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A Learning-based Iterative Control Framework for Controlling a Robot Arm with Pneumatic Artificial Muscles

Hao Ma, Dieter Büchler, Bernhard Schölkopf, Michael Muehlebach

Published in Robotics: Science and Systems, 2022

Paper | Bibtex

Black-Box vs. Grey-Box: A Case Study on Learning Table Tennis Ball Trajectory Prediction with Spin and Impacts

Jan Achterhold, Philip Tobuschat, Hao Ma, Dieter Büchler, Michael Muehlebach and Joerg Stueckler

Published in Learning for Dynamics and Control Conference, 2023

Paper | Bibtex

Data-Efficient Online Learning of Ball Placement in Robot Table Tennis

Philip Tobuschat, Hao Ma, Dieter Büchler, Bernhard Schölkopf, Michael Muehlebach

Published in International Conference on Intelligent Robots and Systems, 2023

Paper | Bibtex | Demo

Reinforcement learning with model-based feedforward inputs for robotic table tennis

Hao Ma, Dieter Büchler, Bernhard Schölkopf, Michael Muehlebach

Published in Autonomous Robots, 2023

Paper | Bibtex | Demo

Stochastic Online Optimization for Cyber-Physical and Robotic Systems

Hao Ma, Melanie Zeilinger, Michael Muehlebach

Published in arXiv, 2024

Paper | Bibtex | Demo

Safe & Accurate at Speed with Tendons: A Robot Arm for Exploring Dynamic Motion

Simon Guist, Jan Schneider, Hao Ma, Le Chen, Vincent Berenz, Julian Martus, Heiko Ott, Felix Grüninger, Michael Muehlebach, Jonathan Fiene, Bernhard Schölkopf, Dieter Büchler

Published in Robotics: Science and Systems, 2024

Paper | Project | Bibtex

Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing

Hao Ma, Sabrina Bodmer, Andrea Carron, Melanie Zeilinger, Michael Muehlebach

Published in Conference on Robot Learning, 2025

Paper | Bibtex | Demo | Dataset

Contributed Talk at the EWRL 2025

Published: September 17, 2025

I presented a contributed talk at the EWRL 2025, entitled Provably Efficient Online Learning in Real-World Cyber-Physical and Robotic Systems.

Large-Scale Convex Optimization

Graduate-level course, ETH Zurich, 2023

Description: I served twice (06.2024 block course and 02.2023 – 06.2023) as a teaching assistant for Dr. Michael Muehlebach at Eidgenössische Technische Hochschule Zürich for the course ``Large-Scale Convex Optimization’’. I was mainly responsible for the colloquia and designing exercises and exams.