| 2025 | ICRA | Offline Adaptation of Quadruped Locomotion Using Diffusion Models. | Reece O'Mahoney, Alexander L. Mitchell, Wanming Yu, Ingmar Posner, Ioannis Havoutis |
| 2025 | IROS | Adaptive Manipulation using Behavior Trees. | Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis |
| 2024 | CoRL | Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion. | Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner |
| 2024 | ICRA | 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 |
| 2024 | IROS | Learning Generalizable Manipulation Policy with Adapter-Based Parameter Fine-Tuning. | Kai Lu, Kim Tien Ly, William Hebberd, Kaichen Zhou, Ioannis Havoutis, Andrew Markham |
| 2024 | IROS | Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics. | Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell, Ioannis Havoutis |
| 2023 | ICRA | Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion. | Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis |
| 2023 | ICRA | Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space. | Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis, Ingmar Posner |
| 2022 | CoRL | You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example. | Walter Goodwin, Ioannis Havoutis, Ingmar Posner |
| 2022 | ECCV | Zero-Shot Category-Level Object Pose Estimation. | Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner |
| 2022 | ICRA | Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement. | Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner |
| 2022 | ICRA | 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 |
| 2021 | ICRA | Sparsity-Inducing Optimal Control via Differential Dynamic Programming. | Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar |
| 2021 | ICRA | Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. | Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar |
| 2021 | ICRA | Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. | Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis |
| 2021 | ICRA | Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery. | Chia-Man Hung, Li Sun, Yizhe Wu, Ioannis Havoutis, Ingmar Posner |
| 2021 | ICRA | 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 |
| 2021 | IROS | Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments. | Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis |
| 2021 | IROS | Rapid Stability Margin Estimation for Contact-Rich Locomotion. | Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon |
| 2021 | IROS | Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. | Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti |
| 2021 | ICRA | 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 |
| 2020 | CoRL | Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles. | David Surovik, Oliwier Melon, Mathieu Geisert, Maurice F. Fallon, Ioannis Havoutis |
| 2020 | ICRA | Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. | Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon |
| 2020 | IROS | 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 |
| 2019 | IROS | Multi-controller multi-objective locomotion planning for legged robots. | Martim Brando, Maurice F. Fallon, Ioannis Havoutis |
| 2017 | ICRA | Supervisory teleoperation with online learning and optimal control. | Ioannis Havoutis, Sylvain Calinon |
| 2017 | ICRA | 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 |
| 2017 | ICRA | Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. | Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini |
| 2017 | IROS | Learning task-space synergies using Riemannian geometry. | Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon, Darwin G. Caldwell |
| 2016 | ICRA | Hierarchical planning of dynamic movements without scheduled contact sequences. | Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini |
| 2015 | ICRA | 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 |
| 2014 | ICRA | Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. | Alexander W. Winkler, Ioannis Havoutis, Stphane Bazeille, Jess Ortiz, Michele Focchi, Rdiger Dillmann, Darwin G. Caldwell, Claudio Semini |
| 2013 | IROS | Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). | Ioannis Havoutis, Jess Ortiz, Stphane Bazeille, Victor Barasuol, Claudio Semini, Darwin G. Caldwell |
| 2013 | IROS | 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 |
| 2010 | ICRA | Geodesic trajectory generation on learnt skill manifolds. | Ioannis Havoutis, Subramanian Ramamoorthy |
| 2010 | IROS | Constrained geodesic trajectory generation on learnt skill manifolds. | Ioannis Havoutis, Subramanian Ramamoorthy |
| 2009 | RoboCup | Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space. | Ioannis Havoutis, Subramanian Ramamoorthy |