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Showing 51 publications by Ioannis Havoutis

HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems.

Tiseo C et al. (2021), IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, PP

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@article{hapficanadaptiv-2021/7,
  title={HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems.},
  author={Tiseo C et al.},
  journal={IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society},
  volume={PP},
  year = "2021"
}

Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts

Merkt WX et al. (2021), IEEE Transactions on Robotics

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@article{memoryclusterin-2021/1,
  title={Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts},
  author={Merkt WX et al.},
  journal={IEEE Transactions on Robotics},
  year = "2021"
}

Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations

Melon O et al. (2020), 2020 IEEE International Conference on Robotics and Automation (ICRA), 1410-1416

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@inproceedings{reliabletraject-2020/9,
  title={Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations},
  author={Melon O et al.},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1410-1416},
  year = "2020"
}

Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control

Mastalli C et al. (2020), IEEE Transactions on Robotics

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@article{motionplanningf-2020/7,
  title={Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control},
  author={Mastalli C et al.},
  journal={IEEE Transactions on Robotics},
  publisher={IEEE},
  year = "2020"
}

Learning sequences of approximations for hierarchical motion planning

Brandao M & Havoutis I (2020), Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling, 30, 508-516

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@inproceedings{learningsequenc-2020/5,
  title={Learning sequences of approximations for hierarchical motion planning},
  author={Brandao M & Havoutis I},
  booktitle={30th International Conference on Automated Planning and Scheduling (ICAPS) 2020},
  pages={508-516},
  year = "2020"
}

Legged robots for autonomous inspection and monitoring of offshore assets

Ramezani M et al. (2020), Proceedings of the Annual Offshore Technology Conference

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@inproceedings{leggedrobotsfor-2020/4,
  title={Legged robots for autonomous inspection and monitoring of offshore assets},
  author={Ramezani M et al.},
  booktitle={Offshore Technology Conference},
  year = "2020"
}

Guided constrained policy optimization for dynamic quadrupedal robot locomotion

Gangapurwala S, Mitchell A & Havoutis I (2020), IEEE Robotics and Automation Letters, 5(2), 3642-3649

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@article{guidedconstrain-2020/3,
  title={Guided constrained policy optimization for dynamic quadrupedal robot locomotion},
  author={Gangapurwala S, Mitchell A & Havoutis I},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  pages={3642-3649},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2020"
}

GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments

Cristina De Serpa Brandao M, Havoutis I & Aladag OB (2020), IEEE Robotics and Automation Letters, 5(2), 3596-3603

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@article{gaitmeshcontrol-2020/3,
  title={GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments},
  author={Cristina De Serpa Brandao M, Havoutis I & Aladag OB},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  pages={3596-3603},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2020"
}

Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner

Geisert M et al. (2019), Lecture Notes in Computer Science, 11649, 275-287

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@inproceedings{contactplanning-2019/6,
  title={Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner},
  author={Geisert M et al.},
  pages={275-287},
  year = "2019"
}

Towards generating simulated walking motion using position based deep reinforcement learning

Jones W et al. (2019), Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 11650 LNAI, 467-470

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@inproceedings{towardsgenerati-2019/1,
  title={Towards generating simulated walking motion using position based deep reinforcement learning},
  author={Jones W et al.},
  pages={467-470},
  year = "2019"
}

Learning from demonstration for semi-autonomous teleoperation

Havoutis I, Calinon & S S (2018), Autonomous Robots, 43(3), 713-726

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@article{learningfromdem-2018/4,
  title={Learning from demonstration for semi-autonomous teleoperation},
  author={Havoutis I, Calinon & S S},
  journal={Autonomous Robots},
  volume={43},
  pages={713-726},
  publisher={Springer US},
  year = "2018"
}

Programming by demonstration for shared control with an application in teleoperation

Zeestraten MJA, Havoutis I & Calinon S (2018), IEEE Robotics and Automation Letters, 3(3), 1848-1855

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@inproceedings{programmingbyde-2018/2,
  title={Programming by demonstration for shared control with an application in teleoperation},
  author={Zeestraten MJA, Havoutis I & Calinon S},
  pages={1848-1855},
  year = "2018"
}

Learning task-space synergies using Riemannian geometry,

Zeestraten MJA et al. (2017), International Conference on Intelligent Robots and Systems (IROS 2017)

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@inproceedings{learningtaskspa-2017/12,
  title={Learning task-space synergies using Riemannian geometry,},
  author={Zeestraten MJA et al.},
  year = "2017"
}

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems

Radulescu A et al. (2017), Proceedings - IEEE International Conference on Robotics and Automation, 5302-5307

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@inproceedings{wholebodytrajec-2017/7,
  title={Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems},
  author={Radulescu A et al.},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={5302-5307},
  year = "2017"
}

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion

Mastalli C et al. (2017), Proceedings - IEEE International Conference on Robotics and Automation, 1096-1103

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@inproceedings{trajectoryandfo-2017/7,
  title={Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion},
  author={Mastalli C et al.},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={1096-1103},
  year = "2017"
}

Supervisory teleoperation with online learning and optimal control

Havoutis I & Calinon S (2017), Proceedings - IEEE International Conference on Robotics and Automation, 1534-1540

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@inproceedings{supervisorytele-2017/7,
  title={Supervisory teleoperation with online learning and optimal control},
  author={Havoutis I & Calinon S},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={1534-1540},
  year = "2017"
}

An Approach for Imitation Learning on Riemannian Manifolds

Zeestraten MJA et al. (2017), IEEE Robotics and Automation Letters, 2(3), 1240-1247

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@article{anapproachforim-2017/7,
  title={An Approach for Imitation Learning on Riemannian Manifolds},
  author={Zeestraten MJA et al.},
  journal={IEEE Robotics and Automation Letters},
  volume={2},
  pages={1240-1247},
  year = "2017"
}

High-slope terrain locomotion for torque-controlled quadruped robots

Focchi M et al. (2017), Autonomous Robots, 41(1), 259-272

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@article{highslopeterrai-2017/1,
  title={High-slope terrain locomotion for torque-controlled quadruped robots},
  author={Focchi M et al.},
  journal={Autonomous Robots},
  volume={41},
  pages={259-272},
  year = "2017"
}

Online incremental learning of manipulation tasks for semi-autonomous teleoperation

Havoutis I, Tanwani AK & Calinon S (2016), International Conference on Intelligent Robots and Systems, Workshop on Closed Loop Grasping and Manipulation: Challenges and Progress

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@inproceedings{onlineincrement-2016/10,
  title={Online incremental learning of manipulation tasks for semi-autonomous teleoperation},
  author={Havoutis I, Tanwani AK & Calinon S},
  year = "2016"
}

Optimization for non-periodic dynamic motions of legged systems

Radulescu A et al. (2016), 9th International Workshop on Human Friendly Robotics (HFR 2016)

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@inproceedings{optimizationfor-2016/9,
  title={Optimization for non-periodic dynamic motions of legged systems},
  author={Radulescu A et al.},
  year = "2016"
}

Preview optimization for learning locomotion policies on rough terrain

Mastalli C et al. (2016), Workshop on Dynamic Locomotion and Manipulation with Complex Robotic Systems in the Real World (DLMC 2016)

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@inproceedings{previewoptimiza-2016/7,
  title={Preview optimization for learning locomotion policies on rough terrain},
  author={Mastalli C et al.},
  year = "2016"
}

Hierarchical planning of dynamic movements without scheduled contact sequences

Mastalli C et al. (2016), Proceedings - IEEE International Conference on Robotics and Automation, 2016-June, 4636-4641

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@inproceedings{hierarchicalpla-2016/6,
  title={Hierarchical planning of dynamic movements without scheduled contact sequences},
  author={Mastalli C et al.},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={4636-4641},
  year = "2016"
}

Learning assistive teleoperation behaviors from demonstration

Havoutis I & Calinon S (2016), 2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), 258-263

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@inproceedings{learningassisti-2016/,
  title={Learning assistive teleoperation behaviors from demonstration},
  author={Havoutis I & Calinon S},
  pages={258-263},
  year = "2016"
}

LIDAR-BASED NAVIGATION-LEVEL PATH PLANNING FOR FIELD-CAPABLE LEGGED ROBOTS

Havoutis I, Caldwell DG & Semini C (2016), ASSISTIVE ROBOTICS, 669-676

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@inproceedings{lidarbasednavig-2016/,
  title={LIDAR-BASED NAVIGATION-LEVEL PATH PLANNING FOR FIELD-CAPABLE LEGGED ROBOTS},
  author={Havoutis I, Caldwell DG & Semini C},
  pages={669-676},
  year = "2016"
}

Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project

Gancet J et al. (2016), IFAC PAPERSONLINE, 49(23), 414-419

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@article{dexterousunders-2016/,
  title={Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project},
  author={Gancet J et al.},
  journal={IFAC PAPERSONLINE},
  volume={49},
  pages={414-419},
  year = "2016"
}

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ

Ugurlu B et al. (2015), AUTONOMOUS ROBOTS, 38(4), 415-437

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@article{patterngenerati-2015/4,
  title={Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ},
  author={Ugurlu B et al.},
  journal={AUTONOMOUS ROBOTS},
  volume={38},
  pages={415-437},
  year = "2015"
}

On-line and On-board Planning and Perception for Quadrupedal Locomotion

Mastalli C et al. (2015), 2015 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA)

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@inproceedings{onlineandonboar-2015/,
  title={On-line and On-board Planning and Perception for Quadrupedal Locomotion},
  author={Mastalli C et al.},
  year = "2015"
}

Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain

Winkler AW et al. (2015), 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 5148-5154

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@inproceedings{planningandexec-2015/,
  title={Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain},
  author={Winkler AW et al.},
  pages={5148-5154},
  year = "2015"
}

Quadruped robot trotting over irregular terrain assisted by stereo-vision

Bazeille S et al. (2014), INTELLIGENT SERVICE ROBOTICS, 7(2), 67-77

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@article{quadrupedrobott-2014/4,
  title={Quadruped robot trotting over irregular terrain assisted by stereo-vision},
  author={Bazeille S et al.},
  journal={INTELLIGENT SERVICE ROBOTICS},
  volume={7},
  pages={67-77},
  year = "2014"
}

Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

Winkler A et al. (2014), 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 6476-6482

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@inproceedings{pathplanningwit-2014/,
  title={Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots},
  author={Winkler A et al.},
  pages={6476-6482},
  year = "2014"
}

Inverse dynamics for a quadruped robot locomoting along slippery surfaces

Zapolsky S et al. (2013), Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, 555-562

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@inproceedings{inversedynamics-2013/12,
  title={Inverse dynamics for a quadruped robot locomoting along slippery surfaces},
  author={Zapolsky S et al.},
  pages={555-562},
  year = "2013"
}

Local reflex generation for obstacle negotiation in quadrupedal locomotion

Focchi M et al. (2013), Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, 443-450

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@inproceedings{localreflexgene-2013/12,
  title={Local reflex generation for obstacle negotiation in quadrupedal locomotion},
  author={Focchi M et al.},
  pages={443-450},
  year = "2013"
}

Motion planning and reactive control on learnt skill manifolds

Havoutis I & Ramamoorthy S (2013), INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 32(9-10), 1120-1150

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@article{motionplanninga-2013/8,
  title={Motion planning and reactive control on learnt skill manifolds},
  author={Havoutis I & Ramamoorthy S},
  journal={INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH},
  volume={32},
  pages={1120-1150},
  year = "2013"
}

Motion generation with geodesic paths on learnt skill manifolds

Havoutis I & Ramamoorthy S (2013), 18, 43-51

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@misc{motiongeneratio-2013/1,
  title={Motion generation with geodesic paths on learnt skill manifolds},
  author={Havoutis I & Ramamoorthy S},
  year = "2013"
}

LOCAL REFLEX GENERATION FOR OBSTACLE NEGOTIATION IN QUADRUPEDAL LOCOMOTION

Focchi M et al. (2013), 443-450

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@misc{localreflexgene-2013/,
  title={LOCAL REFLEX GENERATION FOR OBSTACLE NEGOTIATION IN QUADRUPEDAL LOCOMOTION},
  author={Focchi M et al.},
  year = "2013"
}

INVERSE DYNAMICS FOR A QUADRUPED ROBOT LOCOMOTING ALONG SLIPPERY SURFACES

Zapolsky S et al. (2013), 555-562

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@misc{inversedynamics-2013/,
  title={INVERSE DYNAMICS FOR A QUADRUPED ROBOT LOCOMOTING ALONG SLIPPERY SURFACES},
  author={Zapolsky S et al.},
  year = "2013"
}

Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ)

Havoutis I et al. (2013), 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 6052-6057

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@inproceedings{onboardpercepti-2013/,
  title={Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ)},
  author={Havoutis I et al.},
  pages={6052-6057},
  year = "2013"
}

Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control

Ugurlu B et al. (2013), 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 6044-6051

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@inproceedings{dynamictrotwalk-2013/,
  title={Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control},
  author={Ugurlu B et al.},
  pages={6044-6051},
  year = "2013"
}

A comparison of Search-based Planners for a Legged Robot

Arain MA et al. (2013), 2013 9TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO), 104-109

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@inproceedings{acomparisonofse-2013/,
  title={A comparison of Search-based Planners for a Legged Robot},
  author={Arain MA et al.},
  pages={104-109},
  year = "2013"
}

Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain

Bazeille S et al. (2013), 2013 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA)

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@inproceedings{visionenhancedr-2013/,
  title={Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain},
  author={Bazeille S et al.},
  year = "2013"
}

Quadrupedal trotting with active compliance

Havoutis I et al. (2013), 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)

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@inproceedings{quadrupedaltrot-2013/,
  title={Quadrupedal trotting with active compliance},
  author={Havoutis I et al.},
  year = "2013"
}

Constrained geodesic trajectory generation on learnt skill manifolds

Havoutis I, Ramamoorthy S & IEEE (2010), IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2670-2675

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@inproceedings{constrainedgeod-2010/,
  title={Constrained geodesic trajectory generation on learnt skill manifolds},
  author={Havoutis I, Ramamoorthy S & IEEE },
  pages={2670-2675},
  year = "2010"
}

Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space

Havoutis I & Ramamoorthy S (2010), ROBOCUP 2009: ROBOT SOCCER WORLD CUP XIII, 5949, 92-103

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@inproceedings{motionsynthesis-2010/,
  title={Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space},
  author={Havoutis I & Ramamoorthy S},
  pages={92-103},
  year = "2010"
}

Geodesic trajectory generation on learnt skill manifolds

Havoutis I, Ramamoorthy S & IEEE (2010), 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2946-2952

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@inproceedings{geodesictraject-2010/,
  title={Geodesic trajectory generation on learnt skill manifolds},
  author={Havoutis I, Ramamoorthy S & IEEE },
  pages={2946-2952},
  year = "2010"
}

Synthesising novel movements through latent space modulation of scalable control policies

Bitzer S, Havoutis I & Vijayakumar S (2008), FROM ANIMALS TO ANIMATS 10, PROCEEDINGS, 5040, 199-209

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@inproceedings{synthesisingnov-2008/,
  title={Synthesising novel movements through latent space modulation of scalable control policies},
  author={Bitzer S, Havoutis I & Vijayakumar S},
  pages={199-209},
  year = "2008"
}

MultiCAD-MOGA A System for Conceptual Style Design of Buildings

Makris D et al. (2006), 9TH INTERNATIONAL CONFERENCE ON COMPUTER GRAPHICS AND ARTIFICIAL INTELLIGENCE, 73-84

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@inproceedings{multicadmogaasy-2006/,
  title={MultiCAD-MOGA A System for Conceptual Style Design of Buildings},
  author={Makris D et al.},
  pages={73-84},
  year = "2006"
}

First steps: latent-space control with semantic constraints for quadruped locomotion

Mitchell A et al. (0), Proceedings of the IEEE International Workshop on Intelligent Robots and Systems (IROS)

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@inproceedings{firststepslaten-/,
  title={First steps: latent-space control with semantic constraints for quadruped locomotion},
  author={Mitchell A et al.},
  booktitle={IROS 2020}
}

Multi-controller multi-objective locomotion planning for legged robots

Havoutis I, Brandao M & Fallon M (0), IEEE/RSJ International Conference on Intelligent Robots and Systems 2019 (IROS 2019)

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@inproceedings{multicontroller-/,
  title={Multi-controller multi-objective locomotion planning for legged robots},
  author={Havoutis I, Brandao M & Fallon M}
}

Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles

Surovik D et al. (0)

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@inproceedings{learninganexper-/,
  title={Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles},
  author={Surovik D et al.},
  booktitle={4th Annual Conference on Robot Learning (CoRL2020)}
}

Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning

Gangapurwala S et al. (0), Proceedings of the 2021 International Conference on Robotics and Automation (ICRA)

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@inproceedings{realtimetraject-/,
  title={Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning},
  author={Gangapurwala S et al.},
  booktitle={ICRA}
}

Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization

Melon O et al. (0), Proceedings of the International Conference on Robotics and Automation (ICRA 2021)

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@inproceedings{recedinghorizon-/,
  title={Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization},
  author={Melon O et al.},
  booktitle={ICRA}
}