First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. - Alexander L. Mitchell; Martin Engelcke; Oiwi Parker Jones; David Surovik; Siddhant Gangapurwala; Oliwier Melon; Ioannis Havoutis; Ingmar Posner (IROS, 2020)

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. - Alexander L. Mitchell; Martin Engelcke; Oiwi Parker Jones; David Surovik; Ioannis Havoutis; Ingmar Posner (CoRR, 2020)

Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. - Siddhant Gangapurwala; Alexander L. Mitchell; Ioannis Havoutis (IEEE Robotics Autom. Lett., 2020)

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. - Alexander L. Mitchell; Wolfgang Merkt; Mathieu Geisert; Siddhant Gangapurwala; Martin Engelcke; Oiwi Parker Jones; Ioannis Havoutis; Ingmar Posner (ICRA, 2022)

Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics. - Aristotelis Papatheodorou; Wolfgang Merkt; Alexander L. Mitchell; Ioannis Havoutis (CoRR, 2023)

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. - Alexander L. Mitchell; Wolfgang Merkt; Mathieu Geisert; Siddhant Gangapurwala; Martin Engelcke; Oiwi Parker Jones; Ioannis Havoutis; Ingmar Posner (IEEE Trans. Robotics, 2023)

Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. - Alexander Luis Mitchell; Wolfgang Merkt; Aristotelis Papatheodorou; Ioannis Havoutis; Ingmar Posner (CoRL, 2024)

Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics. - Aristotelis Papatheodorou; Wolfgang Merkt; Alexander L. Mitchell; Ioannis Havoutis (IROS, 2024)

Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning. - Vassil Atanassov; Wanming Yu; Alexander Luis Mitchell; Mark Nicholas Finean; Ioannis Havoutis (CoRR, 2024)

Offline Adaptation of Quadruped Locomotion using Diffusion Models. - Reece O'Mahoney; Alexander L. Mitchell; Wanming Yu; Ingmar Posner; Ioannis Havoutis (CoRR, 2024)

COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping. - Jun Yamada; Alexander L. Mitchell; Jack Collins; Ingmar Posner (CoRR, 2025)

Task and Joint Space Dual-Arm Compliant Control. - Alexander L. Mitchell; Tobit Flatscher; Ingmar Posner (CoRR, 2025)