Publications from the Dynamic Robot Systems Group at the Oxford Robotics Institute
Publications @ DRS-Control
Oscillating latent dynamics in robot systems during walking and reaching.
Parker Jones O, Mitchell AL, Yamada J, Merkt W, Geisert M et al. (2024), Scientific reports, 14(1), 11434
BibTeX
@article{oscillatinglate-2024/5,
title={Oscillating latent dynamics in robot systems during walking and reaching.},
author={Parker Jones O, Mitchell AL, Yamada J, Merkt W, Geisert M et al.},
journal={Scientific reports},
volume={14},
pages={11434},
publisher={Springer Nature},
year = "2024"
}
RoLoMa: robust loco-manipulation for quadruped robots with arms
Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S (2023), Autonomous Robots, 47(8), 1463-1481
BibTeX
@article{rolomarobustloc-2023/10,
title={RoLoMa: robust loco-manipulation for quadruped robots with arms},
author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
journal={Autonomous Robots},
volume={47},
pages={1463-1481},
publisher={Springer},
year = "2023"
}
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 (2023)
BibTeX
@misc{rlgpareachabili-2023/10,
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},
year = "2023"
}
Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring
Ly K, Munks M, Merkt W & Havoutis I (2023), IEEE International Conference on Automation Science and Engineering (CASE), 2023-August, 1-7
BibTeX
@inproceedings{asymptoticallyo-2023/9,
title={Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring},
author={Ly K, Munks M, Merkt W & Havoutis I},
booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
pages={1-7},
year = "2023"
}
VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation
Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al. (2023), IEEE Transactions on Robotics, 39(5), 3805-3820
BibTeX
@article{vaelocoversatil-2023/7,
title={VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation},
author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
journal={IEEE Transactions on Robotics},
volume={39},
pages={3805-3820},
publisher={IEEE},
year = "2023"
}
Leveraging scene embeddings for gradient-based motion planning in latent space
Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5674-5680
BibTeX
@inproceedings{leveragingscene-2023/7,
title={Leveraging scene embeddings for gradient-based motion planning in latent space},
author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5674-5680},
year = "2023"
}
Learning low-frequency motion control for robust and dynamic robot locomotion
Gangapurwala S, Campanaro L & Havoutis I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5085-5091
BibTeX
@inproceedings{learninglowfreq-2023/7,
title={Learning low-frequency motion control for robust and dynamic robot locomotion},
author={Gangapurwala S, Campanaro L & Havoutis I},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5085-5091},
year = "2023"
}
Roll-Drop: accounting for observation noise with a single parameter
Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I (2023), Proceedings of The 5th Annual Learning for Dynamics and Control Conference, 718-730
BibTeX
@inproceedings{rolldropaccount-2023/6,
title={Roll-Drop: accounting for observation noise with a single parameter},
author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
booktitle={5th Annual Learning for Dynamics and Control Conference (L4DC 2023)},
pages={718-730},
year = "2023"
}
Motion planning in dynamic environments using context-aware human trajectory prediction
Finean MN, Petrović L, Merkt W, Marković I & Havoutis I (2023), Robotics and Autonomous Systems, 104450-104450
BibTeX
@article{motionplanningi-2023/5,
title={Motion planning in dynamic environments using context-aware human trajectory prediction},
author={Finean MN, Petrović L, Merkt W, Marković I & Havoutis I},
journal={Robotics and Autonomous Systems},
number={104450},
pages={104450-104450},
publisher={Elsevier BV},
year = "2023"
}
Motion planning in dynamic environments using context-aware human trajectory prediction
Finean MN, Petrović L, Merkt W, Marković I & Havoutis I (2023), Robotics and Autonomous Systems, 104450-104450
BibTeX
@article{motionplanningi-2023/5,
title={Motion planning in dynamic environments using context-aware human trajectory prediction},
author={Finean MN, Petrović L, Merkt W, Marković I & Havoutis I},
journal={Robotics and Autonomous Systems},
number={104450},
pages={104450-104450},
publisher={Elsevier BV},
year = "2023"
}
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Goodwin W, Havoutis I & Posner I (2023)
BibTeX
@misc{youonlylookaton-2023/5,
title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
author={Goodwin W, Havoutis I & Posner I},
year = "2023"
}
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Corbères T, Mastalli C, Merkt W, Havoutis I, Fallon M et al. (2023)
BibTeX
@misc{perceptivelocom-2023/5,
title={Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection},
author={Corbères T, Mastalli C, Merkt W, Havoutis I, Fallon M et al.},
year = "2023"
}
Roll-Drop: accounting for observation noise with a single parameter
Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I (2023)
BibTeX
@misc{rolldropaccount-2023/4,
title={Roll-Drop: accounting for observation noise with a single parameter},
author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
year = "2023"
}
You only look at one: category-level object representations for pose estimation from a single example
Goodwin W, Havoutis I & Posner I (2023), Proceedings of The 6th Conference on Robot Learning, 1435-1445
BibTeX
@inproceedings{youonlylookaton-2023/3,
title={You only look at one: category-level object representations for pose estimation from a single example},
author={Goodwin W, Havoutis I & Posner I},
booktitle={6th Conference on Robot Learning (CoRL 2022)},
pages={1435-1445},
year = "2023"
}
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Yamada J, Hung C-M, Collins J, Havoutis I & Posner I (2023)
BibTeX
@misc{leveragingscene-2023/3,
title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
author={Yamada J, Hung C-M, Collins J, Havoutis I & Posner I},
year = "2023"
}
BiConMP: a nonlinear model predictive control framework for whole body motion planning
Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al. (2023), IEEE Transactions on Robotics, 1-18
BibTeX
@article{biconmpanonline-2023/1,
title={BiConMP: a nonlinear model predictive control framework for whole body motion planning},
author={Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al.},
journal={IEEE Transactions on Robotics},
pages={1-18},
publisher={IEEE},
year = "2023"
}
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Goodwin W, Havoutis I & Posner I (2023), Proceedings of Machine Learning Research, 205, 1435-1445
BibTeX
@inproceedings{youonlylookaton-2023/1,
title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
author={Goodwin W, Havoutis I & Posner I},
pages={1435-1445},
year = "2023"
}
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), Proceedings - IEEE International Conference on Robotics and Automation, 2023-May, 5674-5680
BibTeX
@inproceedings{leveragingscene-2023/1,
title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
pages={5674-5680},
year = "2023"
}
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
Gangapurwala S, Campanaro L & Havoutis I (2023), Proceedings - IEEE International Conference on Robotics and Automation, 2023-May, 5085-5091
BibTeX
@inproceedings{learninglowfreq-2023/1,
title={Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion},
author={Gangapurwala S, Campanaro L & Havoutis I},
pages={5085-5091},
year = "2023"
}
BiConMP: a nonlinear model predictive control framework for whole body motion planning
Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al. (2023), IEEE Transactions on Robotics, 1-18
BibTeX
@article{biconmpanonline-2023/1,
title={BiConMP: a nonlinear model predictive control framework for whole body motion planning},
author={Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al.},
journal={IEEE Transactions on Robotics},
pages={1-18},
publisher={IEEE},
year = "2023"
}