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ORCIDGuillermo A. Castillo
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2020 – today
- 2024
[c11]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. ICRA 2024: 1172-1178- [c10]Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid:
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. ICRA 2024: 9946-9952 - [i12]Linda Capito, Guillermo A. Castillo, Bowen Weng:
Repeatable and Reliable Efforts of Accelerated Risk Assessment. CoRR abs/2405.20013 (2024) - 2023
- [j3]Bowen Weng
, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid:
On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots. IEEE Trans. Robotics 39(4): 3299-3318 (2023) - [c9]Chengyang Peng, Octavian A. Donca, Guillermo A. Castillo, Ayonga Hereid:
Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression. ICRA 2023: 3649-3655 - [c8]Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid:
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. IROS 2023: 8582-8589 - [c7]Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya:
MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. IROS 2023: 10418-10424 - [i11]Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid:
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. CoRR abs/2308.14636 (2023) - [i10]Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid:
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. CoRR abs/2309.15442 (2023) - [i9]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. CoRR abs/2309.15740 (2023) - 2022
- [j2]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion. IEEE Access 10: 20135-20148 (2022) - [j1]Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya:
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. IEEE Robotics Autom. Lett. 7(2): 2047-2054 (2022) - [c6]Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid:
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. IROS 2022: 5179-5186 - [i8]Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid:
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. CoRR abs/2204.07846 (2022) - [i7]Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid:
Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness. CoRR abs/2209.09879 (2022) - 2021
- [c5]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. IROS 2021: 5136-5143 - [c4]Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya:
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. IROS 2021: 5159-5164 - [i6]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. CoRR abs/2103.15309 (2021) - [i5]Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya:
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. CoRR abs/2104.01662 (2021) - [i4]Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya:
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. CoRR abs/2109.12665 (2021) - 2020
- [c3]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. ICRA 2020: 8746-8752 - [c2]Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid:
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. IROS 2020: 7703-7709 - [i3]Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid:
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. CoRR abs/2008.00376 (2020)
2010 – 2019
- 2019
- [c1]Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Zheng Wang, Wei Zhang:
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. ICRA 2019: 284-290 - [i2]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. CoRR abs/1910.01748 (2019) - 2018
- [i1]Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang:
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. CoRR abs/1810.01977 (2018)
Coauthor Index
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