Ioannis Havoutis

ORCID

Publication Activity (10 Years)

Years Active: 2008-2024
Publications (10 Years): 90

Top Venues

CoRR

ICRA

IEEE Robotics Autom. Lett.

IROS

University of Edinburgh, UK (PHD)

Education History

University of Edinburgh, UK

PHD

Publications

Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis
Adaptive Manipulation using Behavior Trees. CoRR (2024)
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Learning and deploying robust locomotion policies with minimal dynamics randomization. L4DC (2024)
Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. CoRR (2024)
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. ICRA (2024)
Vassil Atanassov, Jiatao Ding, Jens Kober, Ioannis Havoutis, Cosimo Della Santina
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design. CoRR (2024)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
RoLoMa: robust loco-manipulation for quadruped robots with arms. Auton. Robots 47 (8) (2023)
Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Roll-Drop: accounting for observation noise with a single parameter. L4DC (2023)
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. IEEE Trans. Robotics 39 (5) (2023)
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Merkt, Ioannis Havoutis
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. CoRR (2023)
Walter Goodwin, Ioannis Havoutis, Ingmar Posner
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example. CoRR (2023)
Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis, Ingmar Posner
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space. CoRR (2023)
Kim Tien Ly, Matthew Munks, Wolfgang Merkt, Ioannis Havoutis
Asymptotically Optimized Multi-Surface Coverage Path Planning for Loco-Manipulation in Inspection and Monitoring. CASE (2023)
Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis
Motion planning in dynamic environments using context-aware human trajectory prediction. Robotics Auton. Syst. 166 (2023)
Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Roll-Drop: accounting for observation noise with a single parameter. CoRR (2023)
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. IEEE Trans. Robotics 39 (2) (2023)
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR (2023)
Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis, Ingmar Posner
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space. ICRA (2023)
Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis
Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics & Implicit Inverse Kinematics. CoRR (2023)
Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. ICRA (2023)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. IEEE Robotics Autom. Lett. 7 (2) (2022)
Mark Nicholas Finean, Luka Petrovic, Wolfgang Merkt, Ivan Markovic, Ioannis Havoutis
Motion Planning in Dynamic Environments Using Context-Aware Human Trajectory Prediction. CoRR (2022)
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. ICRA (2022)
Walter Goodwin, Ioannis Havoutis, Ingmar Posner
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example. CoRL (2022)
Chia-Man Hung, Shaohong Zhong, Walter Goodwin, Oiwi Parker Jones, Martin Engelcke, Ioannis Havoutis, Ingmar Posner
Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation. IEEE Robotics Autom. Lett. 7 (2) (2022)
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control. IEEE Trans. Robotics 38 (5) (2022)
Chia-Man Hung, Shaohong Zhong, Walter Goodwin, Oiwi Parker Jones, Martin Engelcke, Ioannis Havoutis, Ingmar Posner
Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation. CoRR (2022)
Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner
Zero-Shot Category-Level Object Pose Estimation. CoRR (2022)
Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. CoRR (2022)
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. CoRR (2022)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms. CoRR (2022)
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. CoRR (2022)
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar
Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR (2022)
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, Ioannis Havoutis
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization. CoRR (2022)
Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner
Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement. ICRA (2022)
Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner
Zero-Shot Category-Level Object Pose Estimation. ECCV (39) (2022)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments. CoRR (2021)
Chia-Man Hung, Li Sun, Yizhe Wu, Ioannis Havoutis, Ingmar Posner
Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery. ICRA (2021)
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael N. Mistry
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems. CoRR (2021)
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. ICRA (2021)
Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. ICRA (2021)
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. CoRR (2021)
Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. IROS (2021)
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. IEEE Trans. Robotics 37 (5) (2021)
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. ICRA (2021)
Chia-Man Hung, Li Sun, Yizhe Wu, Ioannis Havoutis, Ingmar Posner
Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery. CoRR (2021)
Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner
Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement. CoRR (2021)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. CoRR (2021)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. IROS (2021)
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. ICRA (2021)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. ICRA (2021)
Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. CoRR (2021)
Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
CPG-ACTOR: Reinforcement Learning for Central Pattern Generators. CoRR (2021)
Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis
CPG-Actor: Reinforcement Learning for Central Pattern Generators. TAROS (2021)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. ICAPS (2021)
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. CoRR (2021)
Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
Rapid Stability Margin Estimation for Contact-Rich Locomotion. IROS (2021)
Martim Brandão, Omer Burak Aladag, Ioannis Havoutis
GaitMesh: Controller-Aware Navigation Meshes for Long-Range Legged Locomotion Planning in Multi-Layered Environments. IEEE Robotics Autom. Lett. 5 (2) (2020)
Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Ioannis Havoutis, Ingmar Posner
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. CoRR (2020)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. IEEE Trans. Robotics 36 (6) (2020)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. CoRR (2020)
Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. IROS (2020)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control. CoRR (2020)
Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. CoRR (2020)
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. CoRR (2020)
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. CoRR (2020)
Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. CoRR (2020)
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control. CoRR (2020)
Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. ICRA (2020)
David Surovik, Oliwier Melon, Mathieu Geisert, Maurice F. Fallon, Ioannis Havoutis
Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles. CoRL (2020)
Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. IEEE Robotics Autom. Lett. 5 (2) (2020)
Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. CoRR (2020)
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. CoRR (2020)
Martim Brandão, Ioannis Havoutis
Learning Sequences of Approximations for Hierarchical Motion Planning. ICAPS (2020)
William Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida
Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning. TAROS (2) (2019)
Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner. CoRR (2019)
Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
On-line and on-board planning and perception for quadrupedal locomotion. CoRR (2019)
Ioannis Havoutis, Sylvain Calinon
Learning from demonstration for semi-autonomous teleoperation. Auton. Robots 43 (3) (2019)
Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis
Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner. TAROS (1) (2019)
Martim Brandão, Maurice F. Fallon, Ioannis Havoutis
Multi-controller multi-objective locomotion planning for legged robots. IROS (2019)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR (2019)
Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. CoRR (2019)
Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon
Programming by Demonstration for Shared Control With an Application in Teleoperation. IEEE Robotics Autom. Lett. 3 (3) (2018)
Martijn J. A. Zeestraten, Ioannis Havoutis, João Silvério, Sylvain Calinon, Darwin G. Caldwell
An Approach for Imitation Learning on Riemannian Manifolds. IEEE Robotics Autom. Lett. 2 (3) (2017)
Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon, Darwin G. Caldwell
Learning task-space synergies using Riemannian geometry. IROS (2017)
Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
High-slope terrain locomotion for torque-controlled quadruped robots. Auton. Robots 41 (1) (2017)
Ioannis Havoutis, Sylvain Calinon
Supervisory teleoperation with online learning and optimal control. ICRA (2017)
Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. ICRA (2017)
Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini
Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. ICRA (2017)
Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA (2016)
Ioannis Havoutis, Sylvain Calinon
Learning assistive teleoperation behaviors from demonstration. SSRR (2016)
Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, Tatsuo Narikiyo
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. Auton. Robots 38 (4) (2015)
Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. ICRA (2015)
Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
On-line and on-board planning and perception for quadrupedal locomotion. TePRA (2015)
Alexander W. Winkler, Ioannis Havoutis, Stéphane Bazeille, Jesús Ortiz, Michele Focchi, Rüdiger Dillmann, Darwin G. Caldwell, Claudio Semini
Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. ICRA (2014)
Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini
Quadruped robot trotting over irregular terrain assisted by stereo-vision. Intell. Serv. Robotics 7 (2) (2014)
Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
Quadrupedal trotting with active compliance. ICM (2013)
Ioannis Havoutis, Jesús Ortiz, Stéphane Bazeille, Victor Barasuol, Claudio Semini, Darwin G. Caldwell
Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). IROS (2013)
Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Darwin G. Caldwell
Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. IROS (2013)
Muhammad Asif Arain, Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell
A comparison of search-based planners for a legged robot. RoMoCo (2013)
Ioannis Havoutis, Subramanian Ramamoorthy
Motion planning and reactive control on learnt skill manifolds. Int. J. Robotics Res. 32 (9-10) (2013)

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Publication Activity (10 Years)

Top Topics

Top Venues

Ioannis Havoutis