Discovery of Skill Switching Criteria for Learning Agile Quadruped Locomotion
Yu, Wanming, Acero, Fernando, Atanassov, Vassil, Yang, Chuanyu, Havoutis, Ioannis, Kanoulas, Dimitrios, Li, Zhibin
Publications
2026
InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy
Kim Tien Ly, Kai Lu, Ioannis Havoutis
Artificial neural networks for HD-sEMG-based hand position estimation: addressing inter- and intra-subject variability
Giovanni Rolandino, Leonardo Lion, Taian Vieira, Ioannis Havoutis, Brian Andrews, James J. FitzGerald
MetaSym: A Symplectic Meta-learning Framework for Physical Intelligence
Pranav Vaidhyanathan, Aristotelis Papatheodorou, Mark T. Mitchison, Natalia Ares, Ioannis Havoutis
2025
Acrobotics: A Generalist Approach to Quadrupedal Robots' Parkour
Guillaume Gagn\'e-Labelle, Vassil Atanassov, Ioannis Havoutis
Adaptive Manipulation using Behavior Trees
Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis
Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space
Zeren Luo, Jiahui Zhang, Yimin Han, Ji Ma, Minghao Lu, Ioannis Havoutis, Peng Lu
Neural Associative Skill Memories for Safer Robotics and Modelling Human Sensorimotor Repertoires
Mahajan, Pranav, Tang, Mufeng, Li, T. Ed, Havoutis, Ioannis, Seymour, Ben
Offline Adaptation of Quadruped Locomotion using Diffusion Models
Reece O'Mahoney, Alexander L. Mitchell, Wanming Yu, Ingmar Posner, Ioannis Havoutis
Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection
Thomas Corb\`eres, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation
Risiglione, Mattia, Abdalla, Abdelrahman, Barasuol, Victor, Ly, Kim Tien, Havoutis, Ioannis, Semini, Claudio
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
2024
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-Free Design
Atanassov, Vassil, Ding, Jiatao, Kober, Jens, Havoutis, Ioannis, Della Santina, Cosimo
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Mitchell, Alexander Luis, Merkt, Wolfgang, Papatheodorou, Aristotelis, Havoutis, Ioannis, Posner, Ingmar
Learning Generalizable Manipulation Policy with Adapter-Based Parameter Fine-Tuning
Kai Lu, Kim Tien Ly, William Hebberd, Kaichen Zhou, Ioannis Havoutis, Andrew Markham
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Loco-Manipulation: Algorithms, Challenges & Applications
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis
Oscillating latent dynamics in robot systems during walking and reaching
Oiwi Parker Jones, Alexander L. Mitchell, Jun Yamada, Wolfgang Merkt, Mathieu Geisert, Ioannis Havoutis, Ingmar Posner
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
2023
Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring
Ly, Kim Tien, Munks, Matthew, Merkt, Wolfgang, Havoutis, Ioannis
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Meduri, Avadesh, Shah, Paarth, Viereck, Julian, Khadiv, Majid, Havoutis, Ioannis, Righetti, Ludovic
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
Gangapurwala, Siddhant, Campanaro, Luigi, Havoutis, Ioannis
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Yamada, Jun, Hung, Chia-Man, Collins, Jack, Havoutis, Ioannis, Posner, Ingmar
Motion planning in dynamic environments using context-aware human trajectory prediction
Finean, Mark Nicholas, Petrović, Luka, Merkt, Wolfgang, Marković, Ivan, Havoutis, Ioannis
RoLoMa: robust loco-manipulation for quadruped robots with arms
Ferrolho, Henrique, Ivan, Vladimir, Merkt, Wolfgang, Havoutis, Ioannis, Vijayakumar, Sethu
Roll-Drop: accounting for observation noise with a single parameter
Campanaro, Luigi, De Martini, Daniele, Gangapurwala, Siddhant, Merkt, Wolfgang, Havoutis, Ioannis
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Mitchell, Alexander Luis, Merkt, Wolfgang Xaver, Geisert, Mathieu, Gangapurwala, Siddhant, Engelcke, Martin, Parker Jones, Oiwi, Havoutis, Ioannis, Posner, Ingmar
2022
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
Mitchell, Alexander Luis, Merkt, Wolfgang Xaver, Geisert, Mathieu, Gangapurwala, Siddhant, Engelcke, Martin, Parker Jones, Oiwi, Havoutis, Ioannis, Posner, Ingmar
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
Gangapurwala, Siddhant, Geisert, Mathieu, Orsolino, Romeo, Fallon, Maurice, Havoutis, Ioannis
Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation
Hung, Chia-Man, Zhong, Shaohong, Goodwin, Walter, Parker Jones, Oiwi, Engelcke, Martin, Havoutis, Ioannis, Posner, Ingmar
Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement
Goodwin, Walter, Vaze, Sagar, Havoutis, Ioannis, Posner, Ingmar
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments
Finean, Mark Nicholas, Merkt, Wolfgang Xaver, Havoutis, Ioannis
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Goodwin, Walter, Havoutis, Ioannis, Posner, Ingmar
Zero-Shot Category-Level Object Pose Estimation
Goodwin, Walter, Vaze, Sagar, Havoutis, Ioannis, Posner, Ingmar
2021
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Tiseo, Carlo, Ivan, Vladimir, Merkt, Wolfgang, Havoutis, Ioannis, Mistry, Michael, Vijayakumar, Sethu
Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery
Hung, Chia-Man, Sun, Li, Wu, Yizhe, Havoutis, Ioannis, Posner, Ingmar
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Tiseo, Carlo, Merkt, Wolfgang, Babarahmati, Keyhan Kouhkiloui, Wolfslag, Wouter, Havoutis, Ioannis, Vijayakumar, Sethu, Mistry, Michael
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Ferrolho, Henrique, Ivan, Vladimir, Merkt, Wolfgang, Havoutis, Ioannis, Vijayakumar, Sethu
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Merkt, Wolfgang, Ivan, Vladimir, Dinev, Traiko, Havoutis, Ioannis, Vijayakumar, Sethu
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments
Finean, Mark, Merkt, Wolfgang, Havoutis, Ioannis
Rapid Convex Optimization of Centroidal Dynamics Using Block Coordinate Descent
Shah, Paarth, Meduri, Avadesh, Merkt, Wolfgang Xaver, Khadiv, Majid, Havoutis, Ioannis, Righetti, Ludovic
Rapid Stability Margin Estimation for Contact-Rich Locomotion
Orsolino, Romeo, Gangapurwala, Siddhant, Melon, Oliwier Aleksander, Geisert, Mathieu, Havoutis, Ioannis, Fallon, Maurice
Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning
Gangapurwala, Siddhant, Geisert, Mathieu, Orsolino, Romeo, Fallon, Maurice, Havoutis, Ioannis
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization
Melon, Oliwier, Orsolino, Romeo, Surovik, David, Geisert, Mathieu, Havoutis, Ioannis, Fallon, Maurice
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments
Finean, Mark Nicholas, Merkt, Wolfgang Xaver, Havoutis, Ioannis
Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Dinev, Traiko, Merkt, Wolfgang, Ivan, Vladimir, Havoutis, Ioannis, Vijayakumar, Sethu
2020
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
Mitchell, Alexander L., Engelcke, Martin, Parker Jones, Oiwi, Surovik, David, Gangapurwala, Siddhant, Melon, Oliwier, Havoutis, Ioannis, Posner, Ingmar
GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments
Brandao, Martim, Aladag, Omer Burak, Havoutis, Ioannis
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion
Gangapurwala, Siddhant, Mitchell, Alexander, Havoutis, Ioannis
Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles
Surovik, David, Melon, Oliwier, Geisert, Mathieu, Fallon, Maurice, Havoutis, Ioannis
Learning sequences of approximations for hierarchical motion planning
Brandao, Martim, Havoutis, Ioannis
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
Mastalli, Carlos, Havoutis, Ioannis, Focchi, Michele, Caldwell, D.G., Semini, C.
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations
Melon, Oliwier, Geisert, Mathieu, Surovik, David, Havoutis, Ioannis, Fallon, Maurice
2019
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner
Geisert, M., Yates, T., Orgen, A., Fernbach, P., Havoutis, I.
Multi-controller multi-objective locomotion planning for legged robots
Brandao, Martim, Fallon, Maurice, Havoutis, Ioannis
2018
Learning from demonstration for semi-autonomous teleoperation
Havoutis, Ioannis, Calinon, Sylvain
Programming by Demonstration for Shared Control with an Application in Teleoperation
Zeestraten, M. J. A., Havoutis, I., Calinon, S.
2017
An Approach for Imitation Learning on Riemannian Manifolds
Zeestraten, M.J.A., Havoutis, I., Silverio, J., Calinon, S., Caldwell, D.G.
High-slope terrain locomotion for torque-controlled quadruped robots
Focchi, Michele, Del Prete, Andrea, Havoutis, Ioannis, Featherstone, Roy, Caldwell, Darwin G, Semini, Claudio
Learning Task-Space Synergies using Riemannian Geometry
Zeestraten, M. J. A., Havoutis, I., Calinon, S., Caldwell, D. G.
Supervisory teleoperation with online learning and optimal control
Havoutis, I., Calinon, S.
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion
Mastalli, Carlos, Focchi, Michele, Havoutis, Ioannis, Radulescu, Andreea, Calinon, Sylvain, Buchli, Jonas, Caldwell, Darwin G, Semini, Claudio
Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems
A. Radulescu, I. Havoutis, D. G. Caldwell, C. Semini
Workshop on Robust Perception, Planning, and Control for Legged Robot Locomotion in Challenging Domains
2016
Dexterous undersea interventions with far distance onshore supervision: The DexROV project
Gancet, Jeremi, Weiss, Peter, Antonelli, Gianluca, Pfingsthorn, Max Folkert, Calinon, Sylvain, Turetta, Alessio, Walen, Cees, Urbina, Diego, Govindaraj, Shashank, Letier, Pierre, others
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Mastalli, Carlos, Havoutis, Ioannis, Focchi, Michele, Caldwell, Darwin G., Semini, Claudio
Learning assistive teleoperation behaviors from demonstration
Havoutis, I., Calinon, S.
Online incremental learning of manipulation tasks for semi-autonomous teleoperation
Havoutis, I., Tanwani, A.K., Calinon, S.
Optimization for non-periodic dynamic motions of legged systems
Radulescu, A, Havoutis, I, Caldwell, DG, Semini, C
Preview optimization for learning locomotion policies on rough terrain
Mastalli, C, Havoutis, I, Radulescu, A, Focchi, M, Caldwell, DG, Semini, C
2015
Lidar-based navigation-level path planning for field-capable legged robots
I. Havoutis, D. G. Caldwell, C. Semini
On-line and On-board Planning and Perception for Quadrupedal Locomotion
Mastalli, Carlos, Havoutis, Ioannis, Winkler, Alexander W, Caldwell, Darwin G, Semini, Claudio
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ
Ugurlu, Barkan, Havoutis, Ioannis, Semini, Claudio, Kayamori, Kana, Caldwell, Darwin G, Narikiyo, Tatsuo
Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain
Winkler, A.W., Mastalli, C., Havoutis, I., Focchi, M., Caldwell, D.G., Semini, C.
Workshop on Perception and Planning for Legged Robot Locomotion in Challenging Domains
Kanoulas, Dimitrios, Havoutis, Ioannis, Fallon, Maurice, Yoshida, Eiichi
2014
Combining active compliance with force-feedback for on-the-fly motion replanning
Winkler, Alexander, Havoutis, Ioannis, Semini, Claudio
Ground reaction forces control for torque-controlled quadruped robots
Focchi, Michele, del Prete, Andrea, Havoutis, Ioannis, Featherstone, Roy, Caldwell, Darwin G, Semini, Claudio
Optimization of dynamic motions for legged robots
Havoutis, Ioannis, Buchli, Jonas, Semini, Claudio, Caldwell, Darwin G
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, C. Semini
Quadruped robot trotting over irregular terrain assisted by stereo-vision
Bazeille, Stephane, Barasuol, Victor, Focchi, Michele, Havoutis, Ioannis, Frigerio, Marco, Buchli, Jonas, Caldwell, Darwin G., Semini, Claudio
Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot
Bazeille, Stephane, Camurri, Marco, Ortiz, Jesus, Havoutis, Ioannis, Caldwell, Darwin G, Semini, Claudio
2013
A comparison of search-based planners for a legged robot
Arain, Muhammad Asif, Havoutis, Ioannis, Semini, Claudio, Buchli, Jonas, Caldwell, Darwin G
A compliant control architecture for the Hydraulic Quadruped - HyQ
Havoutis, Ioannis, Winkler, Alexander, Semini, Claudio, Caldwell, Darwin G
Dynamic trot-walking with the hydraulic quadruped robot—HyQ: analytical trajectory generation and active compliance control
Ugurlu, Barkan, Havoutis, Ioannis, Semini, Claudio, Caldwell, Darwin G
Inverse dynamics for a quadruped robot locomoting along slippery surfaces
Zapolsky, Samuel, Drumwright, Evan, Havoutis, Ioannis, Buchli, Jonas, Semini, Claudio
Local reflex generation for obstacle negotiation in quadrupedal locomotion
Focchi, Michele, Barasuol, Victor, Havoutis, Ioannis, Buchli, Jonas, Semini, Claudio, G. Caldwell, Darwin
Motion planning and reactive control on learnt skill manifolds
Ioannis Havoutis, Subramanian Ramamoorthy
Onboard perception-based trotting and crawling with the hydraulic quadruped robot (HyQ)
Havoutis, Ioannis, Ortiz, Jesus, Bazeille, Stephane, Barasuol, Victor, Semini, Claudio, Caldwel, Darwin G.
Quadrupedal trotting with active compliance
Havoutis, Ioannis, Semini, Claudio, Buchli, Jonas, Caldwell, Darwin G
Virtual model control for quadrupedal trunk stabilization
Havoutis, Ioannis, Semini, Claudio, Caldwell, Darwin G
Vision enhanced reactive locomotion control for trotting on rough terrain
Bazeille, Stéphane, Barasuol, Victor, Focchi, Michele, Havoutis, Ioannis, Frigerio, Marco, Buchli, Jonas, Semini, Claudio, Caldwell, Darwin G.
2012
Motion generation with geodesic paths on learnt skill manifolds
Havoutis, Ioannis, Ramamoorthy, Subramanian
Progress in quadrupedal trotting with active compliance
Havoutis, Ioannis, Semini, Claudio, Buchli, Jonas, Caldwell, Darwin G
2011
Learnt skill manifolds for robot control
Havoutis, Ioannis, Ramamoorthy, Subramanian
Motion planning and reactive control on learnt skill manifolds
Havoutis, Ioannis
2010
Constrained geodesic trajectory generation on learnt skill manifolds
Havoutis, Ioannis, Ramamoorthy, Subramanian
Geodesic trajectory generation on learnt skill manifolds
Havoutis, Ioannis, Ramamoorthy, Subramanian
Motion synthesis through randomized exploration on submanifolds of configuration space
Havoutis, Ioannis, Ramamoorthy, Subramanian
2009
Geodesic trajectory generation on learnt skill manifolds
Havoutis, Ioannis, Ramamoorthy, Subramanian
Motion Synthesis on Learned Skill Manifolds
Havoutis, I., Ramamoorthy, S.
2008
Synthesising novel movements through latent space modulation of scalable control policies
Bitzer, Sebastian, Havoutis, Ioannis, Vijayakumar, Sethu
2007
Scalable Movement Representation In Low Dimensional Latent Space
Havoutis, Ioannis
0
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