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2020 – today
- 2024
[j19]Ilija Radosavovic
, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, Koushil Sreenath:
Real-world humanoid locomotion with reinforcement learning. Sci. Robotics 9(89) (2024)- [c91]Massimiliano de Sa, Prasanth Kotaru, Koushil Sreenath:
Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control. ICRA 2024: 366-372 - [c90]Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath:
Leveraging Symmetry in RL-based Legged Locomotion Control. IROS 2024: 6899-6906 - [c89]Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura M. Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath:
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. IROS 2024: 9050-9057 - [c88]Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu:
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. IROS 2024: 9102-9109 - [c87]Nikhil Potu Surya Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, Roberto Horowitz:
Deep Geometric Potential Functions for Tracking on Manifolds. IROS 2024: i-viii - [c86]Will Lavanakul, Jason J. Choi, Koushil Sreenath, Claire J. Tomlin:
Safety filters for black-box dynamical systems by learning discriminating hyperplanes. L4DC 2024: 1278-1291 - [c85]Ilija Radosavovic, Bike Zhang, Baifeng Shi, Jathushan Rajasegaran, Sarthak Kamat, Trevor Darrell, Koushil Sreenath, Jitendra Malik:
Humanoid Locomotion as Next Token Prediction. NeurIPS 2024 - [i77]Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control. CoRR abs/2401.16889 (2024) - [i76]Will Lavanakul, Jason J. Choi, Koushil Sreenath, Claire J. Tomlin:
Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes. CoRR abs/2402.05279 (2024) - [i75]Ilija Radosavovic, Bike Zhang, Baifeng Shi, Jathushan Rajasegaran, Sarthak Kamat, Trevor Darrell, Koushil Sreenath, Jitendra Malik:
Humanoid Locomotion as Next Token Prediction. CoRR abs/2402.19469 (2024) - [i74]Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath:
Leveraging Symmetry in RL-based Legged Locomotion Control. CoRR abs/2403.17320 (2024) - [i73]Boyuan Liang, Lingfeng Sun, Xinghao Zhu, Bike Zhang, Ziyin Xiong, Chenran Li, Koushil Sreenath, Masayoshi Tomizuka:
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion. CoRR abs/2403.20001 (2024) - [i72]Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu:
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. CoRR abs/2403.20328 (2024) - [i71]Yutao Ouyang, Jinhan Li, Yunfei Li, Zhongyu Li, Chao Yu, Koushil Sreenath, Yi Wu:
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models. CoRR abs/2404.05291 (2024) - [i70]Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Yakun Sophia Shao, Borivoje Nikolic, Koushil Sreenath:
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. CoRR abs/2404.19264 (2024) - [i69]Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura M. Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath:
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. CoRR abs/2407.06584 (2024) - [i68]Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath:
Berkeley Humanoid: A Research Platform for Learning-based Control. CoRR abs/2407.21781 (2024) - [i67]Shuo Liu, Zhe Huang, Jun Zeng, Koushil Sreenath, Calin A. Belta:
Iterative Convex Optimization for Safety-Critical Model Predictive Control. CoRR abs/2409.08300 (2024) - [i66]Xingpeng Xia, Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal:
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker. CoRR abs/2409.16301 (2024) - [i65]Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Koushil Sreenath, Negar Mehr:
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models. CoRR abs/2409.18382 (2024) - [i64]Hongbo Zhang, Zhongyu Li, Xuanqi Zeng, Laura M. Smith, Kyle Stachowicz, Dhruv Shah, Linzhu Yue, Zhitao Song, Weipeng Xia, Sergey Levine, Koushil Sreenath, Yun-hui Liu:
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data. CoRR abs/2410.10621 (2024) - [i63]Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng:
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. CoRR abs/2410.11825 (2024) - [i62]Cunxi Dai, Xiaohan Liu, Koushil Sreenath, Zhongyu Li, Ralph Hollis:
Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation. CoRR abs/2410.13418 (2024) - [i61]Linzhu Yue, Zhitao Song, Jinhu Dong, Zhongyu Li, Hongbo Zhang, Lingwei Zhang, Xuanqi Zeng, Koushil Sreenath, Yunhui Liu:
Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains. CoRR abs/2411.04494 (2024) - [i60]Jiaze Cai, Vishnu Sangli, Mintae Kim, Koushil Sreenath:
Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots. CoRR abs/2411.15130 (2024) - [i59]Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, Jianyu Chen:
Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations. CoRR abs/2412.14803 (2024) - 2023
- [j18]Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath:
Autonomous navigation of underactuated bipedal robots in height-constrained environments. Int. J. Robotics Res. 42(8): 565-585 (2023) - [j17]Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su:
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems. IEEE Robotics Autom. Lett. 8(6): 3502-3509 (2023) - [c84]Shuo Liu, Jun Zeng, Koushil Sreenath, Calin A. Belta:
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions. ACC 2023: 3368-3375 - [c83]Yifan Zeng, Suiyi He, Han Hoang Nguyen, Yihan Li, Zhongyu Li, Koushil Sreenath, Jun Zeng:
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. CDC 2023: 5255-5260 - [c82]Shuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath:
Learning Torque Control for Quadrupedal Locomotion. Humanoids 2023: 1-8 - [c81]Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath:
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. IROS 2023: 2715-2722 - [c80]Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. IROS 2023: 2723-2730 - [c79]Fernando Castañeda, Haruki Nishimura, Rowan Thomas McAllister, Koushil Sreenath, Adrien Gaidon:
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States. L4DC 2023: 286-299 - [c78]Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. Robotics: Science and Systems 2023 - [i58]Fernando Castañeda, Haruki Nishimura, Rowan McAllister, Koushil Sreenath, Adrien Gaidon:
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States. CoRR abs/2301.12012 (2023) - [i57]Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning. CoRR abs/2302.09450 (2023) - [i56]Yifan Zeng, Suiyi He, Han Hoang Nguyen, Zhongyu Li, Koushil Sreenath, Jun Zeng:
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. CoRR abs/2302.14246 (2023) - [i55]Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, Koushil Sreenath:
Learning Humanoid Locomotion with Transformers. CoRR abs/2303.03381 (2023) - [i54]Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su:
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems. CoRR abs/2304.07954 (2023) - [i53]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions. CoRR abs/2306.13259 (2023) - [i52]Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath:
Prompt a Robot to Walk with Large Language Models. CoRR abs/2309.09969 (2023) - [i51]Jason J. Choi, Donggun Lee, Boyang Li, Jonathan P. How, Koushil Sreenath, Sylvia L. Herbert, Claire J. Tomlin:
A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis. CoRR abs/2310.17180 (2023) - [i50]Jason J. Choi, Fernando Castañeda, Wonsuhk Jung, Bike Zhang, Claire J. Tomlin, Koushil Sreenath:
Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems. CoRR abs/2311.13824 (2023) - 2022
- [j16]Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller:
Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry. IEEE Access 10: 87911-87922 (2022) - [j15]Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal:
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. IEEE Robotics Autom. Lett. 7(2): 4504-4511 (2022) - [j14]Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath:
Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots. IEEE Robotics Autom. Lett. 7(4): 10041-10048 (2022) - [j13]Quan Nguyen, Koushil Sreenath:
Robust Safety-Critical Control for Dynamic Robotics. IEEE Trans. Autom. Control. 67(3): 1073-1088 (2022) - [c77]Quan Nguyen, Koushil Sreenath:
L1 Adaptive Control Barrier Functions for Nonlinear Underactuated Systems. ACC 2022: 721-728 - [c76]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. ACC 2022: 2239-2246 - [c75]Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine:
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. CoRL 2022: 1893-1903 - [c74]Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath:
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. CoRL 2022: 2125-2135 - [c73]Hengbo Ma, Bike Zhang, Masayoshi Tomizuka, Koushil Sreenath:
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments. ECC 2022: 1301-1308 - [c72]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions. ICRA 2022: 286-292 - [c71]Suiyi He, Jun Zeng, Koushil Sreenath:
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions. ICRA 2022: 3444-3451 - [c70]Ayush Agrawal, Shuxiao Chen, Akshara Rai, Koushil Sreenath:
Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries. ICRA 2022: 4708-4714 - [c69]Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath:
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. ICRA 2022: 10456-10462 - [c68]Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik:
Adapting Rapid Motor Adaptation for Bipedal Robots. IROS 2022: 1161-1168 - [c67]Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath:
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. IROS 2022: 1479-1486 - [c66]Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan:
Teaching Robots to Span the Space of Functional Expressive Motion. IROS 2022: 13406-13413 - [c65]Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath:
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. Robotics: Science and Systems 2022 - [i49]Hengbo Ma, Bike Zhang, Masayoshi Tomizuka, Koushil Sreenath:
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments. CoRR abs/2201.01347 (2022) - [i48]Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal:
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. CoRR abs/2201.08538 (2022) - [i47]Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan:
Teaching Robots to Span the Space of Functional Expressive Motion. CoRR abs/2203.02091 (2022) - [i46]Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath:
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. CoRR abs/2203.02570 (2022) - [i45]Shuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath:
Learning Torque Control for Quadrupedal Locomotion. CoRR abs/2203.05194 (2022) - [i44]Karan P. Jain, Prasanth Kotaru, Massimiliano de Sa, Mark W. Mueller, Koushil Sreenath:
Tethered Power Supply for Quadcopters: Architecture, Analysis and Experiments. CoRR abs/2203.08180 (2022) - [i43]Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller:
Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry. CoRR abs/2204.03134 (2022) - [i42]Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath:
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. CoRR abs/2205.05787 (2022) - [i41]Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik:
Adapting Rapid Motor Adaptation for Bipedal Robots. CoRR abs/2205.15299 (2022) - [i40]Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath:
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots. CoRR abs/2206.14424 (2022) - [i39]Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath:
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. CoRR abs/2208.01160 (2022) - [i38]Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath:
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. CoRR abs/2208.06721 (2022) - [i37]Fernando Castañeda, Jason J. Choi, Wonsuhk Jung, Bike Zhang, Claire J. Tomlin, Koushil Sreenath:
Probabilistic Safe Online Learning with Control Barrier Functions. CoRR abs/2208.10733 (2022) - [i36]Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine:
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. CoRR abs/2209.05309 (2022) - [i35]Shuo Liu, Jun Zeng, Koushil Sreenath, Calin A. Belta:
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions. CoRR abs/2210.04361 (2022) - [i34]Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath:
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. CoRR abs/2210.04435 (2022) - [i33]Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization. CoRR abs/2212.14199 (2022) - 2021
- [j12]Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames:
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. IEEE Robotics Autom. Lett. 6(4): 8442-8449 (2021) - [c64]Tyler Westenbroek, Ayush Agrawal, Fernando Castañeda, S. Shankar Sastry, Koushil Sreenath:
Combining Model-Based Design and Model-Free Policy Optimization to Learn Safe, Stabilizing Controllers. ADHS 2021: 19-24 - [c63]Suiyi He, Jun Zeng, Bike Zhang, Koushil Sreenath:
Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. ACC 2021: 178-185 - [c62]Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath:
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics. ACC 2021: 3683-3690 - [c61]Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath:
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. ACC 2021: 3856-3863 - [c60]Jun Zeng, Bike Zhang, Koushil Sreenath:
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function. ACC 2021: 3882-3889 - [c59]Yandong Ji, Bike Zhang, Koushil Sreenath:
Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain. CASE 2021: 899-904 - [c58]Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath:
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. CASE 2021: 2132-2139 - [c57]Jun Zeng, Zhongyu Li, Koushil Sreenath:
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. CDC 2021: 6137-6144 - [c56]Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath:
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty. CDC 2021: 6762-6769 - [c55]Jason J. Choi, Donggun Lee, Koushil Sreenath, Claire J. Tomlin, Sylvia L. Herbert:
Robust Control Barrier-Value Functions for Safety-Critical Control. CDC 2021: 6814-6821 - [c54]Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. ICRA 2021: 2811-2817 - [c53]Jonathan Anglingdarma, Ayush Agrawal, Joshua Morey, Koushil Sreenath:
Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard. ICRA 2021: 2818-2824 - [c52]Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath:
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. ICRA 2021: 3104-3110 - [c51]Sylvia L. Herbert, Jason J. Choi, Suvansh Sanjeev, Marsalis T. Gibson, Koushil Sreenath, Claire J. Tomlin:
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. ICRA 2021: 5914-5920 - [c50]Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath:
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. ICRA 2021: 11470-11476 - [c49]Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath:
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. IROS 2021: 2275-2281 - [i32]Sylvia L. Herbert, Jason J. Choi, Suvansh Qazi, Marsalis T. Gibson, Koushil Sreenath, Claire J. Tomlin:
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. CoRR abs/2101.05916 (2021) - [i31]Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath:
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. CoRR abs/2103.12375 (2021) - [i30]Suiyi He, Jun Zeng, Bike Zhang, Koushil Sreenath:
Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. CoRR abs/2103.12382 (2021) - [i29]Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. CoRR abs/2103.14295 (2021) - [i28]Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath:
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. CoRR abs/2103.14300 (2021) - [i27]Jason J. Choi, Donggun Lee, Koushil Sreenath, Claire J. Tomlin, Sylvia L. Herbert:
Robust Control Barrier-Value Functions for Safety-Critical Control. CoRR abs/2104.02808 (2021) - [i26]Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath:
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. CoRR abs/2104.04238 (2021) - [i25]Jun Zeng, Zhongyu Li, Koushil Sreenath:
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. CoRR abs/2105.10596 (2021) - [i24]Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath:
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty. CoRR abs/2106.07108 (2021) - [i23]Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath:
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. CoRR abs/2107.00773 (2021) - [i22]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. CoRR abs/2107.08360 (2021) - [i21]Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath:
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. CoRR abs/2108.03344 (2021) - [i20]Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath:
Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments. CoRR abs/2109.05714 (2021) - [i19]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes. CoRR abs/2109.12313 (2021) - [i18]Ayush Agrawal, Shuxiao Chen, Akshara Rai, Koushil Sreenath:
Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries. CoRR abs/2110.00891 (2021) - [i17]Suiyi He, Jun Zeng, Koushil Sreenath:
Competitive Car Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee. CoRR abs/2112.06435 (2021) - 2020
- [j11]Jun Zeng, Prasanth Kotaru, Mark W. Mueller, Koushil Sreenath:
Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload. IEEE Robotics Autom. Lett. 5(2): 3074-3081 (2020) - [c48]Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, S. Shankar Sastry, Koushil Sreenath:
Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics. CDC 2020: 737-744 - [c47]Katherine L. Poggensee, Albert H. Li, Daniel Sotsaikich, Bike Zhang, Prasanth Kotaru, Mark W. Mueller, Koushil Sreenath:
Ball Juggling on the Bipedal Robot Cassie. ECC 2020: 875-880 - [c46]Karan P. Jain, Jerry Tang, Koushil Sreenath, Mark W. Mueller:
Staging energy sources to extend flight time of a multirotor UAV. IROS 2020: 1132-1139 - [c45]Zhongyu Li, Christine Cummings, Koushil Sreenath:
Animated Cassie: A Dynamic Relatable Robotic Character. IROS 2020: 3739-3746 - [c44]Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, Koushil Sreenath:
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization. IROS 2020: 7513-7520 - [c43]Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Shankar Sastry, Claire J. Tomlin, Koushil Sreenath:
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. L4DC 2020: 990-999 - [c42]Jason J. Choi, Fernando Castañeda, Claire J. Tomlin, Koushil Sreenath:
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions. Robotics: Science and Systems 2020 - [i16]Karan P. Jain, Jerry Tang, Koushil Sreenath, Mark W. Mueller:
Staging energy sources to extend flight time of a multirotor UAV. CoRR abs/2003.04290 (2020) - [i15]Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, S. Shankar Sastry, Claire J. Tomlin, Koushil Sreenath:
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. CoRR abs/2004.07276 (2020) - [i14]Jason J. Choi, Fernando Castañeda, Claire J. Tomlin, Koushil Sreenath:
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions. CoRR abs/2004.07584 (2020) - [i13]Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, S. Shankar Sastry, Koushil Sreenath:
Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics. CoRR abs/2004.10331 (2020) - [i12]Quan Nguyen, Koushil Sreenath:
Optimal Robust Safety-Critical Control for Dynamic Robotics. CoRR abs/2005.07284 (2020) - [i11]Jun Zeng, Bike Zhang, Koushil Sreenath:
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function. CoRR abs/2007.11718 (2020) - [i10]Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, Koushil Sreenath:
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization. CoRR abs/2008.00191 (2020) - [i9]Zhongyu Li, Christine Cummings, Koushil Sreenath:
Animated Cassie: A Dynamic Relatable Robotic Character. CoRR abs/2009.02846 (2020) - [i8]Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath:
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects. CoRR abs/2011.07183 (2020)
2010 – 2019
- 2019
- [j10]Xuning Yang, Ayush Agrawal, Koushil Sreenath, Nathan Michael:
Online adaptive teleoperation via motion primitives for mobile robots. Auton. Robots 43(6): 1357-1373 (2019) - [c41]Jun Zeng, Prasanth Kotaru, Koushil Sreenath:
Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley. ACC 2019: 2420-2427 - [c40]Jun Zeng, Koushil Sreenath:
Geometric Control of a Quadrotor with a Load Suspended from an Offset. ACC 2019: 3044-3050 - [c39]Prasanth Kotaru, Koushil Sreenath:
Variation Based Extended Kalman Filter on S2. ECC 2019: 875-882 - [c38]Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada:
Control Barrier Functions: Theory and Applications. ECC 2019: 3420-3431 - [c37]Ayush Agrawal, Koushil Sreenath:
Bipedal Robotic Running on Stochastic Discrete Terrain. ECC 2019: 3564-3570 - [c36]Shuxiao Chen, Jonathan Rogers, Bike Zhang, Koushil Sreenath:
Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot. Humanoids 2019: 1-8 - [i7]Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada:
Control Barrier Functions: Theory and Applications. CoRR abs/1903.11199 (2019) - [i6]Shuxiao Chen, Jonathan Rogers, Bike Zhang, Koushil Sreenath:
Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot. CoRR abs/1907.11353 (2019) - [i5]Prasanth Kotaru, Koushil Sreenath:
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control. CoRR abs/1911.12650 (2019) - 2018
- [j9]Quan Nguyen, Ayush Agrawal, William C. Martin, Hartmut Geyer, Koushil Sreenath:
Dynamic bipedal locomotion over stochastic discrete terrain. Int. J. Robotics Res. 37(13-14) (2018) - [j8]Avinash Siravuru, Sasi Prabhakaran Viswanathan, Koushil Sreenath, Amit K. Sanyal:
The Reaction Mass Biped: Geometric Mechanics and Control. J. Intell. Robotic Syst. 89(1-2): 155-173 (2018) - [c35]Bin Xu, Koushil Sreenath:
Safe Teleoperation of Dynamic UAVs Through Control Barrier Functions. ICRA 2018: 7848-7855 - [i4]Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Margaret Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle:
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. CoRR abs/1802.08322 (2018) - 2017
- [j7]Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle:
First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. IEEE Access 5: 9919-9934 (2017) - [c34]Prasanth Kotaru, Guofan Wu, Koushil Sreenath:
Dynamics and control of a quadrotor with a payload suspended through an elastic cable. ACC 2017: 3906-3913 - [c33]Xuning Yang, Koushil Sreenath, Nathan Michael:
Online Adaptive Teleoperation via Incremental Intent Modeling. HRI (Companion) 2017: 329-330 - [c32]Avinash Siravuru, Allan Wang, Quan Nguyen, Koushil Sreenath:
Deep visual perception for dynamic walking on discrete terrain. Humanoids 2017: 418-424 - [c31]Xuning Yang, Koushil Sreenath, Nathan Michael:
A framework for efficient teleoperation via online adaptation. ICRA 2017: 5948-5953 - [c30]Sarah Y. Tang, Koushil Sreenath, Vijay Kumar:
Multi-robot Trajectory Generation for an Aerial Payload Transport System. ISRR 2017: 1055-1071 - [c29]Ayush Agrawal, Koushil Sreenath:
Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation. Robotics: Science and Systems 2017 - [c28]Quan Nguyen, Ayush Agrawal, Xingye Da, William C. Martin, Hartmut Geyer, Jessy W. Grizzle, Koushil Sreenath:
Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. Robotics: Science and Systems 2017 - [i3]Prasanth Kotaru, Guofan Wu, Koushil Sreenath:
Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s). CoRR abs/1711.04895 (2017) - [i2]Avinash Siravuru, Allan Wang, Quan Nguyen, Koushil Sreenath:
Deep Visual Perception for Dynamic Walking on Discrete Terrain. CoRR abs/1712.00916 (2017) - 2016
- [c27]Quan Nguyen, Koushil Sreenath:
Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints. ACC 2016: 322-328 - [c26]Guofan Wu, Koushil Sreenath:
Safety-critical control of a planar quadrotor. ACC 2016: 2252-2258 - [c25]Quan Nguyen, Koushil Sreenath:
Optimal robust control for constrained nonlinear hybrid systems with application to bipedal locomotion. ACC 2016: 4807-4813 - [c24]Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath:
3D dynamic walking on stepping stones with control barrier functions. CDC 2016: 827-834 - [c23]Roberto Shu, Avinash Siravuru, Akshara Rai, Tony Dear, Koushil Sreenath, Howie Choset:
Optimal control for geometric motion planning of a robot diver. IROS 2016: 4780-4785 - [c22]Brian Bittner, Koushil Sreenath:
Symbolic Computation of Dynamics on Smooth Manifolds. WAFR 2016: 336-351 - [c21]Quan Nguyen, Xingye Da, J. W. Grizzle, Koushil Sreenath:
Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions. WAFR 2016: 384-399 - 2015
- [j6]Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle:
Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs. IEEE Access 3: 323-332 (2015) - [j5]Guofan Wu, Koushil Sreenath:
Variation-Based Linearization of Nonlinear Systems Evolving on SO(3) and 𝕊2. IEEE Access 3: 1592-1604 (2015) - [c20]Quan Nguyen, Koushil Sreenath:
Safety-Critical Control for Dynamical Bipedal Walking with Precise Footstep Placement. ADHS 2015: 147-154 - [c19]Quan Nguyen, Koushil Sreenath:
L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs. ACC 2015: 862-867 - [c18]Guofan Wu, Koushil Sreenath:
Safety-critical and constrained geometric control synthesis using control Lyapunov and control Barrier functions for systems evolving on manifolds. ACC 2015: 2038-2044 - [c17]Koushil Sreenath, Amit K. Sanyal:
The Reaction Mass Biped: Equations of motion, hybrid model for walking and trajectory tracking control. ICRA 2015: 5741-5746 - [c16]Quan Nguyen, Koushil Sreenath:
Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs. Robotics: Science and Systems 2015 - 2014
- [j4]Aaron D. Ames, Kevin S. Galloway, Koushil Sreenath, Jessy W. Grizzle:
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. IEEE Trans. Autom. Control. 59(4): 876-891 (2014) - [c15]Guofan Wu, Koushil Sreenath:
Geometric control of multiple quadrotors transporting a rigid-body load. CDC 2014: 6141-6148 - [c14]Justin Thomas, Giuseppe Loianno, Koushil Sreenath, Vijay Kumar:
Toward image based visual servoing for aerial grasping and perching. ICRA 2014: 2113-2118 - [c13]Suresh Ramasamy, Guofan Wu, Koushil Sreenath:
Dynamically Feasible Motion Planning through Partial Differential Flatness. Robotics: Science and Systems 2014 - 2013
- [j3]Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle:
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. Int. J. Robotics Res. 32(3): 324-345 (2013) - [c12]Koushil Sreenath, Taeyoung Lee, Vijay Kumar:
Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load. CDC 2013: 2269-2274 - [c11]Taeyoung Lee, Koushil Sreenath, Vijay Kumar:
Geometric control of cooperating multiple quadrotor UAVs with a suspended payload. CDC 2013: 5510-5515 - [c10]Koushil Sreenath, Connie R. Hill Jr., Vijay Kumar:
A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations. HSCC 2013: 137-142 - [c9]Koushil Sreenath, Nathan Michael, Vijay Kumar:
Trajectory generation and control of a quadrotor with a cable-suspended load - A differentially-flat hybrid system. ICRA 2013: 4888-4895 - [c8]Koushil Sreenath, Vijay Kumar:
Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots. Robotics: Science and Systems 2013 - [i1]Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle:
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs. CoRR abs/1302.7314 (2013) - 2012
- [c7]Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, Vijay Kumar:
Trajectory Planning for Systems with Homotopy Class Constraints. ARK 2012: 83-90 - [c6]Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, Vijay Kumar:
Optimal trajectory generation under homology class constraints. CDC 2012: 3157-3164 - [c5]Hae-Won Park, Koushil Sreenath, Alireza Ramezani, Jessy W. Grizzle:
Switching control design for accommodating large step-down disturbances in bipedal robot walking. ICRA 2012: 45-50 - [c4]Koushil Sreenath, Hae-Won Park, J. W. Grizzle:
Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. ICRA 2012: 51-56 - 2011
- [j2]Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle:
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. Int. J. Robotics Res. 30(9): 1170-1193 (2011) - 2010
- [c3]Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, Jessy W. Grizzle:
Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. CDC 2010: 280-287 - [c2]Jeffrey Koncsol, Hae-Won Park, Koushil Sreenath:
Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion. Humanoids 2010: 659-664
2000 – 2009
- 2009
- [c1]J. W. Grizzle, Jonathan W. Hurst, Benjamin Morris, Hae-Won Park, Koushil Sreenath:
MABEL, a new robotic bipedal walker and runner. ACC 2009: 2030-2036 - 2007
- [j1]Koushil Sreenath, Frank L. Lewis, Dan O. Popa:
Simultaneous adaptive localization of a wireless sensor network. ACM SIGMOBILE Mob. Comput. Commun. Rev. 11(2): 14-28 (2007)
Coauthor Index
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