Ioannis Havoutis

136 papers A* 22A 12C 1Misc 3Journal 81Unranked 16

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Discovery of skill-switching criteria for learning agile quadruped locomotion. Frontiers Robotics AI Wanming Yu, Fernando Acero, Vassil Atanassov, Chuanyu Yang, Ioannis Havoutis, Dimitrios Kanoulas, Zhibin Li
2026	J	`jnl`	InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy. IEEE Robotics Autom. Lett. Kim Tien Ly, Kai Lu, Ioannis Havoutis
2026	J	`jnl`	MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence. Trans. Mach. Learn. Res. Pranav Vaidhyanathan, Aristotelis Papatheodorou, Mark T. Mitchison, Natalia Ares, Ioannis Havoutis
2026	J	`jnl`	ODYN: An All-Shifted Non-Interior-Point Method for Quadratic Programming in Robotics and AI. CoRR Jose Rojas, Aristotelis Papatheodorou, Sergi Martinez, Ioannis Havoutis, Carlos Mastalli
2026	J	`jnl`	PlatoLTL: Learning to Generalize Across Symbols in LTL Instructions for Multi-Task RL. CoRR Jacques Cloete, Mathias Jackermeier, Ioannis Havoutis, Alessandro Abate
2025	—	`conf`	Acrobotics: A Generalist Approach to Quadrupedal Robots' Parkour. TAROS Guillaume Gagné-Labelle, Vassil Atanassov, Ioannis Havoutis
2025	J	`jnl`	Acrobotics: A Generalist Approach to Quadrupedal Robots' Parkour. CoRR Guillaume Gagné-Labelle, Vassil Atanassov, Ioannis Havoutis
2025	A	`conf`	Adaptive Manipulation using Behavior Trees. IROS Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis
2025	J	`jnl`	Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-Free Design. IEEE Robotics Autom. Mag. Vassil Atanassov, Jiatao Ding, Jens Kober, Ioannis Havoutis, Cosimo Della Santina
2025	J	`jnl`	Discovery of skill switching criteria for learning agile quadruped locomotion. CoRR Wanming Yu, Fernando Acero, Vassil Atanassov, Chuanyu Yang, Ioannis Havoutis, Dimitrios Kanoulas, Zhibin Li
2025	J	`jnl`	GeCCo - a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots. CoRR Vassil Atanassov, Wanming Yu, Siddhant Gangapurwala, James Wilson, Ioannis Havoutis
2025	J	`jnl`	Improving Trajectory Stitching with Flow Models. CoRR Reece O'Mahoney, Wanming Yu, Ioannis Havoutis
2025	J	`jnl`	Learning Physical Systems: Symplectification via Gauge Fixing in Dirac Structures. CoRR Aristotelis Papatheodorou, Pranav Vaidhyanathan, Natalia Ares, Ioannis Havoutis
2025	J	`jnl`	MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence. CoRR Pranav Vaidhyanathan, Aristotelis Papatheodorou, Mark T. Mitchison, Natalia Ares, Ioannis Havoutis
2025	J	`jnl`	Neural Associative Skill Memories for safer robotics and modelling human sensorimotor repertoires. CoRR Pranav Mahajan, Mufeng Tang, T. Ed Li, Ioannis Havoutis, Ben Seymour
2025	A*	`conf`	Offline Adaptation of Quadruped Locomotion Using Diffusion Models. ICRA Reece O'Mahoney, Alexander L. Mitchell, Wanming Yu, Ingmar Posner, Ioannis Havoutis
2025	J	`jnl`	Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. IEEE Access Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2025	J	`jnl`	QuantGraph: A Receding-Horizon Quantum Graph Solver. CoRR Pranav Vaidhyanathan, Aristotelis Papatheodorou, David R. M. Arvidsson-Shukur, Mark T. Mitchison, Natalia Ares, Ioannis Havoutis
2025	—	`conf`	RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation. ICAR Mattia Risiglione, Abdelrahman Abdalla, Victor Barasuol, Kim Tien Ly, Ioannis Havoutis, Claudio Semini
2025	J	`jnl`	RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation. CoRR Mattia Risiglione, Abdelrahman Abdalla, Victor Barasuol, Kim Tien Ly, Ioannis Havoutis, Claudio Semini
2025	—	`conf`	Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy. ECMR David Rytz, Suyoung Choi, Wanming Yu, Wolfgang Merkt, Jemin Hwangbo, Ioannis Havoutis
2025	J	`jnl`	Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy. CoRR David Rytz, Suyoung Choi, Wanming Yu, Wolfgang Merkt, Jemin Hwangbo, Ioannis Havoutis
2025	J	`jnl`	Sampling Strategies for Robust Universal Quadrupedal Locomotion Policies. CoRR David Rytz, Kim Tien Ly, Ioannis Havoutis
2025	J	`jnl`	Vision-Language-Policy Model for Dynamic Robot Task Planning. CoRR Jin Wang, Kim Tien Ly, Jacques Cloete, Nikolaos G. Tsagarakis, Ioannis Havoutis
2024	J	`jnl`	Adaptive Manipulation using Behavior Trees. CoRR Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis
2024	J	`jnl`	Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning. CoRR Vassil Atanassov, Wanming Yu, Alexander Luis Mitchell, Mark Nicholas Finean, Ioannis Havoutis
2024	J	`jnl`	Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design. CoRR Vassil Atanassov, Jiatao Ding, Jens Kober, Ioannis Havoutis, Cosimo Della Santina
2024	Misc	`conf`	Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. CoRL Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner
2024	J	`jnl`	Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. CoRR Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner
2024	J	`jnl`	InteLiPlan: Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy. CoRR Kim Tien Ly, Kai Lu, Ioannis Havoutis
2024	A	`conf`	Learning Generalizable Manipulation Policy with Adapter-Based Parameter Fine-Tuning. IROS Kai Lu, Kim Tien Ly, William Hebberd, Kaichen Zhou, Ioannis Havoutis, Andrew Markham
2024	—	`conf`	Learning and deploying robust locomotion policies with minimal dynamics randomization. L4DC Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2024	A	`conf`	Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics. IROS Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis
2024	J	`jnl`	Offline Adaptation of Quadruped Locomotion using Diffusion Models. CoRR Reece O'Mahoney, Alexander L. Mitchell, Wanming Yu, Ingmar Posner, Ioannis Havoutis
2024	A*	`conf`	R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. ICRA Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis
2023	—	`conf`	Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring. CASE Kim Tien Ly, Matthew Munks, Wolfgang Merkt, Ioannis Havoutis
2023	J	`jnl`	BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. IEEE Trans. Robotics Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2023	A*	`conf`	Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. ICRA Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
2023	A*	`conf`	Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space. ICRA Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis, Ingmar Posner
2023	J	`jnl`	Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space. CoRR Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis, Ingmar Posner
2023	J	`jnl`	Motion planning in dynamic environments using context-aware human trajectory prediction. Robotics Auton. Syst. Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis
2023	J	`jnl`	Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2023	J	`jnl`	R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. CoRR Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis
2023	J	`jnl`	RoLoMa: robust loco-manipulation for quadruped robots with arms. Auton. Robots Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
2023	—	`conf`	Roll-Drop: accounting for observation noise with a single parameter. L4DC Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2023	J	`jnl`	Roll-Drop: accounting for observation noise with a single parameter. CoRR Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2023	J	`jnl`	Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics. CoRR Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis
2023	J	`jnl`	VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. IEEE Trans. Robotics Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
2023	J	`jnl`	You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example. CoRR Walter Goodwin, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar
2022	J	`jnl`	BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. CoRR Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2022	J	`jnl`	Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. CoRR Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
2022	J	`jnl`	Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization. CoRR Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
2022	J	`jnl`	Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction. CoRR Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis
2022	A*	`conf`	Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. ICRA Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control. IEEE Trans. Robotics Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2022	J	`jnl`	Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation. CoRR Chia-Man Hung, Shaohong Zhong, Walter Goodwin, Oiwi Parker Jones, Martin Engelcke, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation. IEEE Robotics Autom. Lett. Chia-Man Hung, Shaohong Zhong, Walter Goodwin, Oiwi Parker Jones, Martin Engelcke, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms. CoRR Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
2022	A*	`conf`	Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement. ICRA Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. CoRR Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. IEEE Robotics Autom. Lett. Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2022	Misc	`conf`	You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example. CoRL Walter Goodwin, Ioannis Havoutis, Ingmar Posner
2022	—	`conf`	Zero-Shot Category-Level Object Pose Estimation. ECCV (39) Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner
2022	J	`jnl`	Zero-Shot Category-Level Object Pose Estimation. CoRR Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner
2021	A*	`conf`	A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. ICRA Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
2021	J	`jnl`	CPG-ACTOR: Reinforcement Learning for Central Pattern Generators. CoRR Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
2021	—	`conf`	CPG-Actor: Reinforcement Learning for Central Pattern Generators. TAROS Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
2021	J	`jnl`	HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems. CoRR Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael N. Mistry
2021	A*	`conf`	Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery. ICRA Chia-Man Hung, Li Sun, Yizhe Wu, Ioannis Havoutis, Ingmar Posner
2021	J	`jnl`	Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery. CoRR Chia-Man Hung, Li Sun, Yizhe Wu, Ioannis Havoutis, Ingmar Posner
2021	A*	`conf`	Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. ICRA Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
2021	J	`jnl`	Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. IEEE Trans. Robotics Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
2021	J	`jnl`	Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. CoRR Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
2021	A*	`conf`	Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. ICAPS Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2021	A	`conf`	Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2021	J	`jnl`	Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
2021	A	`conf`	Rapid Stability Margin Estimation for Contact-Rich Locomotion. IROS Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
2021	A*	`conf`	Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. ICRA Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2021	A*	`conf`	Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. ICRA Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
2021	J	`jnl`	Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. CoRR Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
2021	J	`jnl`	Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement. CoRR Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner
2021	A	`conf`	Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. IROS Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2021	J	`jnl`	Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. CoRR Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2021	A*	`conf`	Sparsity-Inducing Optimal Control via Differential Dynamic Programming. ICRA Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
2021	J	`jnl`	Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. CoRR Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2020	J	`jnl`	A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. CoRR Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
2020	A	`conf`	First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. IROS Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner
2020	J	`jnl`	First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. CoRR Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Ioannis Havoutis, Ingmar Posner
2020	J	`jnl`	GaitMesh: Controller-Aware Navigation Meshes for Long-Range Legged Locomotion Planning in Multi-Layered Environments. IEEE Robotics Autom. Lett. Martim Brandão, Omer Burak Aladag, Ioannis Havoutis
2020	J	`jnl`	Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. CoRR Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis
2020	J	`jnl`	Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. IEEE Robotics Autom. Lett. Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis
2020	J	`jnl`	Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. CoRR Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
2020	A*	`conf`	Learning Sequences of Approximations for Hierarchical Motion Planning. ICAPS Martim Brandão, Ioannis Havoutis
2020	Misc	`conf`	Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles. CoRL David Surovik, Oliwier Melon, Mathieu Geisert, Maurice F. Fallon, Ioannis Havoutis
2020	J	`jnl`	Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. CoRR Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
2020	J	`jnl`	Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control. CoRR Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2020	J	`jnl`	Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. IEEE Trans. Robotics Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2020	J	`jnl`	Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. CoRR Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2020	J	`jnl`	RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control. CoRR Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2020	A*	`conf`	Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. ICRA Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon
2020	J	`jnl`	Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. CoRR Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon
2020	J	`jnl`	Sparsity-Inducing Optimal Control via Differential Dynamic Programming. CoRR Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
2019	—	`conf`	Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner. TAROS (1) Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis
2019	J	`jnl`	Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner. CoRR Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis
2019	J	`jnl`	Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	Learning from demonstration for semi-autonomous teleoperation. Auton. Robots Ioannis Havoutis, Sylvain Calinon
2019	A	`conf`	Multi-controller multi-objective locomotion planning for legged robots. IROS Martim Brandão, Maurice F. Fallon, Ioannis Havoutis
2019	J	`jnl`	On-line and on-board planning and perception for quadrupedal locomotion. CoRR Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
2019	J	`jnl`	Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. CoRR Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2019	—	`conf`	Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning. TAROS (2) William Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida
2018	J	`jnl`	Programming by Demonstration for Shared Control With an Application in Teleoperation. IEEE Robotics Autom. Lett. Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon
2017	J	`jnl`	An Approach for Imitation Learning on Riemannian Manifolds. IEEE Robotics Autom. Lett. Martijn J. A. Zeestraten, Ioannis Havoutis, João Silvério, Sylvain Calinon, Darwin G. Caldwell
2017	J	`jnl`	High-slope terrain locomotion for torque-controlled quadruped robots. Auton. Robots Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
2017	A	`conf`	Learning task-space synergies using Riemannian geometry. IROS Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon, Darwin G. Caldwell
2017	A*	`conf`	Supervisory teleoperation with online learning and optimal control. ICRA Ioannis Havoutis, Sylvain Calinon
2017	A*	`conf`	Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. ICRA Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
2017	A*	`conf`	Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. ICRA Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini
2016	A*	`conf`	Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2016	—	`conf`	Learning assistive teleoperation behaviors from demonstration. SSRR Ioannis Havoutis, Sylvain Calinon
2015	—	`conf`	On-line and on-board planning and perception for quadrupedal locomotion. TePRA Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
2015	J	`jnl`	Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. Auton. Robots Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, Tatsuo Narikiyo
2015	A*	`conf`	Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. ICRA Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2014	A*	`conf`	Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. ICRA Alexander W. Winkler, Ioannis Havoutis, Stéphane Bazeille, Jesús Ortiz, Michele Focchi, Rüdiger Dillmann, Darwin G. Caldwell, Claudio Semini
2014	J	`jnl`	Quadruped robot trotting over irregular terrain assisted by stereo-vision. Intell. Serv. Robotics Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
2013	—	`conf`	A comparison of search-based planners for a legged robot. RoMoCo Muhammad Asif Arain, Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
2013	A	`conf`	Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. IROS Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Darwin G. Caldwell
2013	J	`jnl`	Motion planning and reactive control on learnt skill manifolds. Int. J. Robotics Res. Ioannis Havoutis, Subramanian Ramamoorthy
2013	A	`conf`	Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). IROS Ioannis Havoutis, Jesús Ortiz, Stéphane Bazeille, Victor Barasuol, Claudio Semini, Darwin G. Caldwell
2013	—	`conf`	Quadrupedal trotting with active compliance. ICM Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
2013	—	`conf`	Vision enhanced reactive locomotion control for trotting on rough terrain. TePRA Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Claudio Semini, Darwin G. Caldwell
2012	—	`—`	Motion planning and reactive control on learnt skill manifolds. Ioannis Havoutis
2010	A	`conf`	Constrained geodesic trajectory generation on learnt skill manifolds. IROS Ioannis Havoutis, Subramanian Ramamoorthy
2010	A*	`conf`	Geodesic trajectory generation on learnt skill manifolds. ICRA Ioannis Havoutis, Subramanian Ramamoorthy
2009	C	`conf`	Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space. RoboCup Ioannis Havoutis, Subramanian Ramamoorthy
2008	—	`conf`	Synthesising Novel Movements through Latent Space Modulation of Scalable Control Policies. SAB Sebastian Bitzer, Ioannis Havoutis, Sethu Vijayakumar