Learning Energy-Efficient Trotting for Legged Robots. - Athanasios S. Mastrogeorgiou; Aristotelis Papatheodorou; Konstantinos Koutsoukis; Evangelos Papadopoulos (CLAWAR, 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)

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)

MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence. - Pranav Vaidhyanathan; Aristotelis Papatheodorou; Mark T. Mitchison; Natalia Ares; Ioannis Havoutis (CoRR, 2025)

Learning Physical Systems: Symplectification via Gauge Fixing in Dirac Structures. - Aristotelis Papatheodorou; Pranav Vaidhyanathan; Natalia Ares; Ioannis Havoutis (CoRR, 2025)