Publications

@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"
}

@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

@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{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

@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

@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

@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"
}

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"
}

@inproceedings{youonlylookaton-2023/3,
  title={You only look at one: category-level object representations for pose estimation from a single example},
  author={Goodwin W, Havoutis I & Posner I},
  booktitle={6th Conference on Robot Learning (CoRL 2022)},
  pages={1435-1445},
  year = "2023"
}

BibTeX

@misc{leveragingscene-2023/3,
  title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
  author={Yamada J, Hung C-M, Collins J, Havoutis I & Posner I},
  year = "2023"
}

BibTeX

@article{biconmpanonline-2023/1,
  title={BiConMP: a nonlinear model predictive control framework for whole body motion planning},
  author={Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al.},
  journal={IEEE Transactions on Robotics},
  pages={1-18},
  publisher={IEEE},
  year = "2023"
}

BibTeX

@inproceedings{fromprimatestor-2023/1,
  title={From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control},
  author={Mitchell A, Parker Jones O, Yamada J, Merkt W, Havoutis I et al.},
  booktitle={2023 Conference on Cognitive Computational Neuroscience},
  year = "2023"
}

BibTeX

@inproceedings{zeroshotcategor-2022/10,
  title={Zero-shot category-level object pose estimation},
  author={Goodwin W, Vaze S, Havoutis I & Posner I},
  booktitle={17th European Conference on Computer Vision (ECCV 2022)},
  pages={516-532},
  year = "2022"
}

BibTeX

@misc{reachingthrough-2022/10,
  title={Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation},
  author={Hung C-M, Zhong S, Goodwin W, Jones OP, Engelcke M et al.},
  year = "2022"
}

BibTeX

@misc{learninglowfreq-2022/9,
  title={Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion},
  author={Gangapurwala S, Campanaro L & Havoutis I},
  year = "2022"
}

BibTeX

@misc{learninganddepl-2022/9,
  title={Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization},
  author={Campanaro L, Gangapurwala S, Merkt W & Havoutis I},
  year = "2022"
}

BibTeX

@inproceedings{nextstepslearni-2022/7,
  title={Next steps: learning a disentangled gait representation for versatile quadruped locomotion},
  author={Mitchell A, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al.},
  booktitle={International Conference on Robotics and Automation (ICRA 2022)},
  pages={10564-10570},
  year = "2022"
}

BibTeX

@inproceedings{semanticallygro-2022/7,
  title={Semantically grounded object matching for robust robotic scene rearrangement},
  author={Goodwin W, Vaze S, Havoutis I & Posner H},
  booktitle={International Conference on Robotics and Automation (ICRA 2022)},
  pages={11138-11144},
  year = "2022"
}

BibTeX

@article{rlocterrainawar-2022/5,
  title={RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control},
  author={Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I},
  journal={IEEE Transactions on Robotics},
  volume={38},
  pages={2908-2927},
  publisher={IEEE},
  year = "2022"
}

BibTeX

@misc{vaelocoversatil-2022/5,
  title={VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation},
  author={Mitchell AL, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al.},
  year = "2022"
}

BibTeX

@misc{zeroshotcategor-2022/4,
  title={Zero-Shot Category-Level Object Pose Estimation},
  author={Goodwin W, Vaze S, Havoutis I & Posner I},
  year = "2022"
}

BibTeX

@misc{agilemaneuversi-2022/3,
  title={Agile Maneuvers in Legged Robots: a Predictive Control Approach},
  author={Mastalli C, Merkt W, Xin G, Shim J, Mistry M et al.},
  year = "2022"
}

BibTeX

@misc{rolomarobustloc-2022/3,
  title={RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms},
  author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
  year = "2022"
}

BibTeX

@article{reachingthrough-2022/2,
  title={Reaching through latent space: From joint statistics to path planning in manipulation},
  author={Hung C-M, Zhong S, Goodwin W, Parker Jones O, Engelcke M et al.},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  pages={5334-5341},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2022"
}

BibTeX

@misc{motionplanningi-2022/1,
  title={Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction},
  author={Finean MN, Petrović L, Merkt W, Marković I & Havoutis I},
  year = "2022"
}

BibTeX

@misc{biconmpanonline-2022/1,
  title={BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning},
  author={Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al.},
  year = "2022"
}

BibTeX

@article{whereshouldiloo-2021/12,
  title={Where should I look? Optimized gaze control for whole-body collision avoidance in dynamic environments},
  author={Finean MN, Merkt W & Havoutis I},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  pages={1095-1102},
  publisher={IEEE},
  year = "2021"
}

BibTeX

@inproceedings{rapidconvexopti-2021/12,
  title={Rapid convex optimization of centroidal dynamics using block coordinate descent},
  author={Shah P, Meduri A, Merkt W, Khadiv M, Havoutis I et al.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)},
  pages={1658-1665},
  year = "2021"
}

BibTeX

@inproceedings{rapidstabilitym-2021/12,
  title={Rapid stability margin estimation for contact-rich locomotion},
  author={Orsolino R, Gangapurwala S, Melon O, Geisert M, Havoutis I et al.},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={8485-8492},
  year = "2021"
}