Ioannis Havoutis

Orcid: 0000-0002-4371-4623

According to our database1, Ioannis Havoutis authored at least 74 papers between 2008 and 2024.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Bibliography

2024
InteLiPlan: Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy.
CoRR, 2024

Adaptive Manipulation using Behavior Trees.
CoRR, 2024

Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion.
CoRR, 2024

Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design.
CoRR, 2024

Learning and deploying robust locomotion policies with minimal dynamics randomization.
Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023
RoLoMa: robust loco-manipulation for quadruped robots with arms.
Auton. Robots, December, 2023

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation.
IEEE Trans. Robotics, October, 2023

BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning.
IEEE Trans. Robotics, April, 2023

Motion planning in dynamic environments using context-aware human trajectory prediction.
Robotics Auton. Syst., 2023

Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics.
CoRR, 2023

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection.
CoRR, 2023

Roll-Drop: accounting for observation noise with a single parameter.
Proceedings of the Learning for Dynamics and Control Conference, 2023

Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring.
Proceedings of the 19th IEEE International Conference on Automation Science and Engineering, 2023

2022
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control.
IEEE Trans. Robotics, 2022

Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation.
IEEE Robotics Autom. Lett., 2022

Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments.
IEEE Robotics Autom. Lett., 2022

Agile Maneuvers in Legged Robots: a Predictive Control Approach.
CoRR, 2022

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Zero-Shot Category-Level Object Pose Estimation.
Proceedings of the Computer Vision - ECCV 2022, 2022

You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example.
Proceedings of the Conference on Robot Learning, 2022

2021
Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts.
IEEE Trans. Robotics, 2021

HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems.
CoRR, 2021

CPG-Actor: Reinforcement Learning for Central Pattern Generators.
Proceedings of the Towards Autonomous Robotic Systems - 22nd Annual Conference, 2021

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Rapid Stability Margin Estimation for Contact-Rich Locomotion.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Sparsity-Inducing Optimal Control via Differential Dynamic Programming.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments.
Proceedings of the Thirty-First International Conference on Automated Planning and Scheduling, 2021

2020
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control.
IEEE Trans. Robotics, 2020

Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion.
IEEE Robotics Autom. Lett., 2020

GaitMesh: Controller-Aware Navigation Meshes for Long-Range Legged Locomotion Planning in Multi-Layered Environments.
IEEE Robotics Autom. Lett., 2020

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion.
CoRR, 2020

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles.
Proceedings of the 4th Conference on Robot Learning, 2020

Learning Sequences of Approximations for Hierarchical Motion Planning.
Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling, 2020

2019
Learning from demonstration for semi-autonomous teleoperation.
Auton. Robots, 2019

Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning.
Proceedings of the Towards Autonomous Robotic Systems - 20th Annual Conference, 2019

Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner.
Proceedings of the Towards Autonomous Robotic Systems - 20th Annual Conference, 2019

Multi-controller multi-objective locomotion planning for legged robots.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018
Programming by Demonstration for Shared Control With an Application in Teleoperation.
IEEE Robotics Autom. Lett., 2018

2017
An Approach for Imitation Learning on Riemannian Manifolds.
IEEE Robotics Autom. Lett., 2017

High-slope terrain locomotion for torque-controlled quadruped robots.
Auton. Robots, 2017

Learning task-space synergies using Riemannian geometry.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Supervisory teleoperation with online learning and optimal control.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016
Learning assistive teleoperation behaviors from demonstration.
Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Hierarchical planning of dynamic movements without scheduled contact sequences.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ.
Auton. Robots, 2015

On-line and on-board planning and perception for quadrupedal locomotion.
Proceedings of the 2015 IEEE International Conference on Technologies for Practical Robot Applications, 2015

Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014
Quadruped robot trotting over irregular terrain assisted by stereo-vision.
Intell. Serv. Robotics, 2014

Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
Motion planning and reactive control on learnt skill manifolds.
Int. J. Robotics Res., 2013

Vision enhanced reactive locomotion control for trotting on rough terrain.
Proceedings of the 2013 IEEE Conference on Technologies for Practical Robot Applications, 2013

A comparison of search-based planners for a legged robot.
Proceedings of the 9th Workshop on Robot Motion and Control, 2013

Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ).
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Quadrupedal trotting with active compliance.
Proceedings of the IEEE International Conference on Mechatronics, 2013

2012
Motion planning and reactive control on learnt skill manifolds.
PhD thesis, 2012

2010
Constrained geodesic trajectory generation on learnt skill manifolds.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Geodesic trajectory generation on learnt skill manifolds.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space.
Proceedings of the RoboCup 2009: Robot Soccer World Cup XIII [papers from the 13th annual RoboCup International Symposium, Graz, Austria, June 29, 2009

2008
Synthesising Novel Movements through Latent Space Modulation of Scalable Control Policies.
Proceedings of the From Animals to Animats 10, 2008


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