Showing 50 publications by Ioannis Havoutis, Ioannis Havoutis
Improving Trajectory Stitching with Flow Models
O'Mahoney R, Yu W & Havoutis I (2025)
BibTeX
@misc{improvingtrajec-2025/5,
title={Improving Trajectory Stitching with Flow Models},
author={O'Mahoney R, Yu W & Havoutis I},
year = "2025"
}
Neural Associative Skill Memories for safer robotics and modelling human sensorimotor repertoires
Mahajan P, Tang M, Li TE, Havoutis I & Seymour B (2025)
BibTeX
@misc{neuralassociati-2025/5,
title={Neural Associative Skill Memories for safer robotics and modelling human sensorimotor repertoires},
author={Mahajan P, Tang M, Li TE, Havoutis I & Seymour B},
year = "2025"
}
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
Rytz D, Choi S, Yu W, Merkt W, Hwangbo J et al. (2025)
BibTeX
@misc{referencefreepl-2025/5,
title={Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy},
author={Rytz D, Choi S, Yu W, Merkt W, Hwangbo J et al.},
year = "2025"
}
Improving Trajectory Stitching with Flow Models
O'Mahoney R, Yu W & Havoutis I (2025)
BibTeX
@misc{improvingtrajec-2025/5,
title={Improving Trajectory Stitching with Flow Models},
author={O'Mahoney R, Yu W & Havoutis I},
year = "2025"
}
Neural Associative Skill Memories for safer robotics and modelling human sensorimotor repertoires
Mahajan P, Tang M, Li TE, Havoutis I & Seymour B (2025)
BibTeX
@misc{neuralassociati-2025/5,
title={Neural Associative Skill Memories for safer robotics and modelling human sensorimotor repertoires},
author={Mahajan P, Tang M, Li TE, Havoutis I & Seymour B},
year = "2025"
}
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
Rytz D, Choi S, Yu W, Merkt W, Hwangbo J et al. (2025)
BibTeX
@misc{referencefreepl-2025/5,
title={Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy},
author={Rytz D, Choi S, Yu W, Merkt W, Hwangbo J et al.},
year = "2025"
}
Discovery of skill switching criteria for learning agile quadruped locomotion
Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al. (2025)
BibTeX
@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"
}
MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence
Vaidhyanathan P, Papatheodorou A, Mitchison MT, Ares N & Havoutis I (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"
}
Discovery of skill switching criteria for learning agile quadruped locomotion
Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al. (2025)
BibTeX
@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"
}
MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence
Vaidhyanathan P, Papatheodorou A, Mitchison MT, Ares N & Havoutis I (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"
}
Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics
Papatheodorou A, Merkt W, Mitchell AL & Havoutis I (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 11940-11947
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"
}
Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics
Papatheodorou A, Merkt W, Mitchell AL & Havoutis I (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 11940-11947
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"
}
Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design
Atanassov V, Ding J, Kober J, Havoutis I & Santina CD (2024), IEEE Robotics and Automation Magazine, 2-15
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"
}
Offline Adaptation of Quadruped Locomotion using Diffusion Models
O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I (2024)
BibTeX
@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"
}
Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design
Atanassov V, Ding J, Kober J, Havoutis I & Santina CD (2024), IEEE Robotics and Automation Magazine, 2-15
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"
}
Offline Adaptation of Quadruped Locomotion using Diffusion Models
O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I (2024)
BibTeX
@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"
}
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I (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"
}
Learning generalizable manipulation policy with adapter-based parameter fine-tuning
Lu K, Ly KT, Hebberd W, Zhou K, Havoutis I et al. (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 13510-13517
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"
}
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I (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"
}
Learning generalizable manipulation policy with adapter-based parameter fine-tuning
Lu K, Ly KT, Hebberd W, Zhou K, Havoutis I et al. (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 13510-13517
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"
}
InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy
Ly KT, Lu K & Havoutis I (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"
}
InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy
Ly KT, Lu K & Havoutis I (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"
}
R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (2024), 2024 IEEE International Conference on Robotics and Automation (ICRA), 14917-14923
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"
}
R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (2024), 2024 IEEE International Conference on Robotics and Automation (ICRA), 14917-14923
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"
}
Learning and deploying robust locomotion policies with minimal dynamics randomization
Campanaro L, Gangapurwala S, Merkt W & Havoutis I (2024), Proceedings of the 6th Annual Learning for Dynamics and Control Conference, 578-590
BibTeX
@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"
}
Learning and deploying robust locomotion policies with minimal dynamics randomization
Campanaro L, Gangapurwala S, Merkt W & Havoutis I (2024), Proceedings of the 6th Annual Learning for Dynamics and Control Conference, 578-590
BibTeX
@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"
}
Adaptive Manipulation using Behavior Trees
Cloete J, Merkt W & Havoutis I (2024)
BibTeX
@misc{adaptivemanipul-2024/6,
title={Adaptive Manipulation using Behavior Trees},
author={Cloete J, Merkt W & Havoutis I},
year = "2024"
}
Adaptive Manipulation using Behavior Trees
Cloete J, Merkt W & Havoutis I (2024)
BibTeX
@misc{adaptivemanipul-2024/6,
title={Adaptive Manipulation using Behavior Trees},
author={Cloete J, Merkt W & Havoutis I},
year = "2024"
}
Oscillating latent dynamics in robot systems during walking and reaching
Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al. (2024), Scientific Reports, 14(1)
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"
}
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I (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"
}
Oscillating latent dynamics in robot systems during walking and reaching
Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al. (2024), Scientific Reports, 14(1)
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"
}
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I (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"
}
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
Atanassov V, Ding J, Kober J, Havoutis I & Della Santina C (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"
}
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I (2024), Proceedings of Machine Learning Research, 270, 780-793
BibTeX
@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"
}
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
Atanassov V, Ding J, Kober J, Havoutis I & Della Santina C (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"
}
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I (2024), Proceedings of Machine Learning Research, 270, 780-793
BibTeX
@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"
}
RoLoMa: robust loco-manipulation for quadruped robots with arms
Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S (2023), Autonomous Robots, 47(8), 1463-1481
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"
}
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (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"
}
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
Papatheodorou A, Merkt W, Mitchell AL & Havoutis I (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"
}
RoLoMa: robust loco-manipulation for quadruped robots with arms
Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S (2023), Autonomous Robots, 47(8), 1463-1481
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"
}
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (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"
}
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
Papatheodorou A, Merkt W, Mitchell AL & Havoutis I (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"
}
Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring
Ly K, Munks M, Merkt W & Havoutis I (2023), IEEE International Conference on Automation Science and Engineering (CASE), 2023-August, 1-7
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"
}
Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring
Ly K, Munks M, Merkt W & Havoutis I (2023), IEEE International Conference on Automation Science and Engineering (CASE), 2023-August, 1-7
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"
}
VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation
Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al. (2023), IEEE Transactions on Robotics, 39(5), 3805-3820
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"
}
Leveraging scene embeddings for gradient-based motion planning in latent space
Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5674-5680
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"
}
Learning low-frequency motion control for robust and dynamic robot locomotion
Gangapurwala S, Campanaro L & Havoutis I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5085-5091
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"
}
VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation
Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al. (2023), IEEE Transactions on Robotics, 39(5), 3805-3820
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"
}
Leveraging scene embeddings for gradient-based motion planning in latent space
Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5674-5680
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"
}
Learning low-frequency motion control for robust and dynamic robot locomotion
Gangapurwala S, Campanaro L & Havoutis I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5085-5091
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"
}