Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. - Guillermo A. Castillo; Bowen Weng; Ayonga Hereid; Wei Zhang 013 (CoRR, 2018)

Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. - Guillermo A. Castillo; Bowen Weng; Ayonga Hereid; Zheng Wang 002; Wei Zhang 013 (ICRA, 2019)

Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. - Guillermo A. Castillo; Bowen Weng; Wei Zhang 013; Ayonga Hereid (ICRA, 2020)

Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. - Guillermo A. Castillo; Bowen Weng; Terrence C. Stewart; Wei Zhang 013; Ayonga Hereid (IROS, 2020)

Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. - Guillermo A. Castillo; Bowen Weng; Wei Zhang 013; Ayonga Hereid (IROS, 2021)

Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. - Lokesh Krishna; Utkarsh A. Mishra; Guillermo A. Castillo; Ayonga Hereid; Shishir Kolathaya (IROS, 2021)

On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. - Bowen Weng; Guillermo A. Castillo; Wei Zhang 013; Ayonga Hereid (IROS, 2022)

Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion. - Guillermo A. Castillo; Bowen Weng; Wei Zhang 013; Ayonga Hereid (IEEE Access, 2022)

Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness. - Bowen Weng; Guillermo A. Castillo; Wei Zhang 013; Ayonga Hereid (CoRR, 2022)

Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. - Lokesh Krishna; Guillermo A. Castillo; Utkarsh A. Mishra; Ayonga Hereid; Shishir Kolathaya (IEEE Robotics Autom. Lett., 2022)

Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression. - Chengyang Peng; Octavian A. Donca; Guillermo A. Castillo; Ayonga Hereid (ICRA, 2023)

Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. - Guillermo A. Castillo; Bowen Weng; Shunpeng Yang; Wei Zhang 013; Ayonga Hereid (IROS, 2023)

MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. - Raghav Soni; Guillermo A. Castillo; Lokesh Krishna; Ayonga Hereid; Shishir Kolathaya (IROS, 2023)

On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots. - Bowen Weng; Guillermo A. Castillo; Wei Zhang 013; Ayonga Hereid (IEEE Trans. Robotics, 2023)

Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. - Guillermo A. Castillo; Bowen Weng; Wei Zhang 013; Ayonga Hereid (ICRA, 2024)

Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. - Bowen Weng; Guillermo A. Castillo; Yun-Seok Kang; Ayonga Hereid (ICRA, 2024)

Repeatable and Reliable Efforts of Accelerated Risk Assessment. - Linda Capito; Guillermo A. Castillo; Bowen Weng (CoRR, 2024)

Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions. - Chengyang Peng; Victor Paredes; Guillermo A. Castillo; Ayonga Hereid (CoRR, 2024)

Rethink Repeatable Measures of Robot Performance with Statistical Query. - Bowen Weng; Linda Capito; Guillermo A. Castillo; Dylan Khor (CoRR, 2025)