DTC: Deep Tracking Control.

Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter

January 2024 Sci Robot

Synopsis of Social media discussions

Discussions prominently highlight the hybrid control framework's ability to enhance robotic performance in difficult terrains, as seen in phrases like 'an impressive demonstration' and 'game changer' when referencing the ANYmal robot. The choice of such enthusiastic language, along with specific references to the techniques used, adds to the overall positive sentiment, showcasing both excitement and validation of the publication's contributions to robotics.

A
Agreement
 Strong agreement

The majority of discussions reflect strong support for the ideas presented in the publication, with many users agreeing on the significance of the advancements in legged locomotion control.

I
Interest
 High level of interest

There is a notable curiosity surrounding the hybrid control architecture, as many contributors express excitement about its applications in robotics.

E
Engagement
 Moderate level of engagement

While some posts demonstrate deep technical insights, others tend to summarize findings rather than delve into specifics.

I
Impact
 High level of impact

Several contributors believe this research will significantly influence the future of robotic navigation and applications in challenging environments.

Social Mentions

YouTube

2 Videos

Bluesky

1 Posts

Facebook

4 Posts

Twitter

90 Posts

News

27 Articles

Metrics

Video Views

37,857

Total Likes

1,327

Extended Reach

27,398,985

Social Features

124

Timeline: Posts about article

Top Social Media Posts

Posts referencing the article

Enhancing Legged Locomotion with Deep Learning Techniques

Enhancing Legged Locomotion with Deep Learning Techniques

We have combined trajectory optimization and reinforcement learning to enhance legged locomotion control. This hybrid approach improves foot placement accuracy and robustness while navigating diverse terrains efficiently, outperforming traditional techniques in complex environments.

Robotic Systems Lab: Legged Robotics at ETH Zürich

January 17, 2024

28,334 views

Advancing Search-and-Rescue with DTC-equipped Legged Robots

Advancing Search-and-Rescue with DTC-equipped Legged Robots

Explore the frontier of search-and-rescue capabilities of legged robots as ANYmal adapts to challenging terrains. This video highlights the innovative Deep Tracking Control method that enhances locomotion, foot placement accuracy, and the efficiency of robotic operations in critical missions.

Robotic Systems Lab: Legged Robotics at ETH Zürich

January 17, 2024

9,524 views

  • Robotics
    @robotics.mastodon.world.ap.brid.gy (Bluesky)

    @ethzurich #RobotDog #ANYmal https://www.youtube.com/watch?v=_R29DrAx0Xs #robotics
    view full post

    August 11, 2025

    2

  • SocyAI
    @SocyAI (Twitter)

    RT @JayHe748646: Exactly 2 years ago during #Arche, my thesis supervisor @FJenelten51897 and I deployed this mpc+rl hybrid controller on ve…
    view full post

    July 17, 2025

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  • Daisuke Matsuzaki
    @kgkgzrtk (Twitter)

    RT @JayHe748646: Exactly 2 years ago during #Arche, my thesis supervisor @FJenelten51897 and I deployed this mpc+rl hybrid controller on ve…
    view full post

    July 17, 2025

    6

  • Chris Paxton
    @chris_j_paxton (Twitter)

    RT @JayHe748646: Exactly 2 years ago during #Arche, my thesis supervisor @FJenelten51897 and I deployed this mpc+rl hybrid controller on ve…
    view full post

    July 17, 2025

    6

  • Optimus T-100
    @OptimusT100 (Twitter)

    RT @JayHe748646: Exactly 2 years ago during #Arche, my thesis supervisor @FJenelten51897 and I deployed this mpc+rl hybrid controller on ve…
    view full post

    July 16, 2025

    6

  • Into The Filter
    @IntoTheFilter (Twitter)

    RT @JayHe748646: Exactly 2 years ago during #Arche, my thesis supervisor @FJenelten51897 and I deployed this mpc+rl hybrid controller on ve…
    view full post

    July 16, 2025

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  • Junzhe (JJ) He
    @JayHe748646 (Twitter)

    Exactly 2 years ago during #Arche, my thesis supervisor @FJenelten51897 and I deployed this mpc+rl hybrid controller on very complicated collapsed buildings. Two years later its performance is still at the top tier!
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    July 16, 2025

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  • Richard Arthur Milton
    @RichardAMilton (Twitter)

    @menlobear This is from one year ago. Let me know when Optimus can do this. https://t.co/Y6mRiyo5a1
    view full post

    July 14, 2025

  • Keisuke Okumura
    @_kei18 (Twitter)

    関係が入れ子になっても面白い DTC: Deep Tracking Control https://t.co/F7N7onNf5d
    view full post

    September 14, 2024

  • Sato Takaaki/佐藤隆明
    @satotakaaki (Twitter)

    RT @iw_toshiki: @leggedrobotics @eth_dmavt @ETH @ETH_en 【四足歩行のハイブリッド制御】 ETH（@ETH）Robotic Systems Lab（@leggedrobotics）の研究者は軌道最適化（TO）と強化学習（RL…
    view full post

    April 25, 2024

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  • C Zhang
    @ChongZitaZhang (Twitter)

    So they have the best motion planning. And perception part is low hanging (https://t.co/890VgJaVDq) And motion tracking is also low hanging (https://t.co/9yP19UeF3W)(don't think BD needs to all-in RL here, so https://t.co/jLJv0G7ggZ)
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    April 17, 2024

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  • Slanderman, Corrupting-the-Constructive
    @DeskDuncan (Twitter)

    Replicating this, or something similar, in 18 months. How exactly do questions you ask get “better” as you know more about the subject? https://t.co/ssDXEqGf6D
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    April 14, 2024

  • Fire and Rescue International
    @FRI_magazine (Twitter)

    Technology: ANYmal unleashed: revolutionising search-and-rescue with legged robots (DTC: deep tracking control) View online: https://t.co/LWiRijLAYt #FireandRescueInternational https://t.co/10t0x0alXP
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    February 29, 2024

  • Lifeboat Foundation
    @LifeboatHQ (Twitter)

    DTC: Deep Tracking Control: Trajectory optimization and reinforcement learning are combined for versatile and robust perceptive legged locomotion. https://t.co/tjWFEZk0mX
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    February 6, 2024

  • Astro Gio
    @Astro_Gio (Twitter)

    RT @ScienceMagazine: A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improv…
    view full post

    February 5, 2024

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  • LΞLΞL
    @lelelx (Twitter)

    RT @ScienceMagazine: A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improv…
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    February 5, 2024

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    @Wuhle (Twitter)

    RT @ScienceMagazine: A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improv…
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    @NanaB_2010 (Twitter)

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    February 5, 2024

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    @Tecnoestres (Twitter)

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    February 5, 2024

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  • Ricardo B�nffy -
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    RT @ScienceMagazine: A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improv…
    view full post

    February 5, 2024

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  • Science Magazine
    @ScienceMagazine (Twitter)

    A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improve foot placement and agility on unstructured terrain—and recover from slipping. Read more in @SciRobotics: https://t.co/AKNziAHKu3 https://t.co/u7Lgd2OX1I
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    February 5, 2024

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    @alternative200 (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    February 2, 2024

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    @aaron_dustin (Twitter)

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    @jupiterxc (Twitter)

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    @eng_aaube29 (Twitter)

    RT @ScienceMagazine: A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improv…
    view full post

    January 31, 2024

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  • Elisabetta Massone
    @EMassone2 (Twitter)

    RT @ScienceMagazine: A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improv…
    view full post

    January 31, 2024

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  • Science Magazine
    @ScienceMagazine (Twitter)

    A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improve foot placement and agility on unstructured terrain—and recover from slipping. Read more in @SciRobotics: https://t.co/m2tL2HKBhI https://t.co/Ikb4fvz8cB
    view full post

    January 31, 2024

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  • RoboDepot
    @RoboDepot (Twitter)

    RT @RoboDepot: An impressive demonstration from ETH Zürich of how their quadruped robot uses deep tracking control to maintain stability ov…
    view full post

    January 29, 2024

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    RT @ScienceMagazine: A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier s…
    view full post

    January 29, 2024

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  • James V Stone
    @jgvfwstone (Twitter)

    RT @ScienceMagazine: A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier s…
    view full post

    January 29, 2024

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  • evening breeze
    @evereeze (Twitter)

    RT @ScienceMagazine: A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier s…
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  • Astro Gio
    @Astro_Gio (Twitter)

    RT @ScienceMagazine: A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier s…
    view full post

    January 29, 2024

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  • Science Magazine
    @ScienceMagazine (Twitter)

    A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier surfaces. @ETH_en @leggedrobotics Read more in @SciRobotics: https://t.co/xsonBANyxl https://t.co/iCgQzdE95t
    view full post

    January 29, 2024

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  • Adam
    @orientalfun (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 27, 2024

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  • Sudhir Pratap Yadav
    @sudhirPyadav (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 26, 2024

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  • Shahudullah
    @ShahudullahKhan (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 26, 2024

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  • Josh Njuki
    @Josh_Njuki (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 26, 2024

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  • Blaze (Balázs Galambosi)
    @gblazex (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 25, 2024

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  • camron
    @CamronBergh (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 25, 2024

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  • Rakesh
    @rozeappletree (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 25, 2024

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  • Sai Kishor Kothakota
    @manforrobots (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 25, 2024

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    @Terra_Rara (Twitter)

    UMA ARQUITETURA DE CONTROLE HÍBRIDA QUE COMBINA VANTAGENS DOS ATUAIS CONTROLES DE ROBÔS QUADRÚPEDES https://t.co/2wX3iZskup Credibilidade: 999 #Robô A arquitetura dá aos robôs de 4 patas melhores capacidades de locomoção em terrenos acidentados. Veja em: https://t.co/AlSuc4VLcn https://t.co/2i8SxCF6uc
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    January 25, 2024

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  • Paweł Kudzia, PhD
    @PKudzia_BioMech (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 25, 2024

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  • 直
    @soya_moon (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 25, 2024

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  • Let's learnrobot.com®
    @LearnRobot (Twitter)

    RT @leggedrobotics: DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboti…
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    January 25, 2024

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  • Robotic Systems Lab
    @leggedrobotics (Twitter)

    DTC: Deep Tracking Control - Behind the Scenes video: https://t.co/ZJjXVGd5OY paper: https://t.co/KOGFn0hepg #roboticsolutions #leggedrobot #robot #robotdog #ai #reinforcementlearning #armasuisse #ScienceRoboticsResearch #anymal #searchandrescue #ARCHE2023 https://t.co/QkM3PBwNzG
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    January 25, 2024

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  • (((JReuben1)))
    @jreuben1 (Twitter)

    DTC: Deep Tracking Control https://t.co/smD7sO2FLr via @YouTube
    view full post

    January 25, 2024

  • JuanMatias-CreadorNarradorVisual
    @JNarradorVisual (Twitter)

    RT @ScienceMagazine: A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier s…
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    @Snugbucket (Twitter)

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    @Astro_Gio (Twitter)

    RT @ScienceMagazine: A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier s…
    view full post

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    4

  • Science Magazine
    @ScienceMagazine (Twitter)

    A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier surfaces. @ETH_en @leggedrobotics Read more in @SciRobotics: https://t.co/cLbfqchYec https://t.co/CemRyPtmNy
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    January 24, 2024

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    @coltchromu38246 (Twitter)

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    @WorldRobotDay (Twitter)

    RT @SciRobotics: A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improve fo…
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  • Science Robotics
    @SciRobotics (Twitter)

    A hybrid control architecture combining reinforcement learning and trajectory optimization let the ANYmal robot improve foot placement and agility on unstructured terrain—and recover from slipping. @ETH_en @leggedrobotics Read more in Science #Robotics: https://t.co/BZ8r8tNr3y https://t.co/osTB6hwcxK
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    January 23, 2024

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    @kevinrschultz (Twitter)

    This is sick: https://t.co/75XP7HI4nQ
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    January 23, 2024

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    @Alaskamotion (Twitter)

    A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier surfaces. @ETH_en @leggedrobotics Read more in Science #Robotics: https://t.co/hcUqmGliyZ https://t.co/IXaBdlXgXy
    view full post

    January 23, 2024

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  • Sunny Yun He
    @SunnyYunHe (Twitter)

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    @thejana_wikii (Twitter)

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    @novotnyjarosl (Twitter)

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    January 22, 2024

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    @abelusmx (Twitter)

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    January 22, 2024

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    @herzoghal (Twitter)

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  • Science Magazine
    @ScienceMagazine (Twitter)

    A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier surfaces. @ETH_en @leggedrobotics Read more in Science #Robotics: https://t.co/fkWAr8WDNC https://t.co/WgQ7Pc4SUX
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    @ScenesShifting (Twitter)

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    4

  • Sato Takaaki/佐藤隆明
    @satotakaaki (Twitter)

    RT @iw_toshiki: @leggedrobotics @eth_dmavt @ETH @ETH_en 【四足歩行のハイブリッド制御】 ETH（@ETH）Robotic Systems Lab（@leggedrobotics）の研究者は軌道最適化（TO）と強化学習（RL…
    view full post

    January 18, 2024

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  • benishii
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  • Abelus
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    January 18, 2024

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  • Xie Zhaoming
    @zhaomingxie (Twitter)

    RT @leggedrobotics: 3. In our most recent work, we have combined TO and RL to synthesize a unifying control policy that leads to both accur…
    view full post

    January 18, 2024

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  • Brad Nelson
    @hpdnelson (Twitter)

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    view full post

    January 18, 2024

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  • Iwahori Toshiki
    @iw_toshiki (Twitter)

    @leggedrobotics @eth_dmavt @ETH @ETH_en 【四足歩行のハイブリッド制御】 ETH（@ETH）Robotic Systems Lab（@leggedrobotics）の研究者は軌道最適化（TO）と強化学習（RL）との組み合わせにより、脚式ロボットの正確でロバストな歩行を実現するハイブリッド制御アーキテクチャを開発。 《DTC: Deep Tracking Control》https://t.co/GyPHpAwILx https://t.co/d3NQQuNdTx https://t.co/dkJekhMUY9
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    January 18, 2024

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  • RoboDepot
    @RoboDepot (Twitter)

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    January 18, 2024

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    @FrostyDesign_JP (Twitter)

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    January 18, 2024

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    @JNarradorVisual (Twitter)

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    view full post

    January 18, 2024

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    @sr_wiz (Twitter)

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    January 18, 2024

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  • Grażyna Żebrowska
    @gra_ze (Twitter)

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    January 18, 2024

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  • Astro Gio
    @Astro_Gio (Twitter)

    RT @ScienceMagazine: A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier s…
    view full post

    January 18, 2024

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  • Nelson Maica C
    @jupiterxc (Twitter)

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    view full post

    January 18, 2024

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  • Science Robotics
    @SciRobotics (Twitter)

    A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier surfaces. @ETH_en @leggedrobotics Read more in Science #Robotics: https://t.co/zImvzAdkwB https://t.co/7yj4E6fKu6
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    January 18, 2024

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  • Science Magazine
    @ScienceMagazine (Twitter)

    A new hybrid control framework helped a four-legged, dog-sized, autonomous #robot called ANYmal move across trickier surfaces. @ETH_en @leggedrobotics Read more in Science #Robotics: https://t.co/vTrQqXgiB1 https://t.co/ZuyEwhZkFe
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  • Akoko Mbero Mr Stockmann
    @akoko_mbero (Twitter)

    RT @leggedrobotics: 3. In our most recent work, we have combined TO and RL to synthesize a unifying control policy that leads to both accur…
    view full post

    January 18, 2024

    8

  • Frank Dellaert
    @fdellaert (Twitter)

    RT @leggedrobotics: 3. In our most recent work, we have combined TO and RL to synthesize a unifying control policy that leads to both accur…
    view full post

    January 17, 2024

    8

  • Aziz Shamsah
    @AziizSH (Twitter)

    RT @leggedrobotics: 3. In our most recent work, we have combined TO and RL to synthesize a unifying control policy that leads to both accur…
    view full post

    January 17, 2024

    8

  • Mitchell Fogelson
    @fogmb (Twitter)

    RT @leggedrobotics: 3. In our most recent work, we have combined TO and RL to synthesize a unifying control policy that leads to both accur…
    view full post

    January 17, 2024

    8

  • Ivrolan
    @Ivrolan (Twitter)

    RT @leggedrobotics: 3. In our most recent work, we have combined TO and RL to synthesize a unifying control policy that leads to both accur…
    view full post

    January 17, 2024

    8

  • Robotic Systems Lab
    @leggedrobotics (Twitter)

    3. In our most recent work, we have combined TO and RL to synthesize a unifying control policy that leads to both accurate and robust locomotion (#ScienceRoboticsResearch, @ETH_en, @ScienceMagazine). Full video: https://t.co/RI0MtxMANr Paper: https://t.co/KOGFn0hepg https://t.co/0GklUKjuG8
    view full post

    January 17, 2024

    47

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Abstract Synopsis

  • The study focuses on enhancing legged locomotion control by integrating model-based planning with deep reinforcement learning techniques.
  • This hybrid approach aims to improve foot placement accuracy, robustness, and the ability to navigate various terrains efficiently.
  • Results indicate that the proposed method outperforms traditional techniques, especially in challenging environments, while also demonstrating generalization across different optimization methods.