Simultaneous adaptive localization of a wireless sensor network. - Koushil Sreenath; Frank L. Lewis; Dan O. Popa (ACM SIGMOBILE Mob. Comput. Commun. Rev., 2007)

MABEL, a new robotic bipedal walker and runner. - J. W. Grizzle; Jonathan W. Hurst; Benjamin Morris 001; Hae-Won Park 002; Koushil Sreenath (ACC, 2009)

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; Jessy W. Grizzle (CDC, 2010)

Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion. - Jeffrey Koncsol; Hae-Won Park; Koushil Sreenath (Humanoids, 2010)

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; J. W. Grizzle (Int. J. Robotics Res., 2011)

Trajectory Planning for Systems with Homotopy Class Constraints. - Soonkyum Kim; Koushil Sreenath; Subhrajit Bhattacharya; Vijay Kumar 001 (ARK, 2012)

Optimal trajectory generation under homology class constraints. - Soonkyum Kim; Koushil Sreenath; Subhrajit Bhattacharya; Vijay Kumar 001 (CDC, 2012)

Switching control design for accommodating large step-down disturbances in bipedal robot walking. - Hae-Won Park 002; Koushil Sreenath; Alireza Ramezani; Jessy W. Grizzle (ICRA, 2012)

Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. - Koushil Sreenath; Hae-Won Park 002; J. W. Grizzle (ICRA, 2012)

Geometric control of cooperating multiple quadrotor UAVs with a suspended payload. - Taeyoung Lee; Koushil Sreenath; Vijay Kumar 001 (CDC, 2013)

Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load. - Koushil Sreenath; Taeyoung Lee; Vijay Kumar 001 (CDC, 2013)

A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations. - Koushil Sreenath; Connie R. Hill Jr.; Vijay Kumar 001 (HSCC, 2013)

Trajectory generation and control of a quadrotor with a cable-suspended load - A differentially-flat hybrid system. - Koushil Sreenath; Nathan Michael; Vijay Kumar 001 (ICRA, 2013)

Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots. - Koushil Sreenath; Vijay Kumar 001 (Robotics: Science and Systems, 2013)

Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; J. W. Grizzle (Int. J. Robotics Res., 2013)

Geometric control of multiple quadrotors transporting a rigid-body load. - Guofan Wu; Koushil Sreenath (CDC, 2014)

Toward image based visual servoing for aerial grasping and perching. - Justin Thomas; Giuseppe Loianno; Koushil Sreenath; Vijay Kumar 001 (ICRA, 2014)

Dynamically Feasible Motion Planning through Partial Differential Flatness. - Suresh Ramasamy; Guofan Wu; Koushil Sreenath (Robotics: Science and Systems, 2014)

Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. - Aaron D. Ames; Kevin S. Galloway; Koushil Sreenath; Jessy W. Grizzle (IEEE Trans. Autom. Control., 2014)

Safety-Critical Control for Dynamical Bipedal Walking with Precise Footstep Placement. - Quan Nguyen 004; Koushil Sreenath (ADHS, 2015)

L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs. - Quan Nguyen 004; Koushil Sreenath (ACC, 2015)

Safety-critical and constrained geometric control synthesis using control Lyapunov and control Barrier functions for systems evolving on manifolds. - Guofan Wu; Koushil Sreenath (ACC, 2015)

The Reaction Mass Biped: Equations of motion, hybrid model for walking and trajectory tracking control. - Koushil Sreenath; Amit K. Sanyal (ICRA, 2015)

Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs. - Quan Nguyen 004; Koushil Sreenath (Robotics: Science and Systems, 2015)

Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs. - Kevin S. Galloway; Koushil Sreenath; Aaron D. Ames; Jessy W. Grizzle (IEEE Access, 2015)

Variation-Based Linearization of Nonlinear Systems Evolving on SO(3) and 𝕊2. - Guofan Wu; Koushil Sreenath (IEEE Access, 2015)

Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints. - Quan Nguyen 004; Koushil Sreenath (ACC, 2016)

Optimal robust control for constrained nonlinear hybrid systems with application to bipedal locomotion. - Quan Nguyen 004; Koushil Sreenath (ACC, 2016)

Safety-critical control of a planar quadrotor. - Guofan Wu; Koushil Sreenath (ACC, 2016)

3D dynamic walking on stepping stones with control barrier functions. - Quan Nguyen 004; Ayonga Hereid; Jessy W. Grizzle; Aaron D. Ames; Koushil Sreenath (CDC, 2016)

Optimal control for geometric motion planning of a robot diver. - Roberto Shu; Avinash Siravuru; Akshara Rai; Tony Dear; Koushil Sreenath; Howie Choset (IROS, 2016)

Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions. - Quan Nguyen 004; Xingye Da; J. W. Grizzle; Koushil Sreenath (WAFR, 2016)

Symbolic Computation of Dynamics on Smooth Manifolds. - Brian Bittner; Koushil Sreenath (WAFR, 2016)

Dynamics and control of a quadrotor with a payload suspended through an elastic cable. - Prasanth Kotaru; Guofan Wu; Koushil Sreenath (ACC, 2017)

Online Adaptive Teleoperation via Incremental Intent Modeling. - Xuning Yang; Koushil Sreenath; Nathan Michael (HRI (Companion), 2017)

Deep visual perception for dynamic walking on discrete terrain. - Avinash Siravuru; Allan Wang; Quan Nguyen 004; Koushil Sreenath (Humanoids, 2017)

A framework for efficient teleoperation via online adaptation. - Xuning Yang; Koushil Sreenath; Nathan Michael (ICRA, 2017)

Multi-robot Trajectory Generation for an Aerial Payload Transport System. - Sarah Y. Tang; Koushil Sreenath; Vijay Kumar 001 (ISRR, 2017)

Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation. - Ayush Agrawal; Koushil Sreenath (Robotics: Science and Systems, 2017)

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. - Quan Nguyen 004; Ayush Agrawal; Xingye Da; William C. Martin; Hartmut Geyer; Jessy W. Grizzle; Koushil Sreenath (Robotics: Science and Systems, 2017)

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. - Ayush Agrawal; Omar Harib; Ayonga Hereid; Sylvain Finet; Matthieu Masselin; Laurent Praly; Aaron D. Ames; Koushil Sreenath; Jessy W. Grizzle (IEEE Access, 2017)

Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s). - Prasanth Kotaru; Guofan Wu; Koushil Sreenath (CoRR, 2017)

Safe Teleoperation of Dynamic UAVs Through Control Barrier Functions. - Bin Xu; Koushil Sreenath (ICRA, 2018)

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. - 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 (CoRR, 2018)

Dynamic bipedal locomotion over stochastic discrete terrain. - Quan Nguyen 004; Ayush Agrawal; William C. Martin; Hartmut Geyer; Koushil Sreenath (Int. J. Robotics Res., 2018)

The Reaction Mass Biped: Geometric Mechanics and Control. - Avinash Siravuru; Sasi Prabhakaran Viswanathan; Koushil Sreenath; Amit K. Sanyal (J. Intell. Robotic Syst., 2018)

Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley. - Jun Zeng 002; Prasanth Kotaru; Koushil Sreenath (ACC, 2019)

Geometric Control of a Quadrotor with a Load Suspended from an Offset. - Jun Zeng 002; Koushil Sreenath (ACC, 2019)

Bipedal Robotic Running on Stochastic Discrete Terrain. - Ayush Agrawal; Koushil Sreenath (ECC, 2019)

Control Barrier Functions: Theory and Applications. - Aaron D. Ames; Samuel Coogan 001; Magnus Egerstedt; Gennaro Notomista; Koushil Sreenath; Paulo Tabuada (ECC, 2019)

Variation Based Extended Kalman Filter on S2. - Prasanth Kotaru; Koushil Sreenath (ECC, 2019)

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

Online adaptive teleoperation via motion primitives for mobile robots. - Xuning Yang; Ayush Agrawal; Koushil Sreenath; Nathan Michael (Auton. Robots, 2019)

Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control. - Prasanth Kotaru; Koushil Sreenath (CoRR, 2019)

Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics. - Tyler Westenbroek; Fernando Castañeda; Ayush Agrawal; S. Shankar Sastry; Koushil Sreenath (CDC, 2020)

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)

Staging energy sources to extend flight time of a multirotor UAV. - Karan P. Jain; Jerry Tang; Koushil Sreenath; Mark W. Mueller (IROS, 2020)

Animated Cassie: A Dynamic Relatable Robotic Character. - Zhongyu Li 003; Christine Cummings; Koushil Sreenath (IROS, 2020)

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

Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. - Fernando Castañeda; Mathias Wulfman; Ayush Agrawal; Tyler Westenbroek; Shankar Sastry 001; Claire J. Tomlin; Koushil Sreenath (L4DC, 2020)

Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions. - Jason J. Choi; Fernando Castañeda; Claire J. Tomlin; Koushil Sreenath (Robotics: Science and Systems, 2020)

Optimal Robust Safety-Critical Control for Dynamic Robotics. - Quan Nguyen 004; Koushil Sreenath (CoRR, 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)

Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload. - Jun Zeng 002; Prasanth Kotaru; Mark W. Mueller; Koushil Sreenath (IEEE Robotics Autom. Lett., 2020)

Combining Model-Based Design and Model-Free Policy Optimization to Learn Safe, Stabilizing Controllers. - Tyler Westenbroek; Ayush Agrawal; Fernando Castañeda; S. Shankar Sastry; Koushil Sreenath (ADHS, 2021)

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)

Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. - Scott Gilroy; Derek Lau; Lizhi Yang; Ed Izaguirre; Kristen Biermayer; Anxing Xiao; Mengti Sun; Ayush Agrawal; Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (CASE, 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)

Robust Control Barrier-Value Functions for Safety-Critical Control. - Jason J. Choi; Donggun Lee; Koushil Sreenath; Claire J. Tomlin; Sylvia L. Herbert (CDC, 2021)

Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. - Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (CDC, 2021)

Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard. - Jonathan Anglingdarma; Ayush Agrawal; Joshua Morey; Koushil Sreenath (ICRA, 2021)

Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. - Sylvia L. Herbert; Jason J. Choi; Suvansh Sanjeev; Marsalis T. Gibson; Koushil Sreenath; Claire J. Tomlin (ICRA, 2021)

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. - Zhongyu Li 003; Xuxin Cheng; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (ICRA, 2021)

Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. - Sangli Teng; Mark Wilfried Mueller; Koushil Sreenath (ICRA, 2021)

Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. - Anxing Xiao; Wenzhe Tong; Lizhi Yang; Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (ICRA, 2021)

Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. - Shuxiao Chen; Xiangyu Wu; Mark W. Mueller; Koushil Sreenath (IROS, 2021)

Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. - Sylvia L. Herbert; Jason J. Choi; Suvansh Qazi; Marsalis T. Gibson; Koushil Sreenath; Claire J. Tomlin (CoRR, 2021)

A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2021)

Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments. - Zhongyu Li 003; Jun Zeng 002; Shuxiao Chen; Koushil Sreenath (CoRR, 2021)

A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2021)

Competitive Car Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee. - Suiyi He; Jun Zeng 002; Koushil Sreenath (CoRR, 2021)

Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. - Yu Sun; Wyatt Ubellacker; Wen-Loong Ma; Xiang Zhang 020; Changhao Wang; Noel Csomay-Shanklin; Masayoshi Tomizuka; Koushil Sreenath; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

L1 Adaptive Control Barrier Functions for Nonlinear Underactuated Systems. - Quan Nguyen 004; Koushil Sreenath (ACC, 2022)

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (ACC, 2022)

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. - Gilbert Feng; Hongbo Zhang; Zhongyu Li 003; Xue Bin Peng; Bhuvan Basireddy; Linzhu Yue; Zhitao Song; Lizhi Yang; Yunhui Liu 001; Koushil Sreenath; Sergey Levine (CoRL, 2022)

Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. - Tyler Westenbroek; Fernando Castañeda; Ayush Agrawal; Shankar Sastry 001; Koushil Sreenath (CoRL, 2022)

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

Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries. - Ayush Agrawal; Shuxiao Chen; Akshara Rai; Koushil Sreenath (ICRA, 2022)

Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions. - Suiyi He; Jun Zeng 002; Koushil Sreenath (ICRA, 2022)

Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (ICRA, 2022)

Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. - Lizhi Yang; Zhongyu Li 003; Jun Zeng 002; Koushil Sreenath (ICRA, 2022)

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. - Yandong Ji; Zhongyu Li 003; Yinan Sun; Xue Bin Peng; Sergey Levine; Glen Berseth; Koushil Sreenath (IROS, 2022)

Adapting Rapid Motor Adaptation for Bipedal Robots. - Ashish Kumar 007; Zhongyu Li 003; Jun Zeng 002; Deepak Pathak; Koushil Sreenath; Jitendra Malik (IROS, 2022)

Teaching Robots to Span the Space of Functional Expressive Motion. - Arjun Sripathy; Andreea Bobu; Zhongyu Li 003; Koushil Sreenath; Daniel S. Brown; Anca D. Dragan (IROS, 2022)

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. - Zhongyu Li 003; Jun Zeng 002; Akshay Thirugnanam; Koushil Sreenath (Robotics: Science and Systems, 2022)

Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry. - Xiangyu Wu; Shuxiao Chen; Koushil Sreenath; Mark W. Mueller (IEEE Access, 2022)

Tethered Power Supply for Quadcopters: Architecture, Analysis and Experiments. - Karan P. Jain; Prasanth Kotaru; Massimiliano de Sa; Mark W. Mueller; Koushil Sreenath (CoRR, 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)

Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. - Jason J. Choi; Ayush Agrawal; Koushil Sreenath; Claire J. Tomlin; Somil Bansal (IEEE Robotics Autom. Lett., 2022)

Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots. - Chenyu Yang; Guo Ning Sue; Zhongyu Li 003; Lizhi Yang; Haotian Shen; Yufeng Chi; Akshara Rai; Jun Zeng 002; Koushil Sreenath (IEEE Robotics Autom. Lett., 2022)

Robust Safety-Critical Control for Dynamic Robotics. - Quan Nguyen 004; Koushil Sreenath (IEEE Trans. Autom. Control., 2022)

Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions. - Shuo Liu; Jun Zeng 002; Koushil Sreenath; Calin A. Belta (ACC, 2023)

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. - Yifan Zeng; Suiyi He; Han Hoang Nguyen; Yihan Li; Zhongyu Li 003; Koushil Sreenath; Jun Zeng 002 (CDC, 2023)

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

Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. - Xiaoyu Huang; Zhongyu Li 003; Yanzhen Xiang; Yiming Ni; Yufeng Chi; Yunhao Li; Lizhi Yang; Xue Bin Peng; Koushil Sreenath (IROS, 2023)

Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. - Qiayuan Liao; Zhongyu Li 003; Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (IROS, 2023)

In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States. - Fernando Castañeda; Haruki Nishimura; Rowan Thomas McAllister; Koushil Sreenath; Adrien Gaidon (L4DC, 2023)

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (Robotics: Science and Systems, 2023)

Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (CoRR, 2023)

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. - Yifan Zeng; Suiyi He; Han Hoang Nguyen; Zhongyu Li 003; Koushil Sreenath; Jun Zeng 002 (CoRR, 2023)

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

Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2023)

A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis. - Jason J. Choi; Donggun Lee; Boyang Li; Jonathan P. How; Koushil Sreenath; Sylvia L. Herbert; Claire J. Tomlin (CoRR, 2023)

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems. - Jihao Huang; Jun Zeng 002; Xuemin Chi; Koushil Sreenath; Zhitao Liu; Hongye Su (IEEE Robotics Autom. Lett., 2023)

Autonomous navigation of underactuated bipedal robots in height-constrained environments. - Zhongyu Li 003; Jun Zeng 002; Shuxiao Chen; Koushil Sreenath (Int. J. Robotics Res., 2023)

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

Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker. - Xingpeng Xia; Jason J. Choi; Ayush Agrawal; Koushil Sreenath; Claire J. Tomlin; Somil Bansal (CDC, 2024)

DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. - Xiaoyu Huang; Yufeng Chi; Ruofeng Wang; Zhongyu Li 003; Xue Bin Peng; Yakun Sophia Shao; Borivoje Nikolic; Koushil Sreenath (CoRL, 2024)

Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control. - Massimiliano de Sa; Prasanth Kotaru; Koushil Sreenath (ICRA, 2024)

Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. - Zhengmao He; Kun Lei; Yanjie Ze; Koushil Sreenath; Zhongyu Li 003; Huazhe Xu (IROS, 2024)

HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. - Xiaoyu Huang; Qiayuan Liao; Yiming Ni; Zhongyu Li 003; Laura M. Smith; Sergey Levine; Xue Bin Peng; Koushil Sreenath (IROS, 2024)

Deep Geometric Potential Functions for Tracking on Manifolds. - Nikhil Potu Surya Prakash; Joohwan Seo; Koushil Sreenath; Jongeun Choi; Roberto Horowitz (IROS, 2024)

Leveraging Symmetry in RL-based Legged Locomotion Control. - Zhi Su; Xiaoyu Huang; Daniel Felipe Ordoñez Apraez; Yunfei Li 005; Zhongyu Li 003; Qiayuan Liao; Giulio Turrisi; Massimiliano Pontil; Claudio Semini; Yi Wu 013; Koushil Sreenath (IROS, 2024)

Safety filters for black-box dynamical systems by learning discriminating hyperplanes. - Will Lavanakul; Jason J. Choi; Koushil Sreenath; Claire J. Tomlin (L4DC, 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)

Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models. - Yutao Ouyang; Jinhan Li; Yunfei Li 005; Zhongyu Li 003; Chao Yu 005; Koushil Sreenath; Yi Wu 013 (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)

Iterative Convex Optimization for Safety-Critical Model Predictive Control. - Shuo Liu; Zhe Huang; Jun Zeng 002; Koushil Sreenath; Calin A. Belta (CoRR, 2024)

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models. - Kanghyun Ryu; Qiayuan Liao; Zhongyu Li 003; Koushil Sreenath; Negar Mehr (CoRR, 2024)

Traversability-Aware Legged Navigation by Learning from Real-World Visual Data. - Hongbo Zhang; Zhongyu Li 003; Xuanqi Zeng; Laura M. Smith; Kyle Stachowicz; Dhruv Shah; Linzhu Yue; Zhitao Song; Weipeng Xia; Sergey Levine; Koushil Sreenath; Yun-hui Liu (CoRR, 2024)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. - Zixuan Chen; Xialin He; Yen-Jen Wang; Qiayuan Liao; Yanjie Ze; Zhongyu Li 003; S. Shankar Sastry; Jiajun Wu 001; Koushil Sreenath; Saurabh Gupta; Xue Bin Peng (CoRR, 2024)

Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation. - Cunxi Dai; Xiaohan Liu; Koushil Sreenath; Zhongyu Li 003; Ralph Hollis (CoRR, 2024)

Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains. - Linzhu Yue; Zhitao Song; Jinhu Dong; Zhongyu Li 003; Hongbo Zhang; Lingwei Zhang 004; Xuanqi Zeng; Koushil Sreenath; Yunhui Liu 001 (CoRR, 2024)

Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations. - Yucheng Hu; Yanjiang Guo; Pengchao Wang; Xiaoyu Chen; Yen-Jen Wang; Jianke Zhang; Koushil Sreenath; Chaochao Lu; Jianyu Chen (CoRR, 2024)

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

Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots. - Jiaze Cai; Vishnu Sangli; Mintae Kim; Koushil Sreenath (ACC, 2025)

Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (Int. J. Robotics Res., 2025)

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)

Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control. - Akshay Thirugnanam; Koushil Sreenath (CoRR, 2025)

MuJoCo Playground. - Kevin Zakka; Baruch Tabanpour; Qiayuan Liao; Mustafa Haiderbhai; Samuel Holt; Jing Yuan Luo; Arthur Allshire; Erik Frey; Koushil Sreenath; Lueder A. Kahrs; Carmelo Sferrazza; Yuval Tassa; et al. (CoRR, 2025)

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories. - Jean-Baptiste Bouvier; Kanghyun Ryu; Kartik Nagpal; Qiayuan Liao; Koushil Sreenath; Negar Mehr (CoRR, 2025)

RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation. - Philipp Wu; Yide Shentu; Qiayuan Liao; Ding Jin; Menglong Guo; Koushil Sreenath; Xingyu Lin; Pieter Abbeel (CoRR, 2025)

Decentralized Navigation of a Cable-Towed Load using Quadrupedal Robot Team via MARL. - Wen-Tse Chen; Minh Nguyen; Zhongyu Li 003; Guo Ning Sue; Koushil Sreenath (CoRR, 2025)

Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data. - Jason J. Choi; Christopher A. Strong; Koushil Sreenath; Namhoon Cho; Claire J. Tomlin (CoRR, 2025)

Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot. - Yufeng Chi; Qiayuan Liao; Junfeng Long; Xiaoyu Huang; Yakun Sophia Shao; Borivoje Nikolic; Zhongyu Li 003; Koushil Sreenath (CoRR, 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)

HuB: Learning Extreme Humanoid Balance. - Tong Zhang; Boyuan Zheng; Ruiqian Nai; Yingdong Hu; Yen-Jen Wang; Geng Chen; Fanqi Lin; Jiongye Li; Chuye Hong; Koushil Sreenath; Yang Gao 029 (CoRR, 2025)

Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams. - Zhi Su; Yuman Gao; Emily Lukas; Yunfei Li 005; Jiaze Cai; Faris Tulbah; Fei Gao; Chao Yu 005; Zhongyu Li 003; Yi Wu 013; Koushil Sreenath (CoRR, 2025)

LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction. - Haoru Xue; Xiaoyu Huang; Dantong Niu; Qiayuan Liao; Thomas Kragerud; Jan Tommy Gravdahl; Xue Bin Peng; Guanya Shi; Trevor Darrell; Koushil Sreenath; S. Shankar Sastry (CoRR, 2025)

IteraOptiRacing: A Unified Planning-Control Framework for Real-time Autonomous Racing for Iterative Optimal Performance. - Yifan Zeng; Yihan Li; Suiyi He; Koushil Sreenath; Jun Zeng 002 (CoRR, 2025)

Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight. - Bibek Gupta; Mintae Kim; Albert Park; Eric Sihite; Koushil Sreenath; Alireza Ramezani (CoRR, 2025)

When are safety filters safe? On minimum phase conditions of control barrier functions. - Jason J. Choi; Claire J. Tomlin; Shankar Sastry 001; Koushil Sreenath (CoRR, 2025)

BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion. - Qiayuan Liao; Takara E. Truong; Xiaoyu Huang; Guy Tevet; Koushil Sreenath; C. Karen Liu (CoRR, 2025)

Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control. - Xiaoyu Huang; Takara Truong; Yunbo Zhang; Fangzhou Yu; Jean-Pierre Sleiman; Jessica K. Hodgins; Koushil Sreenath; Farbod Farshidian (ACM Trans. Graph., 2025)

Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions. - Jihao Huang; Jun Zeng 002; Xuemin Chi; Koushil Sreenath; Zhitao Liu; Hongye Su (IEEE Trans. Control. Syst. Technol., 2025)