Ioannis Havoutis

According to our database, Ioannis Havoutis authored at least 75 papers between 2008 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning.

Vassil Atanassov, Wanming Yu, Alexander Luis Mitchell, Mark Nicholas Finean, Ioannis Havoutis

CoRR, 2024

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

Kim Tien Ly, Kai Lu, Ioannis Havoutis

CoRR, 2024

Adaptive Manipulation using Behavior Trees.

Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis

CoRR, 2024

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

Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner

CoRR, 2024

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

Vassil Atanassov, Jiatao Ding, Jens Kober, Ioannis Havoutis, Cosimo Della Santina

CoRR, 2024

Learning and deploying robust locomotion policies with minimal dynamics randomization.

Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis

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.

Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

RoLoMa: robust loco-manipulation for quadruped robots with arms.

Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar

Auton. Robots, December, 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, October, 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, April, 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

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

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

Roll-Drop: accounting for observation noise with a single parameter.

Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis

Proceedings of the Learning for Dynamics and Control Conference, 2023

Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space.

Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis, Ingmar Posner

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion.

Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis

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.

Kim Tien Ly, Matthew Munks, Wolfgang Merkt, Ioannis Havoutis

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.

Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis

IEEE Trans. Robotics, 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

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

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

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

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement.

Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Zero-Shot Category-Level Object Pose Estimation.

Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner

Proceedings of the Computer Vision - ECCV 2022, 2022

You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example.

Walter Goodwin, Ioannis Havoutis, Ingmar Posner

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.

Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar

IEEE Trans. Robotics, 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

CPG-Actor: Reinforcement Learning for Central Pattern Generators.

Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis

Proceedings of the Towards Autonomous Robotic Systems - 22nd Annual Conference, 2021

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent.

Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Rapid Stability Margin Estimation for Contact-Rich Locomotion.

Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon

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.

Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis

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.

Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar

Proceedings of the IEEE International Conference on Robotics and Automation, 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

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery.

Chia-Man Hung, Li Sun, Yizhe Wu, Ioannis Havoutis, Ingmar Posner

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning.

Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization.

Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Sparsity-Inducing Optimal Control via Differential Dynamic Programming.

Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments.

Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis

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.

Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

IEEE Trans. Robotics, 2020

Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion.

Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis

IEEE Robotics Autom. Lett., 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

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

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

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations.

Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles.

David Surovik, Oliwier Melon, Mathieu Geisert, Maurice F. Fallon, Ioannis Havoutis

Proceedings of the 4th Conference on Robot Learning, 2020

Learning Sequences of Approximations for Hierarchical Motion Planning.

Martim Brandão, Ioannis Havoutis

Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling, 2020

2019

Learning from demonstration for semi-autonomous teleoperation.

Ioannis Havoutis, Sylvain Calinon

Auton. Robots, 2019

Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning.

William Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida

Proceedings of the Towards Autonomous Robotic Systems - 20th Annual Conference, 2019

Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner.

Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis

Proceedings of the Towards Autonomous Robotic Systems - 20th Annual Conference, 2019

Multi-controller multi-objective locomotion planning for legged robots.

Martim Brandão, Maurice F. Fallon, Ioannis Havoutis

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.

Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon

IEEE Robotics Autom. Lett., 2018

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

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

Learning task-space synergies using Riemannian geometry.

Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon, Darwin G. Caldwell

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.

Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 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

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Supervisory teleoperation with online learning and optimal control.

Ioannis Havoutis, Sylvain Calinon

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016

Learning assistive teleoperation behaviors from demonstration.

Ioannis Havoutis, Sylvain Calinon

Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Hierarchical planning of dynamic movements without scheduled contact sequences.

Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

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.

Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, Tatsuo Narikiyo

Auton. Robots, 2015

On-line and on-board planning and perception for quadrupedal locomotion.

Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini

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.

Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

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

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, Michele Focchi, Rüdiger Dillmann, Darwin G. Caldwell, Claudio Semini

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

Motion planning and reactive control on learnt skill manifolds.

Ioannis Havoutis, Subramanian Ramamoorthy

Int. J. Robotics Res., 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

Proceedings of the 2013 IEEE Conference on Technologies for Practical Robot Applications, 2013

A comparison of search-based planners for a legged robot.

Muhammad Asif Arain, Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell

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.

Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Darwin G. Caldwell

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).

Ioannis Havoutis, Jesús Ortiz, Stéphane Bazeille, Victor Barasuol, Claudio Semini, Darwin G. Caldwell

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Quadrupedal trotting with active compliance.

Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell

Proceedings of the IEEE International Conference on Mechatronics, 2013

2012

Motion planning and reactive control on learnt skill manifolds.

Ioannis Havoutis

PhD thesis, 2012

2010

Constrained geodesic trajectory generation on learnt skill manifolds.

Ioannis Havoutis, Subramanian Ramamoorthy

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Geodesic trajectory generation on learnt skill manifolds.

Ioannis Havoutis, Subramanian Ramamoorthy

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space.

Ioannis Havoutis, Subramanian Ramamoorthy

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.

Sebastian Bitzer, Ioannis Havoutis, Sethu Vijayakumar

Proceedings of the From Animals to Animats 10, 2008