Synthesising Novel Movements through Latent Space Modulation of Scalable Control Policies. - Sebastian Bitzer; Ioannis Havoutis; Sethu Vijayakumar (SAB, 2008)

Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space. - Ioannis Havoutis; Subramanian Ramamoorthy (RoboCup, 2009)

Geodesic trajectory generation on learnt skill manifolds. - Ioannis Havoutis; Subramanian Ramamoorthy (ICRA, 2010)

Constrained geodesic trajectory generation on learnt skill manifolds. - Ioannis Havoutis; Subramanian Ramamoorthy (IROS, 2010)

Motion planning and reactive control on learnt skill manifolds. - Ioannis Havoutis (2012)

Quadrupedal trotting with active compliance. - Ioannis Havoutis; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (ICM, 2013)

Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). - Ioannis Havoutis; Jesús Ortiz 001; Stéphane Bazeille; Victor Barasuol; Claudio Semini; Darwin G. Caldwell (IROS, 2013)

Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. - Barkan Ugurlu; Ioannis Havoutis; Claudio Semini; Darwin G. Caldwell (IROS, 2013)

A comparison of search-based planners for a legged robot. - Muhammad Asif Arain; Ioannis Havoutis; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (RoMoCo, 2013)

Vision enhanced reactive locomotion control for trotting on rough terrain. - Stéphane Bazeille; Victor Barasuol; Michele Focchi; Ioannis Havoutis; Marco Frigerio; Jonas Buchli; Claudio Semini; Darwin G. Caldwell (TePRA, 2013)

Motion planning and reactive control on learnt skill manifolds. - Ioannis Havoutis; Subramanian Ramamoorthy (Int. J. Robotics Res., 2013)

Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. - Alexander W. Winkler; Ioannis Havoutis; Stéphane Bazeille; Jesús Ortiz 001; Michele Focchi; Rüdiger Dillmann; Darwin G. Caldwell; Claudio Semini (ICRA, 2014)

Quadruped robot trotting over irregular terrain assisted by stereo-vision. - Stéphane Bazeille; Victor Barasuol; Michele Focchi; Ioannis Havoutis; Marco Frigerio; Jonas Buchli; Darwin G. Caldwell; Claudio Semini (Intell. Serv. Robotics, 2014)

Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. - Alexander W. Winkler; Carlos Mastalli; Ioannis Havoutis; Michele Focchi; Darwin G. Caldwell; Claudio Semini (ICRA, 2015)

On-line and on-board planning and perception for quadrupedal locomotion. - Carlos Mastalli; Ioannis Havoutis; Alexander W. Winkler; Darwin G. Caldwell; Claudio Semini (TePRA, 2015)

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. - Barkan Ugurlu; Ioannis Havoutis; Claudio Semini; Kana Kayamori; Darwin G. Caldwell; Tatsuo Narikiyo (Auton. Robots, 2015)

Hierarchical planning of dynamic movements without scheduled contact sequences. - Carlos Mastalli; Ioannis Havoutis; Michele Focchi; Darwin G. Caldwell; Claudio Semini (ICRA, 2016)

Learning assistive teleoperation behaviors from demonstration. - Ioannis Havoutis; Sylvain Calinon (SSRR, 2016)

Supervisory teleoperation with online learning and optimal control. - Ioannis Havoutis; Sylvain Calinon (ICRA, 2017)

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. - Carlos Mastalli; Michele Focchi; Ioannis Havoutis; Andreea Radulescu; Sylvain Calinon; Jonas Buchli; Darwin G. Caldwell; Claudio Semini (ICRA, 2017)

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. - Andreea Radulescu; Ioannis Havoutis; Darwin G. Caldwell; Claudio Semini (ICRA, 2017)

Learning task-space synergies using Riemannian geometry. - Martijn J. A. Zeestraten; Ioannis Havoutis; Sylvain Calinon; Darwin G. Caldwell (IROS, 2017)

High-slope terrain locomotion for torque-controlled quadruped robots. - Michele Focchi; Andrea Del Prete; Ioannis Havoutis; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (Auton. Robots, 2017)

An Approach for Imitation Learning on Riemannian Manifolds. - Martijn J. A. Zeestraten; Ioannis Havoutis; João Silvério; Sylvain Calinon; Darwin G. Caldwell (IEEE Robotics Autom. Lett., 2017)

Programming by Demonstration for Shared Control With an Application in Teleoperation. - Martijn J. A. Zeestraten; Ioannis Havoutis; Sylvain Calinon (IEEE Robotics Autom. Lett., 2018)

Multi-controller multi-objective locomotion planning for legged robots. - Martim Brandão; Maurice F. Fallon; Ioannis Havoutis (IROS, 2019)

Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner. - Mathieu Geisert; Thomas Yates; Asil Orgen; Pierre Fernbach; Ioannis Havoutis (TAROS (1), 2019)

Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning. - William Jones; Siddhant Gangapurwala; Ioannis Havoutis; Kazuya Yoshida (TAROS (2), 2019)

Learning from demonstration for semi-autonomous teleoperation. - Ioannis Havoutis; Sylvain Calinon (Auton. Robots, 2019)

Learning Sequences of Approximations for Hierarchical Motion Planning. - Martim Brandão; Ioannis Havoutis (ICAPS, 2020)

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles. - David Surovik; Oliwier Melon; Mathieu Geisert; Maurice F. Fallon; Ioannis Havoutis (CoRL, 2020)

Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. - Oliwier Melon; Mathieu Geisert; David Surovik; Ioannis Havoutis; Maurice F. Fallon (ICRA, 2020)

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)

GaitMesh: Controller-Aware Navigation Meshes for Long-Range Legged Locomotion Planning in Multi-Layered Environments. - Martim Brandão; Omer Burak Aladag; Ioannis Havoutis (IEEE Robotics Autom. Lett., 2020)

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

Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. - Carlos Mastalli; Ioannis Havoutis; Michele Focchi; Darwin G. Caldwell; Claudio Semini (IEEE Trans. Robotics, 2020)

Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. - Mark Nicholas Finean; Wolfgang Merkt; Ioannis Havoutis (ICAPS, 2021)

Sparsity-Inducing Optimal Control via Differential Dynamic Programming. - Traiko Dinev; Wolfgang Merkt; Vladimir Ivan; Ioannis Havoutis; Sethu Vijayakumar (ICRA, 2021)

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. - Henrique Ferrolho; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Sethu Vijayakumar (ICRA, 2021)

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. - Siddhant Gangapurwala; Mathieu Geisert; Romeo Orsolino; Maurice F. Fallon; Ioannis Havoutis (ICRA, 2021)

Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery. - Chia-Man Hung; Li Sun 005; Yizhe Wu; Ioannis Havoutis; Ingmar Posner (ICRA, 2021)

Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. - Oliwier Melon; Romeo Orsolino; David Surovik; Mathieu Geisert; Ioannis Havoutis; Maurice F. Fallon (ICRA, 2021)

A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. - Carlo Tiseo; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Michael N. Mistry; Sethu Vijayakumar (ICRA, 2021)

Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. - Mark Nicholas Finean; Wolfgang Merkt; Ioannis Havoutis (IROS, 2021)

Rapid Stability Margin Estimation for Contact-Rich Locomotion. - Romeo Orsolino; Siddhant Gangapurwala; Oliwier Melon; Mathieu Geisert; Ioannis Havoutis; Maurice F. Fallon (IROS, 2021)

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. - Paarth Shah; Avadesh Meduri; Wolfgang Merkt; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IROS, 2021)

CPG-Actor: Reinforcement Learning for Central Pattern Generators. - Luigi Campanaro; Siddhant Gangapurwala; Daniele De Martini; Wolfgang Merkt; Ioannis Havoutis (TAROS, 2021)

HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems. - Carlo Tiseo; Wolfgang Merkt; Keyhan Kouhkiloui Babarahmati; Wouter Wolfslag; Ioannis Havoutis; Sethu Vijayakumar; Michael N. Mistry (CoRR, 2021)

Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. - Wolfgang Merkt; Vladimir Ivan; Traiko Dinev; Ioannis Havoutis; Sethu Vijayakumar (IEEE Trans. Robotics, 2021)

You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example. - Walter Goodwin; Ioannis Havoutis; Ingmar Posner (CoRL, 2022)

Zero-Shot Category-Level Object Pose Estimation. - Walter Goodwin; Sagar Vaze; Ioannis Havoutis; Ingmar Posner (ECCV (39), 2022)

Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement. - Walter Goodwin; Sagar Vaze; Ioannis Havoutis; Ingmar Posner (ICRA, 2022)

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)

Agile Maneuvers in Legged Robots: a Predictive Control Approach. - Carlos Mastalli; Wolfgang Merkt; Guiyang Xin; Jaehyun Shim; Michael N. Mistry; Ioannis Havoutis; Sethu Vijayakumar (CoRR, 2022)

Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. - Mark Nicholas Finean; Wolfgang Merkt; Ioannis Havoutis (IEEE Robotics Autom. Lett., 2022)

Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation. - Chia-Man Hung; Shaohong Zhong; Walter Goodwin; Oiwi Parker Jones; Martin Engelcke; Ioannis Havoutis; Ingmar Posner (IEEE Robotics Autom. Lett., 2022)

RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control. - Siddhant Gangapurwala; Mathieu Geisert; Romeo Orsolino; Maurice F. Fallon; Ioannis Havoutis (IEEE Trans. Robotics, 2022)

Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring. - Kim Tien Ly; Matthew Munks; Wolfgang Merkt; Ioannis Havoutis (CASE, 2023)

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. - Siddhant Gangapurwala; Luigi Campanaro; Ioannis Havoutis (ICRA, 2023)

Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space. - Jun Yamada; Chia-Man Hung; Jack Collins; Ioannis Havoutis; Ingmar Posner (ICRA, 2023)

Roll-Drop: accounting for observation noise with a single parameter. - Luigi Campanaro; Daniele De Martini; Siddhant Gangapurwala; Wolfgang Merkt; Ioannis Havoutis (L4DC, 2023)

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. - Thomas Corbères; Carlos Mastalli; Wolfgang Merkt; Ioannis Havoutis; Maurice F. Fallon; Nicolas Mansard; Thomas Flayols; Sethu Vijayakumar; Steve Tonneau (CoRR, 2023)

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)

Motion planning in dynamic environments using context-aware human trajectory prediction. - Mark Nicholas Finean; Luka Petrovic; Wolfgang Merkt; Ivan Markovic; Ioannis Havoutis (Robotics Auton. Syst., 2023)

BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. - Avadesh Meduri; Paarth Shah; Julian Viereck; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IEEE Trans. Robotics, 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)

RoLoMa: robust loco-manipulation for quadruped robots with arms. - Henrique Ferrolho; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Sethu Vijayakumar (Auton. Robots, 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)

R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. - Kim Tien Ly; Valeriy Semenov; Mattia Risiglione; Wolfgang Merkt; Ioannis Havoutis (ICRA, 2024)

Learning Generalizable Manipulation Policy with Adapter-Based Parameter Fine-Tuning. - Kai Lu 003; Kim Tien Ly; William Hebberd; Kaichen Zhou; Ioannis Havoutis; Andrew Markham (IROS, 2024)

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

Learning and deploying robust locomotion policies with minimal dynamics randomization. - Luigi Campanaro; Siddhant Gangapurwala; Wolfgang Merkt; Ioannis Havoutis (L4DC, 2024)

Adaptive Manipulation using Behavior Trees. - Jacques Cloete; Wolfgang Merkt; Ioannis Havoutis (CoRR, 2024)

InteLiPlan: Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy. - Kim Tien Ly; Kai Lu 003; Ioannis Havoutis (CoRR, 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)

Acrobotics: A Generalist Approach to Quadrupedal Robots' Parkour. - Guillaume Gagné-Labelle; Vassil Atanassov; Ioannis Havoutis (TAROS, 2025)

Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. - Thomas Corbères; Carlos Mastalli; Wolfgang Merkt; Jaehyun Shim; Ioannis Havoutis; Maurice F. Fallon; Nicolas Mansard; Thomas Flayols; Sethu Vijayakumar; Steve Tonneau (IEEE Access, 2025)

Discovery of skill switching criteria for learning agile quadruped locomotion. - Wanming Yu; Fernando Acero; Vassil Atanassov; Chuanyu Yang; Ioannis Havoutis; Dimitrios Kanoulas; Zhibin Li 001 (CoRR, 2025)

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

Improving Trajectory Stitching with Flow Models. - Reece O'Mahoney; Wanming Yu; Ioannis Havoutis (CoRR, 2025)

Neural Associative Skill Memories for safer robotics and modelling human sensorimotor repertoires. - Pranav Mahajan; Mufeng Tang; T. Ed Li; Ioannis Havoutis; Ben Seymour (CoRR, 2025)

Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy. - David Rytz; Suyoung Choi; Wanming Yu; Wolfgang Merkt; Jemin Hwangbo; Ioannis Havoutis (CoRR, 2025)

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

Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-Free Design. - Vassil Atanassov; Jiatao Ding; Jens Kober; Ioannis Havoutis; Cosimo Della Santina (IEEE Robotics Autom. Mag., 2025)

RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation. - Mattia Risiglione; Abdelrahman Abdalla; Victor Barasuol; Kim Tien Ly; Ioannis Havoutis; Claudio Semini (CoRR, 2025)