Publications

BibTeX

@article{oscillatinglate-2024/5,
  title={Oscillating latent dynamics in robot systems during walking and reaching.},
  author={Parker Jones O, Mitchell AL, Yamada J, Merkt W, Geisert M et al.},
  journal={Scientific reports},
  volume={14},
  pages={11434},
  publisher={Springer Nature},
  year = "2024"
}

BibTeX

@article{rolomarobustloc-2023/10,
  title={RoLoMa: robust loco-manipulation for quadruped robots with arms},
  author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
  journal={Autonomous Robots},
  volume={47},
  pages={1463-1481},
  publisher={Springer},
  year = "2023"
}

BibTeX

@misc{rlgpareachabili-2023/10,
  title={R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators},
  author={Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I},
  year = "2023"
}

BibTeX

@inproceedings{asymptoticallyo-2023/9,
  title={Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring},
  author={Ly K, Munks M, Merkt W & Havoutis I},
  booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
  pages={1-7},
  year = "2023"
}

BibTeX

@article{vaelocoversatil-2023/7,
  title={VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation},
  author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
  journal={IEEE Transactions on Robotics},
  volume={39},
  pages={3805-3820},
  publisher={IEEE},
  year = "2023"
}

BibTeX

@inproceedings{leveragingscene-2023/7,
  title={Leveraging scene embeddings for gradient-based motion planning in latent space},
  author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5674-5680},
  year = "2023"
}

BibTeX

@inproceedings{learninglowfreq-2023/7,
  title={Learning low-frequency motion control for robust and dynamic robot locomotion},
  author={Gangapurwala S, Campanaro L & Havoutis I},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5085-5091},
  year = "2023"
}

@inproceedings{rolldropaccount-2023/6,
  title={Roll-Drop: accounting for observation noise with a single parameter},
  author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
  booktitle={5th Annual Learning for Dynamics and Control Conference (L4DC 2023)},
  pages={718-730},
  year = "2023"
}

BibTeX

@article{motionplanningi-2023/5,
  title={Motion planning in dynamic environments using context-aware human trajectory prediction},
  author={Finean MN, Petrović L, Merkt W, Marković I & Havoutis I},
  journal={Robotics and Autonomous Systems},
  number={104450},
  pages={104450-104450},
  publisher={Elsevier BV},
  year = "2023"
}

BibTeX

@misc{youonlylookaton-2023/5,
  title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
  author={Goodwin W, Havoutis I & Posner I},
  year = "2023"
}

BibTeX

@misc{perceptivelocom-2023/5,
  title={Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection},
  author={Corbères T, Mastalli C, Merkt W, Havoutis I, Fallon M et al.},
  year = "2023"
}

BibTeX

@misc{rolldropaccount-2023/4,
  title={Roll-Drop: accounting for observation noise with a single parameter},
  author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
  year = "2023"
}

@inproceedings{youonlylookaton-2023/3,
  title={You only look at one: category-level object representations for pose estimation from a single example},
  author={Goodwin W, Havoutis I & Posner I},
  booktitle={6th Conference on Robot Learning (CoRL 2022)},
  pages={1435-1445},
  year = "2023"
}

BibTeX

@misc{leveragingscene-2023/3,
  title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
  author={Yamada J, Hung C-M, Collins J, Havoutis I & Posner I},
  year = "2023"
}

BibTeX

@article{biconmpanonline-2023/1,
  title={BiConMP: a nonlinear model predictive control framework for whole body motion planning},
  author={Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al.},
  journal={IEEE Transactions on Robotics},
  pages={1-18},
  publisher={IEEE},
  year = "2023"
}

@inproceedings{youonlylookaton-2023/1,
  title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
  author={Goodwin W, Havoutis I & Posner I},
  pages={1435-1445},
  year = "2023"
}

BibTeX

@inproceedings{leveragingscene-2023/1,
  title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
  author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
  pages={5674-5680},
  year = "2023"
}

BibTeX

@inproceedings{learninglowfreq-2023/1,
  title={Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion},
  author={Gangapurwala S, Campanaro L & Havoutis I},
  pages={5085-5091},
  year = "2023"
}

@inproceedings{rolldropaccount-2023/1,
  title={Roll-Drop: accounting for observation noise with a single parameter},
  author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
  pages={718-730},
  year = "2023"
}

BibTeX

@inproceedings{asymptoticallyo-2023/1,
  title={Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring},
  author={Ly KT, Munks M, Merkt W & Havoutis I},
  year = "2023"
}

BibTeX

@article{rolomarobustloc-2023/1,
  title={RoLoMa: robust loco-manipulation for quadruped robots with arms},
  author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
  journal={Autonomous Robots},
  year = "2023"
}

BibTeX

@inproceedings{fromprimatestor-2023/1,
  title={From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control},
  author={Mitchell A, Parker Jones O, Yamada J, Merkt W, Havoutis I et al.},
  booktitle={2023 Conference on Cognitive Computational Neuroscience},
  year = "2023"
}

BibTeX

@article{motionplanningi-2023/,
  title={Motion planning in dynamic environments using context-aware human trajectory prediction},
  author={Finean MN, Petrovic L, Merkt W, Markovic I & Havoutis I},
  journal={ROBOTICS AND AUTONOMOUS SYSTEMS},
  volume={166},
  number={ARTN 104450},
  year = "2023"
}

BibTeX

@article{vaelocoversatil-2023/,
  title={VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation},
  author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
  journal={IEEE TRANSACTIONS ON ROBOTICS},
  year = "2023"
}

BibTeX

@inproceedings{zeroshotcategor-2022/10,
  title={Zero-shot category-level object pose estimation},
  author={Goodwin W, Vaze S, Havoutis I & Posner I},
  booktitle={17th European Conference on Computer Vision (ECCV 2022)},
  pages={516-532},
  year = "2022"
}

BibTeX

@misc{reachingthrough-2022/10,
  title={Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation},
  author={Hung C-M, Zhong S, Goodwin W, Jones OP, Engelcke M et al.},
  year = "2022"
}

BibTeX

@inproceedings{nextstepslearni-2022/7,
  title={Next steps: learning a disentangled gait representation for versatile quadruped locomotion},
  author={Mitchell A, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al.},
  booktitle={International Conference on Robotics and Automation (ICRA 2022)},
  pages={10564-10570},
  year = "2022"
}

BibTeX

@inproceedings{semanticallygro-2022/7,
  title={Semantically grounded object matching for robust robotic scene rearrangement},
  author={Goodwin W, Vaze S, Havoutis I & Posner H},
  booktitle={International Conference on Robotics and Automation (ICRA 2022)},
  pages={11138-11144},
  year = "2022"
}

BibTeX

@article{rlocterrainawar-2022/5,
  title={RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control},
  author={Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I},
  journal={IEEE Transactions on Robotics},
  volume={38},
  pages={2908-2927},
  publisher={IEEE},
  year = "2022"
}

BibTeX

@misc{zeroshotcategor-2022/4,
  title={Zero-Shot Category-Level Object Pose Estimation},
  author={Goodwin W, Vaze S, Havoutis I & Posner I},
  year = "2022"
}

BibTeX

@article{reachingthrough-2022/2,
  title={Reaching through latent space: From joint statistics to path planning in manipulation},
  author={Hung C-M, Zhong S, Goodwin W, Parker Jones O, Engelcke M et al.},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  pages={5334-5341},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2022"
}

BibTeX

@article{whereshouldiloo-2021/12,
  title={Where should I look? Optimized gaze control for whole-body collision avoidance in dynamic environments},
  author={Finean MN, Merkt W & Havoutis I},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  pages={1095-1102},
  publisher={IEEE},
  year = "2021"
}

BibTeX

@inproceedings{rapidconvexopti-2021/12,
  title={Rapid convex optimization of centroidal dynamics using block coordinate descent},
  author={Shah P, Meduri A, Merkt W, Khadiv M, Havoutis I et al.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)},
  pages={1658-1665},
  year = "2021"
}

BibTeX

@inproceedings{rapidstabilitym-2021/12,
  title={Rapid stability margin estimation for contact-rich locomotion},
  author={Orsolino R, Gangapurwala S, Melon O, Geisert M, Havoutis I et al.},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={8485-8492},
  year = "2021"
}

BibTeX

@inproceedings{simultaneoussce-2021/12,
  title={Simultaneous scene reconstruction and whole-body motion planning for safe operation in dynamic environments},
  author={Finean MN, Merkt W & Havoutis I},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = "2021"
}

BibTeX

@misc{semanticallygro-2021/11,
  title={Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement},
  author={Goodwin W, Vaze S, Havoutis I & Posner I},
  year = "2021"
}

@inproceedings{learninganexper-2021/10,
  title={Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles},
  author={Surovik D, Melon O, Geisert M, Fallon M & Havoutis I},
  booktitle={4th Annual Conference on Robot Learning (CoRL2020)},
  pages={1509-1518},
  year = "2021"
}

BibTeX

@inproceedings{realtimetraject-2021/10,
  title={Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning},
  author={Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I},
  booktitle={2021 International Conference on Robotics and Automation (ICRA)},
  pages={5973-5979},
  year = "2021"
}

BibTeX

@inproceedings{recedinghorizon-2021/10,
  title={Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization},
  author={Melon O, Orsolino R, Surovik D, Geisert M, Havoutis I et al.},
  booktitle={2021 International Conference on Robotics and Automation (ICRA 2021)},
  year = "2021"
}

BibTeX

@inproceedings{cpgactorreinfor-2021/10,
  title={CPG-ACTOR: reinforcement learning for central pattern generators},
  author={Campanaro L, Gangapurwala S, De Martini D, Merkt W & Havoutis I},
  booktitle={Towards Autonomous Robotic Systems Conference (TAROS 2021)},
  pages={25-35},
  year = "2021"
}

BibTeX

@inproceedings{introspectivevi-2021/10,
  title={Introspective visuomotor control: exploiting uncertainty in deep visuomotor control for failure recovery},
  author={Hung C-M, Sun L, Wu Y, Havoutis I & Posner I},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={6293-6299},
  year = "2021"
}

BibTeX

@inproceedings{sparsityinducin-2021/10,
  title={Sparsity-inducing optimal control via differential dynamic programming},
  author={Dinev T, Merkt W, Ivan V, Havoutis I & Vijayakumar S},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={8216-8222},
  year = "2021"
}

BibTeX

@inproceedings{apassivenavigat-2021/10,
  title={A passive navigation planning algorithm for collision-free control of mobile robots},
  author={Tiseo C, Ivan V, Merkt W, Havoutis I, Mistry M et al.},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={8223-8229},
  year = "2021"
}

BibTeX

@inproceedings{inversedynamics-2021/10,
  title={Inverse dynamics vs. Forward dynamics in direct transcription formulations for trajectory optimization},
  author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={12752-12758},
  year = "2021"
}

@inproceedings{predictedcompos-2021/8,
  title={Predicted composite signed-distance fields for real-time motion planning in dynamic environments},
  author={Finean M, Merkt W & Havoutis I},
  booktitle={International Conference on Automated Planning and Scheduling (ICAPS 2021)},
  pages={616-624},
  year = "2021"
}

BibTeX

@article{hapficanadaptiv-2021/7,
  title={HapFIC: An adaptive force/position controller for safe environment interaction in articulated systems},
  author={Tiseo C, Merkt W, Babarahmati KK, Wolfslag W, Havoutis I et al.},
  journal={IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  volume={29},
  pages={1432-1440},
  publisher={IEEE},
  year = "2021"
}

BibTeX

@article{memoryclusterin-2021/4,
  title={Memory clustering using persistent homology for multimodality- and discontinuity-sensitive learning of optimal control warm-starts},
  author={Merkt WX, Ivan V, Dinev T, Havoutis I & Vijayakumar S},
  journal={IEEE Transactions on Robotics},
  volume={37},
  pages={1649-1660},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2021"
}

BibTeX

@misc{recedinghorizon-2021/4,
  title={Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization},
  author={Melon O, Orsolino R, Surovik D, Geisert M, Havoutis I et al.},
  year = "2021"
}

BibTeX

@misc{introspectivevi-2021/3,
  title={Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery},
  author={Hung C-M, Sun L, Wu Y, Havoutis I & Posner I},
  year = "2021"
}

BibTeX

@inproceedings{firststepslaten-2021/2,
  title={First steps: latent-space control with semantic constraints for quadruped locomotion},
  author={Mitchell A, Engelcke M, Parker Jones O, Surovik D, Havoutis I et al.},
  booktitle={IROS 2020},
  pages={5343-5350},
  year = "2021"
}