Integrating dynamic walking and arm impedance control for cooperative transportation. - Mohamad Shafiee Motahar; Sushant Veer; Jian Huang; Ioannis Poulakakis (IROS, 2015)

On the adaptation of dynamic walking to persistent external forcing using hybrid zero dynamics control. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (IROS, 2015)

Local input-to-state stability of dynamic walking under persistent external excitation using hybrid zero dynamics. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (ACC, 2016)

Composing limit cycles for motion planning of 3D bipedal walkers. - Mohamad Shafiee Motahar; Sushant Veer; Ioannis Poulakakis (CDC, 2016)

Generation of and switching among limit-cycle bipedal walking gaits. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (CDC, 2017)

Steering a 3D limit-cycle walker for collaboration with a leader. - Mohamad Shafiee Motahar; Sushant Veer; Ioannis Poulakakis (IROS, 2017)

Almost driftless navigation of 3D limit-cycle walking bipeds. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (IROS, 2017)

Adaptation of limit-cycle walkers for collaborative tasks: A supervisory switching control approach. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (IROS, 2017)

Poincaré Analysis for Hybrid Periodic Orbits of Systems with Impulse Effects under External Inputs. - Sushant Veer; Rakesh; Ioannis Poulakakis (CoRR, 2017)

Ultimate Boundedness for Switched Systems with Multiple Equilibria Under Disturbances. - Sushant Veer; Ioannis Poulakakis (CoRR, 2018)

Practical Stability of Switched Systems With Multiple Equilibria Under Disturbances. - Sushant Veer; Ioannis Poulakakis (ACC, 2019)

Robustness of Periodic Orbits of Impulsive Systems à la Poincaré. - Sushant Veer; Ioannis Poulakakis (CDC, 2019)

Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers. - Sushant Veer; Ioannis Poulakakis (ICRA, 2019)

PD based Robust Quadratic Programs for Robotic Systems. - Shishir Kolathaya; Sushant Veer (IROS, 2019)

Input-to-State Stability of Periodic Orbits of Systems With Impulse Effects via Poincaré Analysis. - Sushant Veer; Ioannis Poulakakis (IEEE Trans. Autom. Control., 2019)

Generalization Guarantees for Imitation Learning. - Allen Z. Ren; Sushant Veer; Anirudha Majumdar (CoRL, 2020)

Probably Approximately Correct Vision-Based Planning using Motion Primitives. - Sushant Veer; Anirudha Majumdar (CoRL, 2020)

An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty. - Prem Chand; Sushant Veer; Ioannis Poulakakis (ICRA, 2020)

CoNES: Convex Natural Evolutionary Strategies. - Sushant Veer; Anirudha Majumdar (CoRR, 2020)

Generalization Guarantees for Multi-Modal Imitation Learning. - Allen Z. Ren; Sushant Veer; Anirudha Majumdar (CoRR, 2020)

LagNetViP: A Lagrangian Neural Network for Video Prediction. - Christine Allen-Blanchette; Sushant Veer; Anirudha Majumdar; Naomi Ehrich Leonard (CoRR, 2020)

Switched Systems With Multiple Equilibria Under Disturbances: Boundedness and Practical Stability. - Sushant Veer; Ioannis Poulakakis (IEEE Trans. Autom. Control., 2020)

Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning. - Alec Farid; Sushant Veer; Anirudha Majumdar (CoRL, 2021)

Learning Provably Robust Motion Planners Using Funnel Libraries. - Ali Ekin Gurgen; Anirudha Majumdar; Sushant Veer (CoRR, 2021)

Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles. - Alec Farid; Sushant Veer; Boris Ivanovic; Karen Leung; Marco Pavone 001 (CoRL, 2022)

Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data. - Abhinav Agarwal; Sushant Veer; Allen Z. Ren; Anirudha Majumdar (ICRA, 2022)

DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces. - Amir Iqbal; Sushant Veer; Yan Gu (CoRR, 2022)

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles. - Sushant Veer; Karen Leung; Ryan K. Cosner; Yuxiao Chen 008; Marco Pavone 001 (CoRR, 2022)

Interactive Dynamic Walking: Learning Gait Switching Policies With Generalization Guarantees. - Prem Chand; Sushant Veer; Ioannis Poulakakis (IEEE Robotics Autom. Lett., 2022)

Asymptotic Stabilization of Aperiodic Trajectories of a Hybrid-Linear Inverted Pendulum Walking on a Vertically Moving Surface. - Amir Iqbal; Sushant Veer; Yan Gu (ACC, 2023)

Learning Autonomous Vehicle Safety Concepts from Demonstrations. - Karen Leung; Sushant Veer; Edward Schmerling; Marco Pavone 001 (ACC, 2023)

Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors. - Sushant Veer; Apoorva Sharma; Marco Pavone 001 (CoRL, 2023)

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles. - Sushant Veer; Karen Leung; Ryan K. Cosner; Yuxiao Chen 008; Péter Karkus; Marco Pavone 001 (ICRA, 2023)

Guided Conditional Diffusion for Controllable Traffic Simulation. - Ziyuan Zhong; Davis Rempe; Danfei Xu; Yuxiao Chen 008; Sushant Veer; Tong Che; Baishakhi Ray; Marco Pavone 001 (ICRA, 2023)

PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction. - Apoorva Sharma; Sushant Veer; Asher Hancock; Heng Yang; Marco Pavone 001; Anirudha Majumdar (NeurIPS, 2023)

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. - Pasquale Antonante; Sushant Veer; Karen Leung; Xinshuo Weng; Luca Carlone; Marco Pavone 001 (Robotics: Science and Systems, 2023)

Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model. - Amir Iqbal; Sushant Veer; Yan Gu (CoRR, 2023)

Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles. - Kunal Sanjay Narkhede; Mohamad Shafiee Motahar; Sushant Veer; Ioannis Poulakakis (CoRR, 2023)

Interactive Motion Planning for Autonomous Vehicles with Joint Optimization. - Yuxiao Chen 008; Sushant Veer; Péter Karkus; Marco Pavone 001 (CoRR, 2023)

Driving Everywhere with Large Language Model Policy Adaptation. - Boyi Li; Yue Wang 041; Jiageng Mao; Boris Ivanovic; Sushant Veer; Karen Leung; Marco Pavone 001 (CVPR, 2024)

HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion. - Amir Iqbal; Sushant Veer; Christopher Niezrecki; Yan Gu (CoRR, 2024)

RuleFuser: Injecting Rules in Evidential Networks for Robust Out-of-Distribution Trajectory Prediction. - Jay Patrikar; Sushant Veer; Apoorva Sharma; Marco Pavone 001; Sebastian A. Scherer (CoRR, 2024)

Wolf: Captioning Everything with a World Summarization Framework. - Boyi Li; Ligeng Zhu; Ran Tian; Shuhan Tan; Yuxiao Chen 008; Yao Lu 006; Yin Cui; Sushant Veer; Max Ehrlich; Jonah Philion; Xinshuo Weng; Fuzhao Xue; et al. (CoRR, 2024)

System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles. - Kaustav Chakraborty; Zeyuan Feng; Sushant Veer; Apoorva Sharma; Boris Ivanovic; Marco Pavone 001; Somil Bansal (CoRR, 2024)

LoRD: Adapting Differentiable Driving Policies to Distribution Shifts. - Christopher Diehl; Péter Karkus; Sushant Veer; Marco Pavone 001; Torsten Bertram (CoRR, 2024)

Interactive Joint Planning for Autonomous Vehicles. - Yuxiao Chen 001; Sushant Veer; Péter Karkus; Marco Pavone 001 (IEEE Robotics Autom. Lett., 2024)

Task-Driven Detection of Distribution Shifts With Statistical Guarantees for Robot Learning. - Alec Farid; Sushant Veer; Divyanshu Pachisia; Anirudha Majumdar (IEEE Trans. Robotics, 2025)

Surprise Potential as a Measure of Interactivity in Driving Scenarios. - Wenhao Ding; Sushant Veer; Karen Leung; Yulong Cao; Marco Pavone 001 (CoRR, 2025)

Online Aggregation of Trajectory Predictors. - Alex Tong; Apoorva Sharma; Sushant Veer; Marco Pavone 001; Heng Yang (CoRR, 2025)

RealDrive: Retrieval-Augmented Driving with Diffusion Models. - Wenhao Ding; Sushant Veer; Yuxiao Chen 008; Yulong Cao; Chaowei Xiao; Marco Pavone 001 (CoRR, 2025)

Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation. - Rachel Luo; Heng Yang; Michael Watson; Apoorva Sharma; Sushant Veer; Edward Schmerling; Marco Pavone 001 (CoRR, 2025)

Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators. - Kaustav Chakraborty; Zeyuan Feng; Sushant Veer; Apoorva Sharma; Wenhao Ding; Sever Topan; Boris Ivanovic; Marco Pavone 001; Somil Bansal (CoRR, 2025)