Research Scientist

Alexander Luis Mitchell

I am a Post Doctoral Research Assistant at the University of Oxford in the Applied AI under the supervision of Ingmar Posner. My Dphil. supervisors were Prof. Ingmar Posner and Prof. Ioannis Havoutis at the Oxford Robotics Institute. To see what I am currently working on, please see the video below:

My research interests are:

Robot manipulation and locomotion in confined and cluttered environments

Dual arm manipulation

Generative modelling for robotic planning

Brain-inspired research for robotics

An example of a structured latent-space for multiple gaits and continuous gait transition:

Publications and submitted work

Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Conference of Robot Learning (CoRL), 2024
A. Mitchell, W. Merkt, A. Papatheodorou, I. Havoutis, I. Posner

Brain-like latent dynamics emerge in robot systems during walking and reaching
Nature: Science Reports, 2024
O. Parker Jones*, A. Mitchell*, J. Yamada*, W. Merkt, M. Geisert, I. Havoutis, I. Posner

Towards Agility: A Momentum Aware Trajectory Optimisation Framework using Full-Centroidal Dynamics Implicit Inverse Kinematics
International Conference on Intelligent Robots and Systems (IROS), 2024
A. Papatheodorou, W. Merkt, A. Mitchell, I. Havoutis

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
IEEE Transactions on Robotics (T-RO), 2023
A. Mitchell, W. Merkt, M. Geisert, S. Ganagapurwala, M. Engelcke, O. Parker Jones, I. Havoutis, I. Posner

From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control
Conference on Cognitive Computational Neuroscience, (CCN) 2023
A. Mitchell, O. Parker Jones, J. Yamada, W. Merkt, I. Havoutis, I. Posner

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
Under review: IEEE Robotics and Automation Letters (RA-L), 2022
A. Mitchell, W. Merkt, M. Geisert, S. Ganagapurwala, M. Engelcke, O. Parker Jones, I. Havoutis, I. Posner

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
IEEE Intelligent Robots and Systems (IROS), 2020
A. Mitchell, M. Engelcke, O. Parker Jones, S. Ganagapurwala, O. Melon, D. Surovik, I. Havoutis, I. Posner

Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion
S Gangapurwala, A Mitchell, I Havoutis
IEEE Robotics and Automation Letters 5 (2), 3642-3649