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

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)

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

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

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

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

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)

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)

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

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)

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