Publications

@misc{discoveryofskil-2025/2,
  title={Discovery of skill switching criteria for learning agile quadruped locomotion},
  author={Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al.},
  year = "2025"
}

@misc{discoveryofskil-2025/2,
  title={Discovery of skill switching criteria for learning agile quadruped locomotion},
  author={Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al.},
  year = "2025"
}

BibTeX

@misc{metasymasymplec-2025/2,
  title={MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence},
  author={Vaidhyanathan P, Papatheodorou A, Mitchison MT, Ares N & Havoutis I},
  year = "2025"
}

BibTeX

@inproceedings{momentumawaretr-2024/12,
  title={Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics},
  author={Papatheodorou A, Merkt W, Mitchell AL & Havoutis I},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
  pages={11940-11947},
  year = "2024"
}

BibTeX

@inproceedings{momentumawaretr-2024/12,
  title={Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics},
  author={Papatheodorou A, Merkt W, Mitchell AL & Havoutis I},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
  pages={11940-11947},
  year = "2024"
}

BibTeX

@article{curriculumbased-2024/11,
  title={Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design},
  author={Atanassov V, Ding J, Kober J, Havoutis I & Santina CD},
  journal={IEEE Robotics and Automation Magazine},
  pages={2-15},
  publisher={IEEE},
  year = "2024"
}

@misc{offlineadaptati-2024/11,
  title={Offline Adaptation of Quadruped Locomotion using Diffusion Models},
  author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
  year = "2024"
}

BibTeX

@article{curriculumbased-2024/11,
  title={Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design},
  author={Atanassov V, Ding J, Kober J, Havoutis I & Santina CD},
  journal={IEEE Robotics and Automation Magazine},
  pages={2-15},
  publisher={IEEE},
  year = "2024"
}

@misc{offlineadaptati-2024/11,
  title={Offline Adaptation of Quadruped Locomotion using Diffusion Models},
  author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
  year = "2024"
}

BibTeX

@misc{constrainedskil-2024/10,
  title={Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning},
  author={Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I},
  year = "2024"
}

BibTeX

@inproceedings{learninggeneral-2024/10,
  title={Learning generalizable manipulation policy with adapter-based parameter fine-tuning},
  author={Lu K, Ly KT, Hebberd W, Zhou K, Havoutis I et al.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
  pages={13510-13517},
  year = "2024"
}

BibTeX

@misc{constrainedskil-2024/10,
  title={Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning},
  author={Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I},
  year = "2024"
}

BibTeX

@inproceedings{learninggeneral-2024/10,
  title={Learning generalizable manipulation policy with adapter-based parameter fine-tuning},
  author={Lu K, Ly KT, Hebberd W, Zhou K, Havoutis I et al.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
  pages={13510-13517},
  year = "2024"
}

BibTeX

@misc{inteliplananint-2024/9,
  title={InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy},
  author={Ly KT, Lu K & Havoutis I},
  year = "2024"
}

BibTeX

@misc{inteliplananint-2024/9,
  title={InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy},
  author={Ly KT, Lu K & Havoutis I},
  year = "2024"
}

BibTeX

@inproceedings{rlgpareachabili-2024/8,
  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},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={14917-14923},
  year = "2024"
}

BibTeX

@inproceedings{rlgpareachabili-2024/8,
  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},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={14917-14923},
  year = "2024"
}

@inproceedings{learninganddepl-2024/7,
  title={Learning and deploying robust locomotion policies with minimal dynamics randomization},
  author={Campanaro L, Gangapurwala S, Merkt W & Havoutis I},
  booktitle={6th Annual Learning for Dynamics and Control Conference (L4DC 2024)},
  pages={578-590},
  year = "2024"
}

@inproceedings{learninganddepl-2024/7,
  title={Learning and deploying robust locomotion policies with minimal dynamics randomization},
  author={Campanaro L, Gangapurwala S, Merkt W & Havoutis I},
  booktitle={6th Annual Learning for Dynamics and Control Conference (L4DC 2024)},
  pages={578-590},
  year = "2024"
}

BibTeX

@misc{adaptivemanipul-2024/6,
  title={Adaptive Manipulation using Behavior Trees},
  author={Cloete J, Merkt W & Havoutis I},
  year = "2024"
}

BibTeX

@misc{adaptivemanipul-2024/6,
  title={Adaptive Manipulation using Behavior Trees},
  author={Cloete J, Merkt W & Havoutis I},
  year = "2024"
}

BibTeX

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

BibTeX

@misc{gaitorlearninga-2024/5,
  title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
  author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
  year = "2024"
}

BibTeX

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

BibTeX

@misc{gaitorlearninga-2024/5,
  title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
  author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
  year = "2024"
}

BibTeX

@misc{curriculumbased-2024/1,
  title={Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design},
  author={Atanassov V, Ding J, Kober J, Havoutis I & Della Santina C},
  year = "2024"
}

@inproceedings{gaitorlearninga-2024/1,
  title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
  author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
  pages={780-793},
  year = "2024"
}

BibTeX

@misc{curriculumbased-2024/1,
  title={Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design},
  author={Atanassov V, Ding J, Kober J, Havoutis I & Della Santina C},
  year = "2024"
}

@inproceedings{gaitorlearninga-2024/1,
  title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
  author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
  pages={780-793},
  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

@misc{momentumawaretr-2023/10,
  title={Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics},
  author={Papatheodorou A, Merkt W, Mitchell AL & Havoutis I},
  year = "2023"
}

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

@misc{momentumawaretr-2023/10,
  title={Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics},
  author={Papatheodorou A, Merkt W, Mitchell AL & 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

@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"
}

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"
}

@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

@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"
}