Publications

@misc{detaugobstacleb-2026/9,
  title={DetAug: Obstacle-Blind Trajectory Augmentation for Zero-shot Obstacle Avoidance},
  author={O'Mahoney R, Zoellner M & Havoutis I},
  year = "2026"
}

@misc{distaldistanceb-2026/9,
  title={DistAL: Distance-based Advantage Learning for VLA Fine-Tuning},
  author={O'Mahoney R & Havoutis I},
  year = "2026"
}

@misc{learninghighlyd-2026/8,
  title={Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space},
  author={Luo Z, Zhang J, Han Y, Ma J, Lu M et al.},
  year = "2026"
}

@misc{calisymlearning-2026/7,
  title={CaLiSym: Learning Symplectic Dynamics of Real-World Systems through Structured Canonical Lifts},
  author={Papatheodorou A, Vaidhyanathan P, Ares N, Havoutis I & Milburn GJ},
  year = "2026"
}

BibTeX

@misc{elasticodyndiff-2026/6,
  title={Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics},
  author={Papatheodorou A, Rojas J, Havoutis I & Mastalli C},
  year = "2026"
}

BibTeX

@misc{learningpercept-2026/6,
  title={Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots},
  author={Rytz D, Ly KT & Havoutis I},
  year = "2026"
}

BibTeX

@misc{odynanallshifte-2026/2,
  title={ODYN: An All-Shifted Non-Interior-Point Method for Quadratic Programming in Robotics and AI},
  author={Rojas J, Papatheodorou A, Martinez S, Havoutis I & Mastalli C},
  year = "2026"
}

BibTeX

@article{artificialneura-2026/2,
  title={Artificial neural networks for HD-sEMG-based hand position estimation: addressing inter- and intra-subject variability},
  author={Rolandino G, Lion L, Vieira T, Havoutis I, Andrews B et al.},
  journal={Journal of NeuroEngineering and Rehabilitation},
  volume={23},
  number={93},
  publisher={BioMed Central},
  year = "2026"
}

BibTeX

@article{discoveryofskil-2026/2,
  title={Discovery of skill-switching criteria for learning agile quadruped locomotion},
  author={Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al.},
  journal={Frontiers in Robotics and AI},
  volume={13},
  number={1697159},
  publisher={Frontiers Media},
  year = "2026"
}

@misc{platoltllearnin-2026/1,
  title={PlatoLTL: Learning to Generalize Across Symbols in LTL Instructions for Multi-Task RL},
  author={Cloete J, Jackermeier M, Havoutis I & Abate A},
  year = "2026"
}

@article{metasymasymplec-2026/1,
  title={MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence},
  author={Vaidhyanathan P, Papatheodorou A, Mitchison MT, Ares N & Havoutis I},
  journal={Transactions on Machine Learning Research},
  volume={2026-February},
  year = "2026"
}

@misc{cyclevlaproacti-2026/1,
  title={CycleVLA: Proactive Self-Correcting Vision-Language-Action Models via Subtask Backtracking and Minimum Bayes Risk Decoding},
  author={Ma C, Yang G, Lu K, Xu S, Byrne B et al.},
  year = "2026"
}

BibTeX

@misc{acroboticsagene-2026/,
  title={Acrobotics: A Generalist Approach to Quadrupedal Robots’ Parkour},
  author={Gagné-Labelle G, Atanassov V & Havoutis I},
  year = "2026"
}

BibTeX

@article{inteliplananint-2026/,
  title={InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy},
  author={Ly KT, Lu K & Havoutis I},
  journal={IEEE Robotics and Automation Letters},
  pages={1-8},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2026"
}

@misc{quantgrapharece-2025/12,
  title={QuantGraph: A Receding-Horizon Quantum Graph Solver},
  author={Vaidhyanathan P, Papatheodorou A, Arvidsson-Shukur DRM, Mitchison MT, Ares N et al.},
  year = "2025"
}

BibTeX

@inproceedings{rakomoreachabil-2025/12,
  title={RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation},
  author={Risiglione M, Abdalla A, Barasuol V, Ly KT, Havoutis I et al.},
  booktitle={2025 IEEE International Conference on Advanced Robotics (ICAR)},
  pages={1-7},
  year = "2025"
}

@misc{visionlanguagep-2025/12,
  title={Vision-Language-Policy Model for Dynamic Robot Task Planning},
  author={Wang J, Ly KT, Cloete J, Tsagarakis N & Havoutis I},
  year = "2025"
}

BibTeX

@article{neuralassociati-2025/11,
  title={Neural associative skill memories for safer robotics and modelling human sensorimotor repertoires},
  author={Mahajan P, Tang M, Li TE, Havoutis I & Seymour B},
  journal={Neural Computation},
  volume={38},
  pages={1-27},
  publisher={Massachusetts Institute of Technology Press},
  year = "2025"
}

BibTeX

@inproceedings{adaptivemanipul-2025/10,
  title={Adaptive Manipulation using Behavior Trees},
  author={Cloete J, Merkt W & Havoutis I},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={19031-19038},
  year = "2025"
}

BibTeX

@misc{samplingstrateg-2025/10,
  title={Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies},
  author={Rytz D, Ly KT & Havoutis I},
  year = "2025"
}

@misc{acroboticsagene-2025/9,
  title={Acrobotics: A Generalist Approach to Quadrupedal Robots' Parkour},
  author={Gagné-Labelle G, Atanassov V & Havoutis I},
  year = "2025"
}

BibTeX

@misc{geccoageneralis-2025/9,
  title={GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots},
  author={Atanassov V, Yu W, Gangapurwala S, Wilson J & Havoutis I},
  year = "2025"
}

@misc{rakomoreachabil-2025/7,
  title={RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation},
  author={Risiglione M, Abdalla A, Barasuol V, Ly KT, Havoutis I et al.},
  year = "2025"
}

BibTeX

@misc{learningphysica-2025/6,
  title={Learning Physical Systems: Symplectification via Gauge Fixing in Dirac Structures},
  author={Papatheodorou A, Vaidhyanathan P, Ares N & Havoutis I},
  year = "2025"
}

@misc{improvingtrajec-2025/5,
  title={Improving Trajectory Stitching with Flow Models},
  author={O'Mahoney R, Yu W & Havoutis I},
  year = "2025"
}

BibTeX

@inproceedings{offlineadaptati-2025/5,
  title={Offline Adaptation of Quadruped Locomotion Using Diffusion Models},
  author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={9974-9980},
  year = "2025"
}

@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"
}

@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"
}

BibTeX

@article{perceptivelocom-2025/4,
  title={Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection},
  author={Corberes T, Mastalli C, Merkt W, Shim J, Havoutis I et al.},
  journal={IEEE Access},
  volume={PP},
  pages={1-1},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  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"
}

@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

@inproceedings{referencefreepl-2025/1,
  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.},
  booktitle={2025 European Conference on Mobile Robots (ECMR)},
  pages={1-8},
  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"
}

@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},
  volume={32},
  pages={35-48},
  publisher={IEEE},
  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

@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"
}

@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{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"
}

@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"
}

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

@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{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"
}