Publications from the Dynamic Robot Systems Group at the Oxford Robotics Institute
Publications @ DRS-Control
Discovery of skill switching criteria for learning agile quadruped locomotion
Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al. (2025)
BibTeX
@misc{discoveryofskil-2025/2,
title={Discovery of skill switching criteria for learning agile quadruped locomotion},
author={Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al.},
year = "2025"
}
Discovery of skill switching criteria for learning agile quadruped locomotion
Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al. (2025)
BibTeX
@misc{discoveryofskil-2025/2,
title={Discovery of skill switching criteria for learning agile quadruped locomotion},
author={Yu W, Acero F, Atanassov V, Yang C, Havoutis I et al.},
year = "2025"
}
Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics
Papatheodorou A, Merkt W, Mitchell AL & Havoutis I (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 11940-11947
BibTeX
@inproceedings{momentumawaretr-2024/12,
title={Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics},
author={Papatheodorou A, Merkt W, Mitchell AL & Havoutis I},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
pages={11940-11947},
year = "2024"
}
Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics
Papatheodorou A, Merkt W, Mitchell AL & Havoutis I (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 11940-11947
BibTeX
@inproceedings{momentumawaretr-2024/12,
title={Momentum-aware trajectory optimisation using full-centroidal dynamics and implicit inverse kinematics},
author={Papatheodorou A, Merkt W, Mitchell AL & Havoutis I},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
pages={11940-11947},
year = "2024"
}
Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design
Atanassov V, Ding J, Kober J, Havoutis I & Santina CD (2024), IEEE Robotics and Automation Magazine, 2-15
BibTeX
@article{curriculumbased-2024/11,
title={Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design},
author={Atanassov V, Ding J, Kober J, Havoutis I & Santina CD},
journal={IEEE Robotics and Automation Magazine},
pages={2-15},
publisher={IEEE},
year = "2024"
}
Offline Adaptation of Quadruped Locomotion using Diffusion Models
O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I (2024)
BibTeX
@misc{offlineadaptati-2024/11,
title={Offline Adaptation of Quadruped Locomotion using Diffusion Models},
author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
year = "2024"
}
Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design
Atanassov V, Ding J, Kober J, Havoutis I & Santina CD (2024), IEEE Robotics and Automation Magazine, 2-15
BibTeX
@article{curriculumbased-2024/11,
title={Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design},
author={Atanassov V, Ding J, Kober J, Havoutis I & Santina CD},
journal={IEEE Robotics and Automation Magazine},
pages={2-15},
publisher={IEEE},
year = "2024"
}
Offline Adaptation of Quadruped Locomotion using Diffusion Models
O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I (2024)
BibTeX
@misc{offlineadaptati-2024/11,
title={Offline Adaptation of Quadruped Locomotion using Diffusion Models},
author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
year = "2024"
}
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I (2024)
BibTeX
@misc{constrainedskil-2024/10,
title={Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning},
author={Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I},
year = "2024"
}
Learning generalizable manipulation policy with adapter-based parameter fine-tuning
Lu K, Ly KT, Hebberd W, Zhou K, Havoutis I et al. (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 13510-13517
BibTeX
@inproceedings{learninggeneral-2024/10,
title={Learning generalizable manipulation policy with adapter-based parameter fine-tuning},
author={Lu K, Ly KT, Hebberd W, Zhou K, Havoutis I et al.},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
pages={13510-13517},
year = "2024"
}
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I (2024)
BibTeX
@misc{constrainedskil-2024/10,
title={Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning},
author={Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I},
year = "2024"
}
Learning generalizable manipulation policy with adapter-based parameter fine-tuning
Lu K, Ly KT, Hebberd W, Zhou K, Havoutis I et al. (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 13510-13517
BibTeX
@inproceedings{learninggeneral-2024/10,
title={Learning generalizable manipulation policy with adapter-based parameter fine-tuning},
author={Lu K, Ly KT, Hebberd W, Zhou K, Havoutis I et al.},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
pages={13510-13517},
year = "2024"
}
InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy
Ly KT, Lu K & Havoutis I (2024)
BibTeX
@misc{inteliplananint-2024/9,
title={InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy},
author={Ly KT, Lu K & Havoutis I},
year = "2024"
}
InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy
Ly KT, Lu K & Havoutis I (2024)
BibTeX
@misc{inteliplananint-2024/9,
title={InteLiPlan: An Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy},
author={Ly KT, Lu K & Havoutis I},
year = "2024"
}
R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (2024), 2024 IEEE International Conference on Robotics and Automation (ICRA), 14917-14923
BibTeX
@inproceedings{rlgpareachabili-2024/8,
title={R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators},
author={Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
pages={14917-14923},
year = "2024"
}
R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (2024), 2024 IEEE International Conference on Robotics and Automation (ICRA), 14917-14923
BibTeX
@inproceedings{rlgpareachabili-2024/8,
title={R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators},
author={Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
pages={14917-14923},
year = "2024"
}
Learning and deploying robust locomotion policies with minimal dynamics randomization
Campanaro L, Gangapurwala S, Merkt W & Havoutis I (2024), Proceedings of the 6th Annual Learning for Dynamics and Control Conference, 578-590
BibTeX
@inproceedings{learninganddepl-2024/7,
title={Learning and deploying robust locomotion policies with minimal dynamics randomization},
author={Campanaro L, Gangapurwala S, Merkt W & Havoutis I},
booktitle={6th Annual Learning for Dynamics and Control Conference (L4DC 2024)},
pages={578-590},
year = "2024"
}
Learning and deploying robust locomotion policies with minimal dynamics randomization
Campanaro L, Gangapurwala S, Merkt W & Havoutis I (2024), Proceedings of the 6th Annual Learning for Dynamics and Control Conference, 578-590
BibTeX
@inproceedings{learninganddepl-2024/7,
title={Learning and deploying robust locomotion policies with minimal dynamics randomization},
author={Campanaro L, Gangapurwala S, Merkt W & Havoutis I},
booktitle={6th Annual Learning for Dynamics and Control Conference (L4DC 2024)},
pages={578-590},
year = "2024"
}
Adaptive Manipulation using Behavior Trees
Cloete J, Merkt W & Havoutis I (2024)
BibTeX
@misc{adaptivemanipul-2024/6,
title={Adaptive Manipulation using Behavior Trees},
author={Cloete J, Merkt W & Havoutis I},
year = "2024"
}
Adaptive Manipulation using Behavior Trees
Cloete J, Merkt W & Havoutis I (2024)
BibTeX
@misc{adaptivemanipul-2024/6,
title={Adaptive Manipulation using Behavior Trees},
author={Cloete J, Merkt W & Havoutis I},
year = "2024"
}