KC Konstantinos Chatzilygeroudis

Publications

According to Google Scholar (updated September 2026), this work has been cited 1,850 times, with an h-index of 22 and an i10-index of 28. Names in bold are mine; * marks equal contribution.

Preprints

arXiv · 2026
Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up
Nick Karydakis, Konstantinos Chatzilygeroudis

The real-time NMPC controller — built on a structure-exploiting SQP solver combining ADMM and interior-point methods — that won both tracks of the 4th AI Olympics with RealAIGym, evaluated on remote CloudPendulum hardware without prior knowledge of the system parameters.

arXiv · 2026
Hybrid Augmented Lagrangian Method for General Constrained Optimization via Evolutionary Algorithms
Lampros Printzios, Konstantinos Chatzilygeroudis

Extended journal version of our GECCO 2026 paper. Evolutionary algorithms are embedded within an Augmented Lagrangian loop, combining gradient-free exploration with systematic constraint handling on ten benchmark problems, including high-dimensional cases.

Peer-Reviewed Journal Papers

IEEE Trans. Evol. Comput. · 2025
Vector Quantized-Elites: Unsupervised and Problem-Agnostic Quality-Diversity Optimization
Constantinos Tsakonas, Konstantinos Chatzilygeroudis
IEEE Transactions on Evolutionary Computation · vol. 30, no. 4, pp. 1669–1683 · 2025
DOI
Ind. Eng. Chem. Res. · 2025
A Novel Hybrid Modeling Framework for Polymer Reaction Engineering with Application to Real-Time Process Monitoring
Cindy Trinh, Maria Prokopidou, Konstantinos Chatzilygeroudis, Dimitrios Meimaroglou
Industrial & Engineering Chemistry Research · vol. 64, no. 46, pp. 22304–22320 · 2025
RA-L · 2025
Sensorimotor Learning with Stability Guarantees via Autonomous Neural Dynamic Policies
Dionis Totsila*, Konstantinos Chatzilygeroudis*, Valerio Modugno, Denis Hadjivelichkov, Dimitrios Kanoulas
IEEE Robotics and Automation Letters (RA-L) · vol. 10, no. 2, pp. 1760–1767 · 2025
DOI
Annals of Math. & AI · 2025
Optimizing Doubly Stochastic Matrices for Average Consensus through Swarm and Evolutionary Algorithms
Panos Syriopoulos, Konstantinos Chatzilygeroudis, Nektarios Kalampalikis, Michael Vrahatis
Annals of Mathematics and Artificial Intelligence · vol. 93, pp. 151–171 · 2025
JOSS · 2024
RobotDART: a versatile robot simulator for robotics and machine learning researchers
Konstantinos Chatzilygeroudis, Dionis Totsila, Jean-Baptiste Mouret
Journal of Open Source Software (JOSS) · vol. 9, no. 102, pp. 6771 · 2024
Code
ACM TELO · 2023
Online Damage Recovery for Physical Robots with Hierarchical Quality-Diversity
Maxime Allard, Simón C. Smith, Konstantinos Chatzilygeroudis, Bryan Lim, Antoine Cully
ACM Transactions on Evolutionary Learning and Optimization · vol. 3, no. 2, pp. 6 · 2023
IEEE Trans. SMC: Systems · 2023
Self-Correcting Quadratic Programming-Based Robot Control
Farshad Khadivar*, Konstantinos Chatzilygeroudis*, Aude Billard
IEEE Transactions on Systems, Man, and Cybernetics: Systems · 2023
DOIVideo
Frontiers in Robotics and AI · 2022
Behavior Policy Learning: Learning Multi-Stage Tasks via Solution Sketches and Model-Based Controllers
Konstantinos Tsinganos*, Konstantinos Chatzilygeroudis*, Denis Hadjivelichkov, Theodoros Komninos, Evangelos Dermatas, Dimitrios Kanoulas
Frontiers in Robotics and AI · 2022
Video
JMLR · 2020
Robust Reinforcement Learning with Bayesian Optimisation and Quadrature
Supratik Paul, Konstantinos Chatzilygeroudis, Kamil Ciosek, Jean-Baptiste Mouret, Osborne Michael, Shimon Whiteson
Journal of Machine Learning Research (JMLR), Special Issue on Bayesian Optimization · 2020
Video
RA-L · 2020
Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects
Konstantinos Chatzilygeroudis, Bernardo Fichera, Ilaria Lauzana, Fanjun Bu, Kunpeng Yao, Farshad Khadivar, Aude Billard
IEEE Robotics and Automation Letters (RA-L): Special Issue on Benchmarking Protocols for Robotic Manipulation · 2020
Code
RA-L · 2020
Benchmark for Human-to-Robot Handovers of Unseen Containers with Unknown Filling
Ricardo Sanchez-Matilla*, Konstantinos Chatzilygeroudis*, Apostolos Modas, Nuno Ferreira Duarte, Alessio Xompero, Pascal Frossard, Aude Billard, Andrea Cavallaro
IEEE Robotics and Automation Letters (RA-L): Special Issue on Benchmarking Protocols for Robotic Manipulation · 2020
Code
IEEE Trans. Robotics · 2019
A survey on policy search algorithms for learning robot controllers in a handful of trials
Konstantinos Chatzilygeroudis, Vassilis Vassiliades, Freek Stulp, Sylvain Calinon, Jean-Baptiste Mouret
IEEE Transactions on Robotics (T-RO) · 2019
Robotics & Auton. Systems · 2018
Reset-free Trial-and-Error Learning for Robot Damage Recovery
Konstantinos Chatzilygeroudis, Vassilis Vassiliades, Jean-Baptiste Mouret
Robotics and Autonomous Systems · 2018
CodeVideo
JOSS · 2018
Limbo: A Flexible High-performance Library for Gaussian Processes modeling and Data-Efficient Optimization
Antoine Cully, Konstantinos Chatzilygeroudis, Federico Allocati, Jean-Baptiste Mouret
Journal of Open Source Software (JOSS) · 2018
Code
IEEE Trans. Evol. Comput. · 2017
Using Centroidal Voronoi Tessellations to Scale Up the Multi-dimensional Archive of Phenotypic Elites Algorithm
Vassilis Vassiliades, Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret
IEEE Transactions on Evolutionary Computation · 2017
Code

Magazine Articles

IEEE Robotics & Automation Mag. · 2025
The 2025 Summer School on Optimization for Robotics
Konstantinos Chatzilygeroudis, Shivesh Kumar, Brian Plancher, Zachary Manchester, Enrico Mingo Hoffman, Patrick Wensing
IEEE Robotics and Automation Magazine · vol. 32, no. 4, pp. 121–123 · 2025
DOI

Peer-Reviewed Book Chapters

Springer, SOIA series · 2021
Quality-Diversity Optimization: a novel branch of stochastic optimization
Konstantinos Chatzilygeroudis, Antoine Cully, Vassilis Vassiliades, Jean-Baptiste Mouret
Black Box Optimization, Machine Learning and No-Free Lunch Theorems · 2021
ACM Book Chapter · 2021
Machine Learning Basics
Konstantinos Chatzilygeroudis, Ioannis Hatzilygeroudis, Isidoros Perikos
Intelligent Computing for Interactive System Design: Statistics, Digital Signal Processing and Machine Learning in practice · 2021

Peer-Reviewed Conference Papers

IROS · 2026
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
Alexandros Ntagkas, Chairi Kiourt, Konstantinos Chatzilygeroudis
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026) · 2026
GECCO · 2026
Constrained Optimization using an Evolutionary–Augmented Lagrangian approach
Lampros Printzios, Konstantinos Chatzilygeroudis
Proceedings of the Genetic and Evolutionary Computation Conference Companion (GECCO 2026) · pp. 417–420 · 2026
RiTA · 2025
A benchmark on learning and optimization with 3D orientations
Alexandros Ntagkas, Constantinos Tsakonas, Chairi Kiourt, Konstantinos Chatzilygeroudis
13th International Conference on Robot Intelligence Technology and Applications (RiTA 2025) · 2025
Humanoids · 2025
AHMP: Agile Humanoid Motion Planning with Contact Sequence Discovery
Ioannis Tsikelis, Evangelos Tsiatsianas, Chairi Kiourt, Serena Ivaldi, Konstantinos Chatzilygeroudis, Enrico Mingo Hoffman
2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids) · pp. 33–40 · 2025
Humanoids · 2025
A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning
Evangelos Tsiatsianas, Chairi Kiourt, Konstantinos Chatzilygeroudis
2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids) · pp. 1187–1194 · 2025
ECC · 2025
On the Adaptive Performance Control of Robot Manipulators
Panagiotis S. Trakas, Alexandros D. Ntagkas, Konstantinos I. Chatzilygeroudis, Charalampos P. Bechlioulis
2025 European Control Conference (ECC) · pp. 3238–3243 · 2025
Video
ICARA · 2025
Integrating Trajectory Optimization in Quality-Diversity for Kinodynamic Motion Planning
Konstantinos A. Asimakopoulos, Konstantinos I. Chatzilygeroudis
2025 11th International Conference on Automation, Robotics, and Applications (ICARA) · pp. 388–393 · 2025
Humanoids · 2024
Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization
Ioannis Tsikelis, Konstantinos Chatzilygeroudis
IEEE-RAS International Conference on Humanoid Robots (Humanoids) · 2024
Video
LION · 2024
Effective Kinodynamic Planning and Exploration through Quality Diversity and Trajectory Optimization
Konstantinos A. Asimakopoulos, Aristeidis A. Androutsopoulos, Michael N. Vrahatis, Konstantinos I. Chatzilygeroudis
The 18th Learning and Intelligent Optimization Conference (LION) · 2024
IISA · 2023
Evolving Dynamic Locomotion Policies in Minutes
Konstantinos Chatzilygeroudis, Constantinos Tsakonas, Michael Vrahatis
The Fourteenth International Conference on Information, Intelligence, Systems and Applications (IISA 2023) · 2023
Video
IISA · 2023
Effective Skill Learning via Autonomous Goal Representation Learning
Constantinos Tsakonas, Konstantinos Chatzilygeroudis
The Fourteenth International Conference on Information, Intelligence, Systems and Applications (IISA 2023) · 2023
Video
LION · 2023
Fast and Robust Constrained Optimization via Evolutionary and Quadratic Programming
Konstantinos Chatzilygeroudis, Michael Vrahatis
The 17th Learning and Intelligent Optimization Conference (LION) · 2023
ROBIO · 2022
Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration
Matthias Mayr, Faseeh Ahmad, Konstantinos Chatzilygeroudis, Luigi Nardi, Volker Krueger
IEEE International Conference on Robotics and Biomimetics (ROBIO) · 2022
Video
CASE · 2022
Learning Skill-based Industrial Robot Tasks with User Priors
Matthias Mayr, Carl Hvarfner, Konstantinos Chatzilygeroudis, Luigi Nardi, Volker Krueger
IEEE International Conference on Automation Science and Engineering (CASE) · 2022
GECCO · 2022
Hierarchical Quality-Diversity for Online Damage Recovery
Maxime Allard, Simón C. Smith, Konstantinos Chatzilygeroudis, Antoine Cully
The Genetic and Evolutionary Computation Conference (GECCO) · 2022
RAAD · 2022
A Brief Survey of Sim2Real Methods for Robot Learning
Konstantinos Dimitropoulos, Ioannis Hatzilygeroudis, Konstantinos Chatzilygeroudis
31st International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) · 2022
IROS · 2021
Learning of Parameters in Behavior Trees for Movement Skills
Matthias Mayr, Konstantinos Chatzilygeroudis, Faseeh Ahmad, Luigi Nardi, Volker Krueger
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2021
Video
LION · 2021
Feature Selection in single-cell RNA-seq data via a Genetic Algorithm
Konstantinos Chatzilygeroudis, Aristidis Vrahatis, Sotiris Tasoulis, Micheal Vrahatis
The 15th Learning and Intelligent Optimization Conference (LION) · 2021
ICDL-EpiRob · 2020
From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues
Nuno Ferreira Duarte, Konstantinos Chatzilygeroudis, José Santos-Victor, Aude Billard
International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob) · 2020
Video
Humanoids · 2019
On Force Synergies in Human Grasping Behavior
Julia Starke, Konstantinos Chatzilygeroudis, Aude Billard, Tamim Asfour
International Conference on Humanoid Robots · 2019
CoRL · 2018
Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards
Rituraj Kaushik, Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret
Conference on Robot Learning (CoRL) · 2018
CodeVideo
ICRA · 2018
Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics
Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret
International Conference on Robotics and Automation (ICRA) · 2018
CodeVideo
ICRA · 2018
Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search
Rémi Pautrat, Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret
International Conference on Robotics and Automation (ICRA) · 2018
A short version of the paper was accepted at the non-archival track of the 1st Conference on Robot Learning (CoRL) 2017
CodeVideo
AAAI · 2018
Alternating Optimisation and Quadrature for Robust Control
Supratik Paul, Konstantinos Chatzilygeroudis, Kamil Ciosek, Jean-Baptiste Mouret, Michael A. Osborne, Shimon Whiteson
Thirty-Second AAAI Conference on Artificial Intelligence (AAAI) · 2018
IROS · 2017
Black-Box Data-efficient Policy Search for Robotics
Konstantinos Chatzilygeroudis, Roberto Rama, Rituraj Kaushik, Dorian Goepp, Vassilis Vassiliades, Jean-Baptiste Mouret
International Conference on Intelligent Robots and Systems (IROS) · 2017
CodeVideo
RAAD · 2015
Human robot collaboration for folding fabrics based on force/RGB-D feedback
Panagiotis Koustoumpardis, Konstantinos Chatzilygeroudis, Aris Synodinos, Nikos Aspragathos
24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) · 2015

Peer-Reviewed Workshop Papers

RoboARCH @ ICRA · 2025
Hybrid Augmented Lagrangian Method for Constrained Optimization
Lampros Printzios, Konstantinos Chatzilygeroudis
RoboARCH: Robotics Acceleration with Computing Hardware and Systems Workshop at IEEE International Conference on Robotics and Automation (ICRA 2025) · 2025
L3H2 @ ICRA · 2023
End-to-End Stable Imitation Learning via Autonomous Neural Dynamic Policies
Dionis Totsila*, Konstantinos Chatzilygeroudis*, Denis Hadjivelichkov, Valerio Modugno, Ioannis Hatzilygeroudis, Dimitrios Kanoulas
Life-Long Learning with Human Help (L3H2) Workshop at IEEE International Conference on Robotics and Automation (ICRA 2023) · 2023
Workshop @ IROS · 2022
Combining Planning, Reasoning and Reinforcement Learning to solve Industrial Robot Tasks
Matthias Mayr, Faseeh Ahmad, Konstantinos Chatzilygeroudis, Luigi Nardi, Volker Krueger
2nd Workshop on Trends and Advances in Machine Learning and Automated Reasoning for Intelligent Robots and Systems, at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2022
European Robotics Forum · 2022
How to Set Up & Learn New Robot Tasks with Explainable Behaviors?
Matthias Mayr, Faseeh Ahmad, Konstantinos Chatzilygeroudis, Luigi Nardi, Volker Krueger
European Robotics Forum · 2022
Workshop @ GECCO · 2017
20 Years of Reality Gap: a few Thoughts about Simulators in Evolutionary Robotics
Jean-Baptiste Mouret, Konstantinos Chatzilygeroudis
Proceedings of the International Workshop "Simulation in Evolutionary Robotics" at the Genetic and Evolutionary Computation Conference (GECCO) · 2017
GECCO (Poster) · 2017
Comparing multimodal optimization and illumination
Vassilis Vassiliades, Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret
Genetic and Evolutionary Computation Conference (GECCO) (Poster-only papers) · 2017
Workshop @ GECCO · 2017
A comparison of illumination algorithms in unbounded spaces
Vassilis Vassiliades, Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret
Proceedings of the International Workshop "Measuring and Promoting Diversity in Evolutionary Algorithms" at the Genetic and Evolutionary Computation Conference (GECCO) · 2017
BayesOpt @ NeurIPS · 2016
Safety-Aware Robot Damage Recovery Using Constrained Bayesian Optimization and Simulated Priors
Vaios Papaspyros, Konstantinos Chatzilygeroudis, Vassilis Vassiliades, Jean-Baptiste Mouret
BayesOpt '16: Proceedings of the International Workshop "Bayesian Optimization: Black-box Optimization and Beyond" at NIPS · 2016
AILTA @ ICRA · 2016
Towards semi-episodic learning for robot damage recovery
Konstantinos Chatzilygeroudis, Antoine Cully, Jean-Baptiste Mouret
AILTA '16: Proceedings of the International Workshop "AI for Long-term Autonomy" at ICRA · 2016