Publications

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

@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{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

@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},
  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"
}

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"
}

@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{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"
}

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"
}

@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

@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{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"
}

@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

@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"
}

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"
}

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{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"
}

@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"
}

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"
}

@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

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

@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"
}

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"
}

@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"
}

@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"
}