Google scholar profile here.
2024
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Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion, Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner, Conference on Robot Learning (CoRL),
2024. [OpenReview]
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Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics, Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS),
2024. [arXiv]
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Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design, Vassil Atanassov, Jiatao Ding, Jens Kober, Ioannis Havoutis, Cosimo Della Santina, IEEE Robotics & Automation Magazine (RAM),
2024. [arXiv]
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Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization, Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt and Ioannis Havoutis, Learning for Dynamics and Control Conference (L4DC),
2024. [arXiv]
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Oscillating latent dynamics in robot systems during walking and reaching, Oiwi Parker Jones, Alexander L. Mitchell, Jun Yamada, Wolfgang Merkt, Mathieu Geisert, Ioannis Havoutis and Ingmar Posner, Nature Scientific Reports (SciRep),
2024. [pdf]
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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 and Ioannis Havoutis, IEEE International Conference on Robotics and Automation (ICRA),
2024. [arXiv]
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2023
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RoLoMa: robust loco-manipulation for quadruped robots with arms, Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis and Sethu Vijayakumar, Autonomous Robots,
2023. [pdf]
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Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring, Kim Tien Ly, Matthew Munks, Wolfgang Merkt and Ioannis Havoutis, IEEE Conference on Automation Science and Engineering (CASE),
2023. [pdf]
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VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation, Alexander Luis Mitchell, Wolfgang Xaver Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis and Ingmar Posner, IEEE Transactions on Robotics (TRO),
2023. [pdf]
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Roll-Drop: accounting for observation noise with a single parameter, Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt and Ioannis Havoutis, Learning for Dynamics and Control Conference (L4DC),
2023. [pdf]
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Motion planning in dynamic environments using context-aware human trajectory prediction, Mark Nicholas Finean, Luka Petrović, Wolfgang Merkt, Ivan Marković and Ioannis Havoutis, Robotics and Autonomous Systems,
2023. [pdf]
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Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion, Siddhant Gangapurwala, Luigi Campanaro and Ioannis Havoutis, IEEE International Conference on Robotics and Automation (ICRA),
2023. [pdf][code]
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Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space, Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis and Ingmar Posner, IEEE International Conference on Robotics and Automation (ICRA),
2023. [pdf]
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BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning, Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis and Ludovic Righetti, IEEE Transactions on Robotics (TRO),
2023. [pdf]
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2022
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RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control, Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon and Ioannis Havoutis, IEEE Transactions on Robotics (TRO),
2022. [pdf]
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Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments, Mark Nicholas Finean, Wolfgang Xaver Merkt and Ioannis Havoutis, IEEE Robotics and Automation Letters (RAL),
2022. [pdf]
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Zero-Shot Category-Level Object Pose Estimation, Walter Goodwin, Sagar Vaze, Ioannis Havoutis and Ingmar Posner, European Conference on Computer Vision (ECCV),
2022. [pdf]
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You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example, Walter Goodwin, Ioannis Havoutis and Ingmar Posner, Conference on Robot Learning (CoRL),
2022. [pdf]
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Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement, Walter Goodwin, Sagar Vaze, Ioannis Havoutis and Ingmar Posner, IEEE International Conference on Robotics and Automation (ICRA),
2022. [pdf]
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Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion, Alexander Luis Mitchell, Wolfgang Xaver Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis and Ingmar Posner, IEEE International Conference on Robotics and Automation (ICRA),
2022. [pdf]
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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 and Ingmar Posner, IEEE Robotics and Automation Letters (RAL),
2022. [pdf]
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2021
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Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments, Mark Nicholas Finean, Wolfgang Xaver Merkt and Ioannis Havoutis, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS),
2021. [pdf]
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Rapid Stability Margin Estimation for Contact-Rich Locomotion, Romeo Orsolino, Siddhant Gangapurwala, Oliwier Aleksander Melon, Mathieu Geisert, Ioannis Havoutis and Maurice Fallon, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS),
2021. [pdf]
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Rapid Convex Optimization of Centroidal Dynamics Using Block Coordinate Descent, Paarth Shah, Avadesh Meduri, Wolfgang Xaver Merkt, Majid Khadiv, Ioannis Havoutis and Ludovic Righetti, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS),
2021. [pdf]
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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 and Michael Mistry, IEEE Transactions on Neural Systems and Rehabilitation Engineering,
2021. [pdf]
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Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning, Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon and Ioannis Havoutis, IEEE International Conference on Robotics and Automation (ICRA),
2021. [pdf]
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Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization, Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis and Maurice Fallon, IEEE International Conference on Robotics and Automation (ICRA),
2021. [pdf]
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Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery, Chia-Man Hung, Li Sun, Yizhe Wu, Ioannis Havoutis and Ingmar Posner, IEEE International Conference on Robotics and Automation (ICRA),
2021. [pdf]
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Sparsity-Inducing Optimal Control via Differential Dynamic Programming, Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis and Sethu Vijayakumar, IEEE International Conference on Robotics and Automation (ICRA),
2021. [pdf]
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A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots, Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael Mistry and Sethu Vijayakumar, IEEE International Conference on Robotics and Automation (ICRA),
2021. [pdf]
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Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization, Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis and Sethu Vijayakumar, IEEE International Conference on Robotics and Automation (ICRA),
2021. [pdf]
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Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts, Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis and Sethu Vijayakumar, IEEE Transactions on Robotics (T-RO),
2021. [pdf]
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Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments, Mark Finean, Wolfgang Merkt and Ioannis Havoutis, International Conference on Automated Planning and Scheduling (ICAPS),
2021. [pdf]
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2020
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Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles, David Surovik, Oliwier Melon, Mathieu Geisert, Maurice Fallon and Ioannis Havoutis, Conference on Robot Learning (CoRL),
2020. [video][pdf]
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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 and Ingmar Posner, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2020. [video][pdf]
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Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, D.G. Caldwell and C. Semini, IEEE Transactions on Robotics (T-RO),
2020. [video][pdf]
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Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion, Siddhant Gangapurwala, Alexander Mitchell and Ioannis Havoutis, IEEE Robotics and Automation Letters (RA-L),
2020. [video][pdf]
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GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments, Martim Brandao, Omer Burak Aladag and Ioannis Havoutis, IEEE Robotics and Automation Letters (RA-L),
2020. [video][pdf]
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Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations, O. Melon, M. Geisert, D. Surovik, I. Havoutis and M. Fallon, IEEE International Conference on Robotics and Automation (ICRA),
2020. [video][pdf]
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Learning sequences of approximations for hierarchical motion planning, Martim Brandao and Ioannis Havoutis, International Conference on Automated Planning and Scheduling (ICAPS),
2020. [pdf]
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2019
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Multi-controller multi-objective locomotion planning for legged robots, Martim Brandao, Maurice Fallon and Ioannis Havoutis, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2019. [pdf]
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Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner, M. Geisert, T. Yates, A. Orgen, P. Fernbach and I. Havoutis, Towards Autonomous Robotic Systems Conference (TAROS),
2019. [pdf][ Frontiers in Robotics & AI Best Paper Award ]
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2018
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Learning from demonstration for semi-autonomous teleoperation, I. Havoutis and S. Calinon, Autonomous Robots,
2018. [pdf]
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Programming by Demonstration for Shared Control with an Application in Teleoperation, M.J.A. Zeestraten, I. Havoutis and S. Calinon, IEEE Robotics and Automation Letters (RA-L),
2018. [pdf]
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2017
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Learning Task-Space Synergies using Riemannian Geometry, M.J.A. Zeestraten, I. Havoutis, S. Calinon and D.G. Caldwell, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2017. [pdf]
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Supervisory teleoperation with online learning and optimal control, I. Havoutis and S. Calinon, IEEE International Conference on Robotics and Automation (ICRA),
2017. [pdf]
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An Approach for Imitation Learning on Riemannian Manifolds, M.J.A. Zeestraten, I. Havoutis, J. Silverio, S. Calinon and D.G. Caldwell, IEEE Robotics and Automation Letters (RA-L),
2017. [pdf]
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Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems, A. Radulescu, I. Havoutis, D.G. Caldwell and C. Semini, IEEE International Conference on Robotics and Automation (ICRA),
2017. [pdf]
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Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion, C. Mastalli, M. Focchi, I. Havoutis, A, Radulescu, S. Calinon, J. Buchli, D.G. Caldwell and C. Semini, IEEE International Conference on Robotics and Automation (ICRA),
2017. [pdf]
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2016
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Learning assistive teleoperation behaviors from demonstration, I. Havoutis and S. Calinon, IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR),
2016. [pdf]
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Online Incremental Learning of Manipulation Tasks for Semi-Autonomous Teleoperation, I. Havoutis, A.K. Tanwani and S. Calinon, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Closed-loop Grasping and Manipulation':' Challenges and Progress,
2016. [abstract][paper]
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High-slope terrain locomotion for torque-controlled quadruped robots, M. Focchi, A. Del Prete, I. Havoutis, R. Featherstone, D.G. Caldwell and C. Semini, Autonomous Robots,
2016. [link][pdf]
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Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences, C. Mastalli, I. Havoutis, M. Focchi, D.G. Caldwell and C. Semini, IEEE International Conference on Robotics and Automation (ICRA),
2016. [pdf]
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Optimization for non-periodic dynamic motions of legged systems, A. Radulescu, I. Havoutis, D.G. Caldwell and C. Semini, International Workshop on Human-Friendly Robotics (HFR).,
2016. [pdf]
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Preview Optimization for Learning Locomotion Policies on Rough Terrain, C. Mastalli, I. Havoutis, A. Radulescu, M. Focchi, D.G. Caldwell and C. Semini, Workshop on Dynamic Locomotion and Manipulation with Complex Robotic Systems in the Real World (DLMC),
2016. [pdf]
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Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project, J. Gancet, P. Weiss, G. Antonelli, M.F. Pfingsthorn, S. Calinon, A. Turetta, C. Walen, D. Urbina, S. Govindaraj, P. Letier, X. Martinez, J. Salini, B. Chemisky, G. Indiveri, G. Casalino, P. Di Lillo, E. Simetti, D. De Palma, A. Birk, A. Tanwani, I. Havoutis, A. Caffaz and L. Guilpain, IFAC Conference on Control Applications in Marine Systems (CAMS),
2016. [pdf]
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2015
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Lidar-based navigation-level path planning for field-capable legged robots, I. Havoutis, D. Caldwell and C. Semini, International Conference on Climbing and Walking Robots (CLAWAR),
2015. [pdf]. [ CLAWAR 2015 Best Technical Paper Award ]
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Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain, A. W. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D. Caldwell and C. Semini, IEEE International Conference on Robotics and Automation (ICRA),
2015. [pdf]
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On-line and On-board Planning and Perception for Quadrupedal Locomotion, C. Mastalli, I. Havoutis, A. W. Winkler, D. G. Caldwell and C. Semini, IEEE International Conference on Technologies for Practical Robot Applications (TePRA 15),
2015. [pdf]
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Pattern Generation and Compliant Feedback Control for Quadrupedal Dynamic Trot-Walking Locomotion: Experiments on RoboCat-1 and HyQ, B. Ugurlu, I. Havoutis, C. Semini, K. Kayamori, D. G. Caldwell, T. Narikiyo, Autonomous Robots,
2015. [link][pdf]
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2014
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Ground Reaction Forces Control for Torque-Controlled Quadruped Robots, M. Focchi, A. Del Prete, I. Havoutis, C. Semini, R. Featherstone and D. G. Caldwell, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), workshop on Whole-Body Control for Robots in the Real World,
2014. [pdf]
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Optimization of dynamic motions for legged robots, I. Havoutis, J. Buchli, D. G. Caldwell and C. Semini, Dynamic Walking 2014, ETHz, Zurich, Switzerland,
2014. [poster][pdf]
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Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot, S. Bazeille, M. Camurri, J. Ortiz, I. Havoutis, D. G. Caldwell and C. Semini, ICRA14 Workshop on Modeling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14),
2014. [pdf]
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Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots, A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, R. Dillmann, D. Caldwell and C. Semini, IEEE International Conference on Robotics and Automation (ICRA),
2014. [pdf]
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Combining Active Compliance with Force-Feedback for on-the-fly Motion Replanning, A. W. Winkler, I. Havoutis and C. Semini, ICRA14 Workshop on Hydraulic Robots with Torque Control for Inverse Dynamics and Active Compliance,
2014. [pdf]
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Quadruped robot trotting over irregular terrain assisted by stereo-vision, S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, D. G. Caldwell and C. Semini, Journal of Intelligent Service Robotics, doi:10.1007/s11370-014-0147-9, Springer Berlin Heidelberg,
2014. [pdf][link]
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2013
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Motion Planning and Reactive Control on Learnt Skill Manifolds, I. Havoutis and S. Ramamoorthy, International Journal of Robotics Research (IJRR),
2013. [pdf, link]
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A Compliant Control Architecture for the Hydraulic Quadruped - HyQ, I. Havoutis, A. Winkler and C.Semini, Workshop on New Applications of Hydraulic Actuation for Fast, Powerful, Efficient, Compact, and Compliant Robots, IROS 2013, Tokyo, Japan,
2013. [abstract][poster]
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Virtual model control for quadrupedal trunk stabilization, I. Havoutis, C. Semini and D.G. Caldwell, Dynamic Walking 2013, Pittsburgh, Pennsylvania, USA,
2013. [pdf]
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Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ), I. Havoutis, J. Ortiz, S. Bazeille, V. Barasuol, C. Semini and D. G. Caldwell, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2013. [pdf]
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Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control, B. Ugurlu, I. Havoutis, C. Semini and D. G. Caldwell, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2013. [pdf]
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Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces, S. Zapolsky, E. Drumwright, I. Havoutis, J. Buchli and C. Semini, International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR),
2013. [pdf]
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Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion, M. Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini and D. G. Caldwell, International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR),
2013. [pdf]
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A comparison of Search-based Planners for a Legged Robot, M. A. Arain, I. Havoutis, C. Semini, J. Buchli and D. G. Caldwell, IEEE International Workshop on Robot Motion and Control (RoMoCo),
2013. [pdf]
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Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain, S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini and D. G. Caldwell, IEEE International Conference on Technologies for Practical Robot Applications (TePRA 13),
2013. [pdf]
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Quadrupedal trotting with active compliance, I. Havoutis, C. Semini, J. Buchli and D.G. Caldwell, IEEE International Conference on Mechatronics (ICM),
2013. [pdf]
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2012
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Motion Generation with Geodesic Paths on Learnt Skill Manifolds, I. Havoutis and S. Ramamoorthy, In K. Mombaur and K. Berns (Eds.): Modeling, Simulation and Optimization of Bipedal Walking, Springer,
2012. [pdf]
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Progress in quadrupedal trotting with active compliance, I. Havoutis, C. Semini, J. Buchli and D.G. Caldwell, Dynamic Walking 2012, Pensacola, Florida, USA,
2012. [pdf]
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2011
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Motion planning and reactive control on learnt skill manifolds, I. Havoutis, Ph.D. Thesis, School of Informatics, University of Edinburgh,
2011. [link]
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Learnt skill manifolds for robot control, I. Havoutis and S. Ramamoorthy, International Workshop on Human-Friendly Robotics (HFR),
2011. [pdf]
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2010
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Constrained geodesic trajectory generation on learnt skill manifolds, I. Havoutis and S. Ramamoorthy, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2010. [pdf]. [ Finalist for IROS 2010 Best RoboCup Paper Award ]
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Geodesic trajectory generation on learnt skill manifolds, I. Havoutis and S. Ramamoorthy, In Proc. IEEE International Conference on Robotics and Automation,
2010. [pdf]
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Motion synthesis through randomized exploration on submanifolds in configuration space, I. Havoutis and S. Ramamoorthy, RoboCup 2009, J. Baltes et al. (Eds.), Lecture Notes in Artificial Intelligence, Volume 5949, pp. 92--103. Springer, Heidelberg,
2010. [pdf]
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2009
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Geodesic trajectory generation on learnt skill manifolds, I. Havoutis and S. Ramamoorthy, Workshop on Modeling, Simulation and Optimization of Bipedal Walking. Humanoids 09', Paris, France,
2009. [abstract] [poster]
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Motion Synthesis on Learned Skill Manifolds, I. Havoutis and S. Ramamoorthy, RLSS 09'. Lisbon, Portugal,
2009. [poster]
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2008
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Synthesising Novel Movements through Latent Space Modulation of Scalable Control Policies, S. Bitzer, I. Havoutis and S. Vijayakumar, From Animals to Animats 10, pages 199--209, Springer,
2008. [link][pdf]
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2007
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Scalable Movement Representation In Low Dimensional Latent Space, I. Havoutis, MSc Thesis, University of Edinburgh,
2007. [pdf]
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