Fernando Castañeda

25 papers C 1Misc 1Journal 17Unranked 6

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data. CoRR Ruijie Zheng, Dantong Niu, Yuqi Xie, Jing Wang, Mengda Xu, Yunfan Jiang, Fernando Castañeda, Fengyuan Hu, You Liang Tan, Letian Fu, Trevor Darrell, Furong Huang, Yuke Zhu, Danfei Xu, Linxi Fan
2025	J	`jnl`	CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation. CoRR Sirui Chen, Zi-ang Cao, Zhengyi Luo, Fernando Castañeda, Chenran Li, Tingwu Wang, Ye Yuan, Linxi "Jim" Fan, C. Karen Liu, Yuke Zhu
2025	J	`jnl`	Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems. IEEE Trans. Robotics Jason J. Choi, Fernando Castañeda, Wonsuhk Jung, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
2025	J	`jnl`	GR00T N1: An Open Foundation Model for Generalist Humanoid Robots. CoRR Johan Bjorck, Fernando Castañeda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, Joel Jang, Zhenyu Jiang, Jan Kautz, Kaushil Kundalia, Lawrence Lao, Zhiqi Li, Zongyu Lin, Kevin Lin, Guilin Liu, Edith LLontop, Loic Magne, Ajay Mandlekar, Avnish Narayan, Soroush Nasiriany, Scott Reed, You Liang Tan, Guanzhi Wang, Zu Wang, Jing Wang, Qi Wang, Jiannan Xiang, Yuqi Xie, Yinzhen Xu, Zhenjia Xu, Seonghyeon Ye, Zhiding Yu, Ao Zhang, Hao Zhang, Yizhou Zhao, Ruijie Zheng, Yuke Zhu
2025	J	`jnl`	Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer. CoRR Haoru Xue, Tairan He, Zi Wang, Qingwei Ben, Wenli Xiao, Zhengyi Luo, Xingye Da, Fernando Castañeda, Guanya Shi, Shankar Sastry, Linxi Jim Fan, Yuke Zhu
2025	J	`jnl`	SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control. CoRR Zhengyi Luo, Ye Yuan, Tingwu Wang, Chenran Li, Sirui Chen, Fernando Castañeda, Zi-ang Cao, Jiefeng Li, David Minor, Qingwei Ben, Xingye Da, Runyu Ding, Cyrus Hogg, Lina Song, Edy Lim, Eugene Jeong, Tairan He, Haoru Xue, Wenli Xiao, Zi Wang, Simon Yuen, Jan Kautz, Yan Chang, Umar Iqbal, Linxi Jim Fan, Yuke Zhu
2025	J	`jnl`	VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation. CoRR Tairan He, Zi Wang, Haoru Xue, Qingwei Ben, Zhengyi Luo, Wenli Xiao, Ye Yuan, Xingye Da, Fernando Castañeda, Shankar Sastry, Changliu Liu, Guanya Shi, Linxi Fan, Yuke Zhu
2023	J	`jnl`	Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems. CoRR Jason J. Choi, Fernando Castañeda, Wonsuhk Jung, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
2023	—	`conf`	In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States. L4DC Fernando Castañeda, Haruki Nishimura, Rowan Thomas McAllister, Koushil Sreenath, Adrien Gaidon
2023	J	`jnl`	In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States. CoRR Fernando Castañeda, Haruki Nishimura, Rowan McAllister, Koushil Sreenath, Adrien Gaidon
2022	Misc	`conf`	Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. CoRL Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath
2022	J	`jnl`	Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. CoRR Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath
2022	J	`jnl`	Probabilistic Safe Online Learning with Control Barrier Functions. CoRR Fernando Castañeda, Jason J. Choi, Wonsuhk Jung, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
2021	—	`conf`	Combining Model-Based Design and Model-Free Policy Optimization to Learn Safe, Stabilizing Controllers. ADHS Tyler Westenbroek, Ayush Agrawal, Fernando Castañeda, S. Shankar Sastry, Koushil Sreenath
2021	C	`conf`	Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics. ACC Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
2021	—	`conf`	Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty. CDC Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
2021	J	`jnl`	Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty. CoRR Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
2020	J	`jnl`	Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects. CoRR Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
2020	—	`conf`	Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. L4DC Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Shankar Sastry, Claire J. Tomlin, Koushil Sreenath
2020	J	`jnl`	Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. CoRR Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, S. Shankar Sastry, Claire J. Tomlin, Koushil Sreenath
2020	—	`conf`	Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics. CDC Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, S. Shankar Sastry, Koushil Sreenath
2020	J	`jnl`	Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics. CoRR Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, S. Shankar Sastry, Koushil Sreenath
2020	—	`conf`	Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions. Robotics: Science and Systems Jason J. Choi, Fernando Castañeda, Claire J. Tomlin, Koushil Sreenath
2020	J	`jnl`	Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions. CoRR Jason J. Choi, Fernando Castañeda, Claire J. Tomlin, Koushil Sreenath
2004	J	`jnl`	High rank elliptic curves with torsion group Integer/(2*Integer). Math. Comput. Julián Aguirre, Fernando Castañeda, Juan Carlos Peral