Publications

CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios

• July 12, 2026

• Michael Baumgartner (ETH Zurich)
• David Muelller
• Agon Serifi
• Ruben Grandia
• Espen Knoop
• Markus Gross
• Moritz Bächer

• Robotics: Science and Systems (2026)

ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting

• July 2, 2026

• David Muelller
• Agon Serifi
• Sammy Christen
• Ruben Grandia
• Espen Knoop
• Moritz Bächer

• ACM SIGGRAPH 2026

Olaf: Bringing an Animated Character to Life in the Physical World

• May 13, 2026

• David Muelller
• Espen Knoop
• Dario Mylonopoulos
• Agon Serifi
• Michael Hopkins
• Ruben Grandia
• Moritz Bächer

• IEEE Robotics and Automation Letters 2026

Autonomous Human-Robot Interaction via Operator Imitation

• October 18, 2025

• Sammy Christen
• David Muelller
• Agon Serifi
• Ruben Grandia
• Georg Wiedebach
• Michael Hopkins
• Espen Knoop
• Moritz Bächer

• IEEE/RSJ International Conference on Intelligent Robots and Systems (2025)

A Versatile Quaternion-based Constrained Rigid Body Dynamics

• July 26, 2025

• Guirec Maloisel
• Ruben Grandia
• Christian Schumacher
• Espen Knoop
• Moritz Bächer

• ACM SIGGRAPH 2025

AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning

• May 26, 2025

• Lucas N. Alegre (Universidad Federal do Rio Grande Do Sul, Brazil)
• Agon Serifi
• Ruben Grandia
• David Muelller
• Espen Knoop
• Moritz Bächer

• ACM SIGGRAPH 2025

Robot Motion Diffusion Model: Motion Generation for Robotic Characters

• October 7, 2024

• Agon Serifi
• Ruben Grandia
• Espen Knoop
• Markus Gross (ETH Zurich and Disney Research Switzerland)
• Moritz Bächer

• ACM SIGGRAPH Asia 2024

Spline-based Transformers

• September 28, 2024

• Prashanth Chandran (Disney Research|Studios)
• Agon Serifi
• Markus Gross (Disney Research|Studios and ETH Zurich)
• Moritz Bächer

• European Conference on Computer Vision 2024

Let Me Finish First – The Effect of Interruption-Handling Strategy on the Perceived Personality of a Social Agent

• September 15, 2024

• Ronald Cumbal (Uppsala University Sweden)
• Reshma Kantharaju
• Maike Paetzel-Prusmann
• James Kennedy

• International Conference on Intelligent Virtual Agents (IVA) 2024

VMP: Versatile Motion Priors for Robustly Tracking Motion on Physical Characters

• August 15, 2024

• Agon Serifi (ETH Zurich and Disney Research Switzerland)
• Ruben Grandia
• Espen Knoop
• Markus Gross (ETH Zurich, Disney Research Switerland)
• Moritz Bächer

• ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA) (2024)

Soft Pneumatic Actuator Design using Differentiable Simulation

• July 28, 2024

• Arvi Gjoka (New York University/Courant)
• Espen Knoop
• Moritz Bächer
• Denis Zorin (New York University/Courant)
• Daniele Panozzo (New York University/Courant)

• ACM SIGGRAPH 2024

Interactive Design of Stylized Walking Gaits for Robotic Characters

• July 28, 2024

• Michael Hopkins
• Georg Wiedebach
• Kyle Cesare (WDI R&D)
• Jared Bishop (WDI R&D)
• Espen Knoop
• Moritz Bächer

• ACM SIGGRAPH 2024