Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot. - Shuxiao Chen; Jonathan Rogers; Bike Zhang; Koushil Sreenath (Humanoids, 2019)

Hybrid Control Interface of a Semi-soft Assistive Glove for People with Spinal Cord Injuries. - Daisuke Kaneishi; Robert Peter Matthew; Jessica EnShiuan Leu; Julia O'Donnell; Bike Zhang; Masayoshi Tomizuka; Hannah Stuart (ICORR, 2019)

Ball Juggling on the Bipedal Robot Cassie. - Katherine L. Poggensee; Albert H. Li; Daniel Sotsaikich; Bike Zhang; Prasanth Kotaru; Mark W. Mueller; Koushil Sreenath (ECC, 2020)

Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization. - Chenyu Yang; Bike Zhang; Jun Zeng 002; Ayush Agrawal; Koushil Sreenath (IROS, 2020)

Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects. - Fernando Castañeda; Jason J. Choi; Bike Zhang; Claire J. Tomlin; Koushil Sreenath (CoRR, 2020)

Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics. - Fernando Castañeda; Jason J. Choi; Bike Zhang; Claire J. Tomlin; Koushil Sreenath (ACC, 2021)

Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. - Suiyi He; Jun Zeng 002; Bike Zhang; Koushil Sreenath (ACC, 2021)

Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. - Jun Zeng 002; Bike Zhang; Zhongyu Li 003; Koushil Sreenath (ACC, 2021)

Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function. - Jun Zeng 002; Bike Zhang; Koushil Sreenath (ACC, 2021)

Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain. - Yandong Ji; Bike Zhang; Koushil Sreenath (CASE, 2021)

Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty. - Fernando Castañeda; Jason J. Choi; Bike Zhang; Claire J. Tomlin; Koushil Sreenath (CDC, 2021)

Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments. - Hengbo Ma; Bike Zhang; Masayoshi Tomizuka; Koushil Sreenath (ECC, 2022)

Probabilistic Safe Online Learning with Control Barrier Functions. - Fernando Castañeda; Jason J. Choi; Wonsuhk Jung; Bike Zhang; Claire J. Tomlin; Koushil Sreenath (CoRR, 2022)

Learning Torque Control for Quadrupedal Locomotion. - Shuxiao Chen; Bike Zhang; Mark W. Mueller; Akshara Rai; Koushil Sreenath (Humanoids, 2023)

Learning Humanoid Locomotion with Transformers. - Ilija Radosavovic; Tete Xiao; Bike Zhang; Trevor Darrell; Jitendra Malik; Koushil Sreenath (CoRR, 2023)

Prompt a Robot to Walk with Large Language Models. - Yen-Jen Wang; Bike Zhang; Jianyu Chen; Koushil Sreenath (CDC, 2024)

Humanoid Locomotion as Next Token Prediction. - Ilija Radosavovic; Bike Zhang; Baifeng Shi; Jathushan Rajasegaran; Sarthak Kamat; Trevor Darrell; Koushil Sreenath; Jitendra Malik (NeurIPS, 2024)

Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion. - Boyuan Liang; Lingfeng Sun; Xinghao Zhu; Bike Zhang; Ziyin Xiong; Chenran Li; Koushil Sreenath; Masayoshi Tomizuka (CoRR, 2024)

Berkeley Humanoid: A Research Platform for Learning-based Control. - Qiayuan Liao; Bike Zhang; Xuanyu Huang; Xiaoyu Huang; Zhongyu Li 003; Koushil Sreenath (CoRR, 2024)

Real-world humanoid locomotion with reinforcement learning. - Ilija Radosavovic; Tete Xiao; Bike Zhang; Trevor Darrell; Jitendra Malik; Koushil Sreenath (Sci. Robotics, 2024)

Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems. - Jason J. Choi; Fernando Castañeda; Wonsuhk Jung; Bike Zhang; Claire J. Tomlin; Koushil Sreenath (IEEE Trans. Robotics, 2025)

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning. - Yiyang Shao; Xiaoyu Huang; Bike Zhang; Qiayuan Liao; Yuman Gao; Yufeng Chi; Zhongyu Li 003; Yakun Sophia Shao; Koushil Sreenath (CoRR, 2025)