Publications

Also on Google Scholar and ORCID.

Journal articles

Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation With Factor Graphs
Julian Nubert, Turcan Tuna, Jonas Frey, César Cadena, Katherine J. Kuchenbecker, Shehryar Khattak, Marco Hutter
IEEE Transactions on Robotics (T-RO), 2026
DOI arXiv Code
Large-Scale Robotic Material Handling: Learning, Planning, and Control
Filippo Spinelli, Yifan Zhai, Fang Nan, Pascal Egli, Julian Nubert, Thilo Bleumer, Lukas Miller, Ferdinand Hofmann, Marco Hutter
IEEE Transactions on Field Robotics (T-FR), 2026
DOI arXiv
Continuous-Time State Estimation Methods in Robotics: A Survey
William Talbot, Julian Nubert, Turcan Tuna, César Cadena, Frederike Dümbgen, Jesus Tordesillas, Timothy D. Barfoot, Marco Hutter
IEEE Transactions on Robotics (T-RO), 2025
DOI arXiv
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-Aware Point Cloud Registration in the Wild
Turcan Tuna, Julian Nubert, Patrick Pfreundschuh, César Cadena, Shehryar Khattak, Marco Hutter
IEEE Transactions on Field Robotics (T-FR), 2025
DOI arXiv
RoadRunner—Learning Traversability Estimation for Autonomous Off-Road Driving
Jonas Frey, Manthan Patel, Deegan Atha, Julian Nubert, David D. Fan, Ali-akbar Agha-mohammadi, Curtis W. Padgett, Patrick Spieler, Marco Hutter, Shehryar Khattak
IEEE Transactions on Field Robotics (T-FR), 2024
DOI arXiv
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments
Turcan Tuna, Julian Nubert, Yoshua Nava, Shehryar Khattak, Marco Hutter
IEEE Transactions on Robotics (T-RO), 2024
DOI arXiv
Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control
Julian Nubert, Johannes Köhler, Vincent Berenz, Frank Allgöwer, Sebastian Trimpe
IEEE Robotics and Automation Letters (RA-L), 2020
DOI arXiv

Conference papers

Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics
Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice F. Fallon, César Cadena, Marco Hutter
Robotics: Science and Systems (RSS), 2025
DOI arXiv
Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions
Pau Marquez Julbe, Julian Nubert, Henrik Hose, Sebastian Trimpe, Katherine J. Kuchenbecker
IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2025
DOI arXiv
Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated Tools
Filippo Spinelli, Pascal Egli, Julian Nubert, Fang Nan, Thilo Bleumer, Patrick Goegler, Stephan Brockes, Ferdinand Hofmann, Marco Hutter
IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2024
DOI arXiv
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
Pascal Roth, Julian Nubert, Fan Yang, Mayank Mittal, Marco Hutter
IEEE Intl. Conf. on Robotics and Automation (ICRA), 2024
DOI arXiv Code
Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots
Julian Nubert, Shehryar Khattak, Marco Hutter
IEEE Intl. Conf. on Robotics and Automation (ICRA), 2022
DOI arXiv Code
Learning-based Localizability Estimation for Robust LiDAR Localization
Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter
IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2022Best Student Paper Award Finalist
DOI arXiv
Airborne Particle Classification in LiDAR Point Clouds Using Deep Learning
Leo Stanislas*, Julian Nubert*, Daniel Dugas, Julia Nitsch, Niko Sünderhauf, Roland Siegwart, César Cadena, Thierry Peynot (* equal contribution)
Field and Service Robotics (FSR), 2021
DOI Code
Self-supervised Learning of LiDAR Odometry for Robotic Applications
Julian Nubert, Shehryar Khattak, Marco Hutter
IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021
DOI arXiv Code

Workshop papers

CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments
Shehryar Khattak, Timon Homberger, Lukas Bernreiter, Julian Nubert, Olov Andersson, Roland Siegwart, Kostas Alexis, Marco Hutter
ICRA 2025 Workshop: Robots in the Wild, 2025
arXiv Code
3D Reconstruction for Minimally Invasive Surgery: Lidar versus Learning-based Stereo Matching
Guido Caccianiga, Julian Nubert, Marco Hutter, Katherine J. Kuchenbecker
ICRA 2023 Workshop on Robot-Assisted Medical Imaging, 2023
Paper
Open3D SLAM: Point Cloud Based Mapping and Localization for Education
Edo Jelavic, Julian Nubert, Marco Hutter
ICRA 2022 Workshop on Robotic Perception and Mapping, 2022
Paper Code

Preprints

Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue
Guido Caccianiga, Julian Nubert, Marco Hutter, Katherine J. Kuchenbecker
arXiv preprint, 2024
arXiv
ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments
Lorenzo Terenzi, Julian Nubert, Pol Eyschen, Pascal Roth, Simin Fei, Edo Jelavić, Marco Hutter
arXiv preprint, 2024
arXiv
MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation
Guido Caccianiga, Julian Nubert, César Cadena, Marco Hutter, Katherine J. Kuchenbecker
arXiv preprint, 2024
arXiv
Developing a Purely Visual Based Obstacle Detection using Inverse Perspective Mapping
Julian Nubert, Niklas Funk, Fabio Vito Meier, Fabrice Oehler
arXiv preprint, 2018
arXiv
Traffic Density Estimation using a Convolutional Neural Network
Julian Nubert, Nicholas Giai Truong, Abel Lim, Herbert Ilhan Tanujaya, Leah Lim, Mai Anh Vu
arXiv preprint, 2018
arXiv
Autonomous Electric Race Car Design
Niklas Funk, Nikhilesh Alatur, Robin Deuber, Frederick Gonon, Nico Messikommer, Julian Nubert, Moritz Patriarca, Simon Schaefer, Dominic Scotoni, Nicholas Bünger, Renaud Dubé, Raghav Khanna, Mark Pfeiffer, Erik Wilhelm, Roland Siegwart
arXiv preprint, 2017
arXiv

Theses

Towards Robust and Flexible Robot State and Motion Estimation through Optimization and Learning
Julian Nubert
PhD thesis, ETH Zurich, 2025
Thesis
Learning-based Approximate Model Predictive Control with Guarantees - Joining Neural Networks with Recent Robust MPC
Julian Nubert
MSc thesis, ETH Zurich & Max Planck Institute for Intelligent Systems, 2019
PDF