Humanoid Robotic Hand
Design and build dexterous human-like robotic hands with us at the Soft Robotics Lab and the spin-off mimic. We will explore different possibilities of developing design features such as tendon-driven mechanisms, lightweight structures, and complex mechanical joints of the hand. 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
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-02-13 , Earliest start: 2024-09-01 , Latest end: 2025-07-24
Organization Soft Robotics Lab
Hosts Hinchet Ronan , Katzschmann Robert, Prof. Dr. , Weirich Stefan
Topics Engineering and Technology
Feasibility of RehabCoach on Adherence to Unsupervised Robot-Assisted Therapy – Implementation and Evaluation of Smart Reminders
Adherence to rehabilitation therapy is essential for the recovery of hand functionality in stroke and traumatic brain injury (TBI) patients. However, maintaining engagement outside clinical settings remains a challenge. This project involves a feasibility study to evaluate the adherence of patients using the RehabCoach app as part of a one-week unsupervised robot-assisted program simulation. The study assesses user engagement, app interaction patterns, and the effectiveness of push notifications/smart reminders in sustaining adherence to the training program. The key components of this research are the development of a smart algorithm for triggering push notifications based on specific user behaviors, such as therapy completion or inactivity, to optimize adherence, as well as conducting the study with a few participants.
Keywords
Stroke, Traumatic Brain Injury, Rehabilitation Therapy, Adherence, Push Notifications, Mobile Health App, Interdisciplinary Research, Python, Django
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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-02-12 , Earliest start: 2025-02-16 , Latest end: 2025-11-30
Organization Rehabilitation Engineering Lab
Hosts Retevoi Alexandra
Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology
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
Generating Detailed 3D Objects from Rough 3D Primitives
This project focuses on the generation of detailed 3D models from a user-specified set of 3D cuboids.
Keywords
Generative 3D Modelling, Diffusion Models, 3D Vision
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Semester Project , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-02-10 , Earliest start: 2025-02-10 , Latest end: 2025-11-30
Organization Autonomous Systems Lab
Hosts Claessens Liesbeth
Topics Information, Computing and Communication 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: 2025-02-07 , Earliest start: 2025-01-27
Organization Robotic Systems Lab
Hosts Mittal Mayank , Schwarke Clemens , Klemm Victor
Topics Information, Computing and Communication Sciences
Modeling and Simulation for Earthwork in Digital Twin
In this work, we aim to build a digital twin of our autonomous hydraulic excavator, leveraging Mathworks technology for high-fidelity modeling. This will be used in the future to test and benchmark our learning-based controllers.
Keywords
Modeling, Hydraulics, Excavation, Industry
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Semester Project , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-02-06 , Earliest start: 2025-03-03
Organization Robotic Systems Lab
Hosts Spinelli Filippo , Nan Fang
Topics Information, Computing and Communication Sciences , Engineering and Technology
Designing Freeform Trajectories through Acoustic Streaming and Artificial Intelligence
The manipulation of materials and fluids through acoustic streaming has emerged as a powerful technique with applications in manufacturing and biomedical engineering. This method utilizes sound waves to control the movement of particles within a fluid, offering precise and non-invasive manipulation. However, achieving freeform path manipulation—guiding materials along complex, non-linear trajectories—remains a significant challenge due to difficulties in controlling the influence range and vortex dynamics of acoustic streaming. Traditional methods often struggle with maintaining precision and stability along intricate paths, as the non-uniform distribution of acoustic forces complicates consistent directionality. Artificial Intelligence (AI) presents a promising solution, enabling real-time control and optimization of these systems. By integrating AI with acoustic streaming, algorithms can analyze and predict the interactions between acoustic forces and fluid dynamics, allowing for dynamic adjustments that enhance accuracy. In this thesis, we propose addressing these challenges by implementing a pillar array of acoustic actuators coupled with AI-driven control systems. The pillar array will generate and modulate acoustic streaming fields, while AI will optimize and automate their control in real time. This integration aims to improve the precision of freeform path manipulation, facilitating the creation of complex patterns that are otherwise difficult to achieve, thereby expanding the possibilities for material manipulation across various applications.
Keywords
Freeform path; Manipulation; Ultrasound; pillar array; AI
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Published since: 2025-02-05 , Earliest start: 2025-02-06 , Latest end: 2025-09-30
Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)
Hosts Deng Yong
Topics Engineering and Technology
Computational Modeling of Muscle Dynamics for Biohybrid Robots
This research aims to advance biohybrid robotics by integrating living biological components with artificial materials. The focus is on developing computational models for artificial muscle cells, a critical element in creating biohybrid robots. Challenges include modeling the complex and nonlinear nature of biological muscles, considering factors like elasticity and muscle fatigue, as well as accounting for fluid-structure interaction in the artificial muscle's environment. The research combines first principle soft body simulation methods and machine learning to improve understanding and control of biohybrid systems.
Keywords
Biohybrid Robotics, Computational Models, Soft Body Simulation, Finite Element Method (FEM), Muscle Dynamics, Soft Robotics
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Published since: 2025-02-04 , Earliest start: 2025-02-01 , Latest end: 2026-02-01
Organization Soft Robotics Lab
Hosts Mekkattu Manuel , Katzschmann Robert, Prof. Dr.
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Biology , Physics
GPU Acceleration of Soft Robot Modeling: Enhancing Performance with CUDA
We are enhancing soft robot modeling by developing a GPU-accelerated version of our FEM-based framework using CUDA. This research focuses on optimizing parallel computations to significantly speed up simulations, enabling larger problem sizes and real-time control. By improving computational efficiency, we aim to advance soft robotics research and facilitate more detailed, dynamic simulations.
Keywords
Soft Body Simulation, high-performance computing, GPU programming, Parallel Computing, Finite Element Method (FEM), Multiphysics Simulation
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Published since: 2025-02-04 , Earliest start: 2025-02-01 , Latest end: 2026-02-01
Organization Soft Robotics Lab
Hosts Katzschmann Robert, Prof. Dr. , Mekkattu Manuel
Topics Information, Computing and Communication Sciences , Engineering and Technology
Advancing Soft Robot Modeling: Integrating Physics, Optimization, and Control
We are advancing soft robot simulation with FEM and energy-based methods to model complex, adaptive behaviors. This research entails developing the framework to support diverse designs, integrate new physics models, and optimize performance, enabling enhanced control and real-world applications of soft robots.
Keywords
Soft Robotics, Finite Element Method (FEM), Physical Modeling, Benchmarking, Optimization, Multiphysics Simulation, Sim-to-Real
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Published since: 2025-02-04 , Earliest start: 2025-02-01 , Latest end: 2026-02-01
Organization Soft Robotics Lab
Hosts Mekkattu Manuel , Katzschmann Robert, Prof. Dr.
Topics Information, Computing and Communication Sciences , Engineering and Technology
Reinforcement Learning for Excavation Planning In Terra
We aim to develop a reinforcement learning-based global excavation planner that can plan for the long term and execute a wide range of excavation geometries. The system will be deployed on our legged excavator.
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Keywords: Reinforcement learning, task planning
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Semester Project , Master Thesis
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Published since: 2025-02-03 , Earliest start: 2025-04-01 , Latest end: 2025-08-31
Organization Robotic Systems Lab
Hosts Terenzi Lorenzo
Topics Information, Computing and Communication Sciences
Model Based Reinforcement Learning
We want to train an excavator agent to learn in a variety of soil using a fast, GPU-accelerated soil particle simulator in Isaac Sim.
Keywords
particle simulation, omniverse, warp, reinforcement learning, model based reinforcement learning.
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Published since: 2025-02-03 , Earliest start: 2025-02-28 , Latest end: 2025-08-31
Organization Robotic Systems Lab
Hosts Egli Pascal Arturo , Terenzi Lorenzo
Topics Information, Computing and Communication Sciences , Engineering and Technology
Reinforcement Learning for Particle-Based Excavation in Isaac Sim
We want to train RL agents on our new particle simulator, accelerated on the GPU via warp in Isaac sim.
Keywords
particle simulation, omniverse, warp, reinforcement learning
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Semester Project , Master Thesis
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Published since: 2025-02-03 , Earliest start: 2025-04-01 , Latest end: 2025-09-30
Organization Robotic Systems Lab
Hosts Egli Pascal Arturo , Mittal Mayank , Terenzi Lorenzo
Topics Information, Computing and Communication Sciences
Perceptive Reinforcement Learning for Exavation
In this project, our goal is to leverage precomputed embeddings(VAE in Isaacsim) from 3D earthworks scene reconstructions to train reinforcement learning agents. These embeddings, derived from incomplete point cloud data and reconstructed using an encoder-decoder neural network, will serve as latent representations. The main emphasis is on utilizing these representations to develop and train reinforcement learning policies for digging tasks.
Keywords
LIDAR, 3D reconstruction, Isaac gym, deep learning, perception, reinforcement learning
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Semester Project , Master Thesis
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Published since: 2025-02-03 , Earliest start: 2025-04-01 , Latest end: 2025-08-31
Organization Robotic Systems Lab
Hosts Höller David , Terenzi Lorenzo
Topics Information, Computing and Communication Sciences
Reiforcement Learning of Pretrained Trasformer Models
We want to train RL agents on our new particle simulator, accelerated on the GPU via warp in Isaac sim.
Keywords
Keywords: particle simulation, omniverse, warp, reinforcement learning
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Semester Project , Master Thesis
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Published since: 2025-02-03 , Earliest start: 2025-04-01 , Latest end: 2025-08-31
Organization Robotic Systems Lab
Hosts Terenzi Lorenzo
Topics Information, Computing and Communication Sciences
Multiagent Reinforcement Learning in Terra
We want to train multiple agents in the Terra environment, a fully end-to-end GPU-accelerated environment for RL training.
Keywords
multiagent reinforcement learning, jax, deep learning, planning
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Semester Project , Master Thesis
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Published since: 2025-02-03 , Earliest start: 2025-04-01 , Latest end: 2025-09-16
Organization Robotic Systems Lab
Hosts Terenzi Lorenzo
Topics Information, Computing and Communication Sciences
A Bayesian sensor fusion and machine learning approach for robust hand gesture decoding with application to stroke rehabilitation.
About the project: This thesis aims to design a framework for robust fine-motor action decoding using multi-modal (sEMG and depth sensing camera) Bayesian sensor fusion and machine learning approach
Keywords
Bayesian inference, sEMG, depth sensing camera, rehabilitation, machine learning, deep transfer learning
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Published since: 2025-02-01 , Earliest start: 2025-03-01 , Latest end: 2025-08-01
Organization Sensory-Motor Systems Lab
Hosts Dash Adyasha
Topics Medical and Health 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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Published since: 2025-01-30 , Earliest start: 2025-02-01 , Latest end: 2026-01-31
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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Published since: 2025-01-30 , 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
Master Thesis: Data Analysis of Wearable and Nearable Sensors Data for Classification of Activities of Daily Living
This project aims to develop a novel algorithm for tracking a person's health condition changes using daily life wearable sensor data, biosignals, and information from nearable sensors. With the Life-long-logging system, we want to provide meaningful data for medical staff and directly engage patients and their caregivers.
Keywords
Data analysis, Machine Learning, Wearable Sensors
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Semester Project , Internship , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-01-22 , Earliest start: 2025-02-03 , Latest end: 2025-09-30
Organization Spinal Cord Injury & Artificial Intelligence Lab
Hosts Gnarra Oriella , Gnarra Oriella
Topics Information, Computing and Communication Sciences , Engineering and Technology
Master Thesis: Data Analysis of Wearable and Nearable Sensors Data within the StrongAge Cohort Study
The StrongAge Dataset, collected over one year, provides a rich data repository from unobtrusive, contactless technologies combined with validated mood and cognition questionnaires. This project aims to uncover digital biomarkers that can transform elderly care, addressing critical research questions related to sleep, cognition, physical activity, and environmental influences.
Keywords
Data analysis, Machine learning, Wearable and Nearable Sensors Data
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Semester Project , Internship , Lab Practice , Bachelor Thesis , Master Thesis , Student Assistant / HiWi , ETH Zurich (ETHZ)
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Published since: 2025-01-22 , Earliest start: 2025-02-03 , Latest end: 2025-09-30
Organization Spinal Cord Injury & Artificial Intelligence Lab
Hosts Gnarra Oriella , Gnarra Oriella
Topics Information, Computing and Communication Sciences , Engineering and Technology
Nanometric Thin Films for Brain Stimulation Implants
This project aims to fabricate and characterize thin films of ceramic oxides (with thickness in the nanometer range) which have potential applications in biomedical devices, such as implanted flexible electronics (Fig. a) and functional microrobots (Fig. b).
Keywords
Materials science, Thin films, Brain Implants, Microrobots
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2025-01-08 , Earliest start: 2025-01-19 , Latest end: 2026-12-31
Organization Multiscale Robotics Lab
Hosts Mirjolet Mathieu
Topics Engineering and Technology , Physics
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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Published since: 2025-01-08 , 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
Assembly Assistant: Crafting your robotic companion for teamwork
This project is inspired by the vision of seamless human-robot collaboration in household settings. As our homes become smarter, the need for robotic systems that can work alongside humans to perform tasks with precision and adaptability is growing. This project empowers individuals to design and build a robotic companion tailored to assist with household tasks like assembling furniture. By fostering teamwork between humans and robots, the project highlights how technology can enhance everyday life, promoting efficiency, creativity, and a shared sense of accomplishment. It envisions a future where robots are not just tools but collaborative partners, making home life easier, more productive, and more enjoyable for everyone.
Keywords
human-robot collaboration, egocentric vision, dexterous manipulation
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Semester Project , Master Thesis , ETH Zurich (ETHZ)
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Published since: 2025-01-06 , Earliest start: 2025-01-13
Organization Computer Vision and Geometry Group
Hosts Wang Xi , Gavryushin Alexey , Yang Chenyu
Topics Information, Computing and Communication Sciences
Digital Twin for Spot's Home
MOTIVATION ⇾ Creating a digital twin of the robot's environment is crucial for several reasons: 1. Simulate Different Robots: Test various robots in a virtual environment, saving time and resources. 2. Accurate Evaluation: Precisely assess robot interactions and performance. 3. Enhanced Flexibility: Easily modify scenarios to develop robust systems. 4. Cost Efficiency: Reduce costs by identifying issues in virtual simulations. 5. Scalability: Replicate multiple environments for comprehensive testing. PROPOSAL We propose to create a digital twin of our Semantic environment, designed in your preferred graphics Platform to be able to simulate Reinforcement Learning agents in the digital environment, to create a unified evaluation platform for robotic tasks.
Keywords
Digital Twin, Robotics
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Published since: 2024-12-17 , Earliest start: 2025-01-05
Applications limited to University of Zurich , ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne
Organization Computer Vision and Geometry Group
Hosts Blum Hermann , Portela Tifanny , Bauer Zuria, Dr. , Trisovic Jelena
Topics Information, Computing and Communication Sciences
KALLAX Benchmark: Evaluating Household Tasks
Motivation ⇾ There are three ways to evaluate robots for pick-and-place tasks at home: 1. Simulation setups: High reproducibility but hard to simulate real-world complexities and perception noise. 2. Competitions: Good for comparing overall systems but require significant effort and can't be done frequently. 3. Custom lab setups: Common but lead to overfitting and lack comparability between labs. Proposal ⇾ We propose using IKEA furniture to create standardized, randomized setups that researchers can easily replicate. E.g, a 4x4 KALLAX unit with varying door knobs and drawer positions, generating tasks like "move the cup from the upper right shelf into the black drawer." This prevents overfitting and allows for consistent evaluation across different labs.
Keywords
Benchmakr, Robotics, pick-and-place
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Semester Project , Master Thesis
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Published since: 2024-12-17 , Earliest start: 2025-01-06
Applications limited to University of Zurich , ETH Zurich , Swiss National Science Foundation , EPFL - Ecole Polytechnique Fédérale de Lausanne
Organization Computer Vision and Geometry Group
Hosts Blum Hermann , Bauer Zuria, Dr. , Zurbrügg René
Topics Information, Computing and Communication Sciences
Drones for search and rescue in disaster scenarios using RL
This project aims to develop a sophisticated Reinforcement Learning (RL) environment to train autonomous drones for efficient disaster response operations. By leveraging insights from drone racing research, the project will focus on creating a highly realistic 3D simulation environment.
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Published since: 2024-12-13
Organization Robotics and Perception
Hosts Romero Angel
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: 2024-12-12 , Earliest start: 2024-12-12
Organization Robotics and Perception
Hosts Messikommer Nico
Topics Information, Computing and Communication Sciences
Develop an RL environment for GoKart racing
Reinforcement learning (RL) models devoid of explicit models have showcased remarkable superiority over classical planning and control strategies. This advantage is attributed to their advanced exploration capabilities, enabling them to efficiently discover new optimal trajectories. Leveraging RL, our aim is to create an autonomous racing system capable of swiftly learning optimal racing strategies and navigating tracks more effectively (faster) than traditional methods and human drivers.
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Published since: 2024-12-11 , Earliest start: 2024-06-17 , Latest end: 2025-10-15
Organization Robotics and Perception
Hosts Romero Angel
Topics Information, Computing and Communication Sciences , Engineering and Technology
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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Published since: 2024-12-10 , Earliest start: 2025-05-01 , Latest end: 2026-02-28
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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Published since: 2024-12-10 , Earliest start: 2025-05-01 , Latest end: 2026-02-28
Organization Robotics and Perception
Hosts Geles Ismail
Topics Information, Computing and Communication Sciences , Engineering and Technology
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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Published since: 2024-12-06 , Earliest start: 2025-03-31 , Latest end: 2025-10-29
Organization Robotic Systems Lab
Hosts Terenzi Lorenzo
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
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
Labels
Semester Project , Bachelor Thesis , Master Thesis
Description
Goal
Contact Details
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Published since: 2024-08-05 , Earliest start: 2024-08-05 , Latest end: 2025-06-30
Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)
Hosts Medany Mahmoud
Topics Information, Computing and Communication Sciences , Engineering and Technology