Koushil Sreenath

233 papers A* 22A 17C 20Misc 3Journal 130Unranked 41

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Interactive Navigation With Adaptive Non-Prehensile Mobile Manipulation. IEEE Robotics Autom. Lett. Cunxi Dai, Xiaohan Liu, Koushil Sreenath, Zhongyu Li, Ralph Hollis
2026	J	`jnl`	Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching. CoRR Zhen Wu, Xiaoyu Huang, Lujie Yang, Yuanhang Zhang, Koushil Sreenath, Xi Chen, Pieter Abbeel, Rocky Duan, Angjoo Kanazawa, Carmelo Sferrazza, Guanya Shi, C. Karen Liu
2026	J	`jnl`	RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains. CoRR Yuanhang Zhang, Younggyo Seo, Juyue Chen, Yifu Yuan, Koushil Sreenath, Pieter Abbeel, Carmelo Sferrazza, C. Karen Liu, Rocky Duan, Guanya Shi
2026	J	`jnl`	SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization. CoRR Hanwen Wang, Qiayuan Liao, Bike Zhang, Kunzhao Ren, Koushil Sreenath, Xiaobin Xiong
2026	J	`jnl`	Traversability-Aware Legged Navigation by Learning From Real-World Visual Data. IEEE Trans. Robotics Hongbo Zhang, Zhongyu Li, Xuanqi Zeng, Laura Smith, Kyle Stachowicz, Dhruv Shah, Linzhu Yue, Zhitao Song, Weipeng Xia, Sergey Levine, Koushil Sreenath, Yun-Hui Liu
2026	J	`jnl`	mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning. CoRR Kevin Zakka, Qiayuan Liao, Brent Yi, Louis Le Lay, Koushil Sreenath, Pieter Abbeel
2025	A*	`conf`	Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion. ICRA Boyuan Liang, Lingfeng Sun, Xinghao Zhu, Bike Zhang, Ziyin Xiong, Yixiao Wang, Chenran Li, Koushil Sreenath, Masayoshi Tomizuka
2025	A*	`conf`	Berkeley Humanoid: A Research Platform for Learning-Based Control. ICRA Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath
2025	J	`jnl`	BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion. CoRR Qiayuan Liao, Takara E. Truong, Xiaoyu Huang, Guy Tevet, Koushil Sreenath, C. Karen Liu
2025	J	`jnl`	CHyLL: Learning Continuous Neural Representations of Hybrid Systems. CoRR Sangli Teng, Hang Liu, Jingyu Song, Koushil Sreenath
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`	Coordinated Humanoid Manipulation with Choice Policies. CoRR Haozhi Qi, Yen-Jen Wang, Toru Lin, Brent Yi, Yi Ma, Koushil Sreenath, Jitendra Malik
2025	A*	`conf`	CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills Using Large Language Models. ICRA Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Payam Delgosha, Koushil Sreenath, Negar Mehr
2025	J	`jnl`	DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories. CoRR Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal, Qiayuan Liao, Koushil Sreenath, Negar Mehr
2025	—	`conf`	Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data. CDC Jason J. Choi, Christopher A. Strong, Koushil Sreenath, Namhoon Cho, Claire J. Tomlin
2025	J	`jnl`	Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data. CoRR Jason J. Choi, Christopher A. Strong, Koushil Sreenath, Namhoon Cho, Claire J. Tomlin
2025	J	`jnl`	Decentralized Navigation of a Cable-Towed Load using Quadrupedal Robot Team via MARL. CoRR Wen-Tse Chen, Minh Nguyen, Zhongyu Li, Guo Ning Sue, Koushil Sreenath
2025	J	`jnl`	Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot. CoRR Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Yakun Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath
2025	J	`jnl`	Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control. CoRR Xiaoyu Huang, Takara Truong, Yunbo Zhang, Fangzhou Yu, Jean-Pierre Sleiman, Jessica K. Hodgins, Koushil Sreenath, Farbod Farshidian
2025	J	`jnl`	Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control. ACM Trans. Graph. Xiaoyu Huang, Takara Truong, Yunbo Zhang, Fangzhou Yu, Jean-Pierre Sleiman, Jessica K. Hodgins, Koushil Sreenath, Farbod Farshidian
2025	J	`jnl`	Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions. CoRR Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su
2025	J	`jnl`	Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions. IEEE Trans. Control. Syst. Technol. Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su
2025	J	`jnl`	Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control. CoRR Akshay Thirugnanam, Koushil Sreenath
2025	J	`jnl`	Ego-Vision World Model for Humanoid Contact Planning. CoRR Hang Liu, Yuman Gao, Sangli Teng, Yufeng Chi, Yakun Sophia Shao, Zhongyu Li, Maani Ghaffari, Koushil Sreenath
2025	A	`conf`	Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight. IROS Bibek Gupta, Mintae Kim, Albert Park, Eric Sihite, Koushil Sreenath, Alireza Ramezani
2025	J	`jnl`	Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight. CoRR Bibek Gupta, Mintae Kim, Albert Park, Eric Sihite, Koushil Sreenath, Alireza Ramezani
2025	J	`jnl`	HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning. CoRR Zhi Su, Bike Zhang, Nima Rahmanian, Yuman Gao, Qiayuan Liao, Caitlin Regan, Koushil Sreenath, S. Shankar Sastry
2025	J	`jnl`	HuB: Learning Extreme Humanoid Balance. CoRR Tong Zhang, Boyuan Zheng, Ruiqian Nai, Yingdong Hu, Yen-Jen Wang, Geng Chen, Fanqi Lin, Jiongye Li, Chuye Hong, Koushil Sreenath, Yang Gao
2025	J	`jnl`	IteraOptiRacing: A Unified Planning-Control Framework for Real-time Autonomous Racing for Iterative Optimal Performance. CoRR Yifan Zeng, Yihan Li, Suiyi He, Koushil Sreenath, Jun Zeng
2025	J	`jnl`	LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning. CoRR Yiyang Shao, Xiaoyu Huang, Bike Zhang, Qiayuan Liao, Yuman Gao, Yufeng Chi, Zhongyu Li, Yakun Sophia Shao, Koushil Sreenath
2025	J	`jnl`	LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction. CoRR 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
2025	J	`jnl`	Learning Dexterous Manipulation Skills from Imperfect Simulations. CoRR Elvis Hsieh, Wen-Han Hsieh, Yen-Jen Wang, Toru Lin, Jitendra Malik, Koushil Sreenath, Haozhi Qi
2025	A	`conf`	Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. IROS Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng
2025	C	`conf`	Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots. ACC Jiaze Cai, Vishnu Sangli, Mintae Kim, Koushil Sreenath
2025	A	`conf`	Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models. IROS Yutao Ouyang, Jinhan Li, Yunfei Li, Zhongyu Li, Chao Yu, Koushil Sreenath, Yi Wu
2025	J	`jnl`	MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning. CoRR Yuanchen Ju, Yongyuan Liang, Yen-Jen Wang, Nandiraju Gireesh, Yuanliang Ju, Seungjae Lee, Qiao Gu, Elvis Hsieh, Furong Huang, Koushil Sreenath
2025	J	`jnl`	MuJoCo Playground. CoRR 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, Pieter Abbeel
2025	J	`jnl`	Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control. Int. J. Robotics Res. Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
2025	J	`jnl`	RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems. CoRR Mintae Kim, Jiaze Cai, Koushil Sreenath
2025	J	`jnl`	RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation. CoRR Philipp Wu, Yide Shentu, Qiayuan Liao, Ding Jin, Menglong Guo, Koushil Sreenath, Xingyu Lin, Pieter Abbeel
2025	J	`jnl`	Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams. CoRR Zhi Su, Yuman Gao, Emily Lukas, Yunfei Li, Jiaze Cai, Faris Tulbah, Fei Gao, Chao Yu, Zhongyu Li, Yi Wu, Koushil Sreenath
2025	A*	`conf`	Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations. ICML Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, Jianyu Chen
2025	J	`jnl`	When are safety filters safe? On minimum phase conditions of control barrier functions. CoRR Jason J. Choi, Claire J. Tomlin, Shankar Sastry, Koushil Sreenath
2024	J	`jnl`	Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion. CoRR Boyuan Liang, Lingfeng Sun, Xinghao Zhu, Bike Zhang, Ziyin Xiong, Chenran Li, Koushil Sreenath, Masayoshi Tomizuka
2024	J	`jnl`	Berkeley Humanoid: A Research Platform for Learning-based Control. CoRR Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath
2024	J	`jnl`	CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models. CoRR Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Koushil Sreenath, Negar Mehr
2024	A	`conf`	Deep Geometric Potential Functions for Tracking on Manifolds. IROS Nikhil Potu Surya Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, Roberto Horowitz
2024	Misc	`conf`	DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. CoRL Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Yakun Sophia Shao, Borivoje Nikolic, Koushil Sreenath
2024	J	`jnl`	DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. CoRR Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Yakun Sophia Shao, Borivoje Nikolic, Koushil Sreenath
2024	—	`conf`	Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker. CDC Xingpeng Xia, Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
2024	J	`jnl`	Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker. CoRR Xingpeng Xia, Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
2024	A	`conf`	HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. IROS Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath
2024	J	`jnl`	HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. CoRR Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath
2024	A*	`conf`	Humanoid Locomotion as Next Token Prediction. NeurIPS Ilija Radosavovic, Bike Zhang, Baifeng Shi, Jathushan Rajasegaran, Sarthak Kamat, Trevor Darrell, Koushil Sreenath, Jitendra Malik
2024	J	`jnl`	Humanoid Locomotion as Next Token Prediction. CoRR Ilija Radosavovic, Bike Zhang, Baifeng Shi, Jathushan Rajasegaran, Sarthak Kamat, Trevor Darrell, Koushil Sreenath, Jitendra Malik
2024	J	`jnl`	Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation. CoRR Cunxi Dai, Xiaohan Liu, Koushil Sreenath, Zhongyu Li, Ralph Hollis
2024	J	`jnl`	Iterative Convex Optimization for Safety-Critical Model Predictive Control. CoRR Shuo Liu, Zhe Huang, Jun Zeng, Koushil Sreenath, Calin A. Belta
2024	J	`jnl`	Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. CoRR Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng
2024	A	`conf`	Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. IROS Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu
2024	J	`jnl`	Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. CoRR Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu
2024	J	`jnl`	Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots. CoRR Jiaze Cai, Vishnu Sangli, Mintae Kim, Koushil Sreenath
2024	A	`conf`	Leveraging Symmetry in RL-based Legged Locomotion Control. IROS Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
2024	J	`jnl`	Leveraging Symmetry in RL-based Legged Locomotion Control. CoRR Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
2024	J	`jnl`	Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models. CoRR Yutao Ouyang, Jinhan Li, Yunfei Li, Zhongyu Li, Chao Yu, Koushil Sreenath, Yi Wu
2024	J	`jnl`	Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains. CoRR Linzhu Yue, Zhitao Song, Jinhu Dong, Zhongyu Li, Hongbo Zhang, Lingwei Zhang, Xuanqi Zeng, Koushil Sreenath, Yunhui Liu
2024	A*	`conf`	Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control. ICRA Massimiliano de Sa, Prasanth Kotaru, Koushil Sreenath
2024	—	`conf`	Prompt a Robot to Walk with Large Language Models. CDC Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath
2024	J	`jnl`	Real-world humanoid locomotion with reinforcement learning. Sci. Robotics Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, Koushil Sreenath
2024	J	`jnl`	Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control. CoRR Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
2024	J	`jnl`	Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes. CoRR Will Lavanakul, Jason J. Choi, Koushil Sreenath, Claire J. Tomlin
2024	—	`conf`	Safety filters for black-box dynamical systems by learning discriminating hyperplanes. L4DC Will Lavanakul, Jason J. Choi, Koushil Sreenath, Claire J. Tomlin
2024	J	`jnl`	Traversability-Aware Legged Navigation by Learning from Real-World Visual Data. CoRR Hongbo Zhang, Zhongyu Li, Xuanqi Zeng, Laura Smith, Kyle Stachowicz, Dhruv Shah, Linzhu Yue, Zhitao Song, Weipeng Xia, Sergey Levine, Koushil Sreenath, Yun-Hui Liu
2024	J	`jnl`	Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations. CoRR Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, Jianyu Chen
2023	J	`jnl`	A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis. CoRR Jason J. Choi, Donggun Lee, Boyang Li, Jonathan P. How, Koushil Sreenath, Sylvia L. Herbert, Claire J. Tomlin
2023	J	`jnl`	Autonomous navigation of underactuated bipedal robots in height-constrained environments. Int. J. Robotics Res. Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath
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	A	`conf`	Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. IROS Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, 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
2023	C	`conf`	Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions. ACC Shuo Liu, Jun Zeng, Koushil Sreenath, Calin A. Belta
2023	J	`jnl`	Learning Humanoid Locomotion with Transformers. CoRR Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, Koushil Sreenath
2023	—	`conf`	Learning Torque Control for Quadrupedal Locomotion. Humanoids Shuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath
2023	J	`jnl`	Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions. CoRR Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
2023	J	`jnl`	Prompt a Robot to Walk with Large Language Models. CoRR Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath
2023	J	`jnl`	Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning. CoRR Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
2023	—	`conf`	Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. Robotics: Science and Systems Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
2023	J	`jnl`	Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems. IEEE Robotics Autom. Lett. Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su
2023	J	`jnl`	Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems. CoRR Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su
2023	A	`conf`	Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. IROS Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
2023	—	`conf`	i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. CDC Yifan Zeng, Suiyi He, Han Hoang Nguyen, Yihan Li, Zhongyu Li, Koushil Sreenath, Jun Zeng
2023	J	`jnl`	i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. CoRR Yifan Zeng, Suiyi He, Han Hoang Nguyen, Zhongyu Li, Koushil Sreenath, Jun Zeng
2022	A	`conf`	Adapting Rapid Motor Adaptation for Bipedal Robots. IROS Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik
2022	J	`jnl`	Adapting Rapid Motor Adaptation for Bipedal Robots. CoRR Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik
2022	A*	`conf`	Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions. ICRA Suiyi He, Jun Zeng, Koushil Sreenath
2022	A*	`conf`	Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. ICRA Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath
2022	J	`jnl`	Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. CoRR Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath
2022	—	`conf`	Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. Robotics: Science and Systems Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath
2022	J	`jnl`	Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. CoRR Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath
2022	J	`jnl`	Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots. IEEE Robotics Autom. Lett. Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath
2022	J	`jnl`	Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots. CoRR Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath
2022	J	`jnl`	Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. CoRR Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
2022	J	`jnl`	Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. IEEE Robotics Autom. Lett. Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
2022	J	`jnl`	Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. CoRR Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath
2022	C	`conf`	Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. ACC Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
2022	Misc	`conf`	GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. CoRL Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine
2022	J	`jnl`	GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. CoRR Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine
2022	A	`conf`	Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. IROS Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath
2022	J	`jnl`	Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. CoRR Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath
2022	J	`jnl`	Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions. CoRR Shuo Liu, Jun Zeng, Koushil Sreenath, Calin A. Belta
2022	C	`conf`	L1 Adaptive Control Barrier Functions for Nonlinear Underactuated Systems. ACC Quan Nguyen, Koushil Sreenath
2022	—	`conf`	Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments. ECC Hengbo Ma, Bike Zhang, Masayoshi Tomizuka, Koushil Sreenath
2022	J	`jnl`	Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments. CoRR Hengbo Ma, Bike Zhang, Masayoshi Tomizuka, Koushil Sreenath
2022	J	`jnl`	Learning Torque Control for Quadrupedal Locomotion. CoRR Shuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath
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`	Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry. IEEE Access Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller
2022	J	`jnl`	Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry. CoRR Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller
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
2022	J	`jnl`	Robust Safety-Critical Control for Dynamic Robotics. IEEE Trans. Autom. Control. Quan Nguyen, Koushil Sreenath
2022	A*	`conf`	Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions. ICRA Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
2022	A	`conf`	Teaching Robots to Span the Space of Functional Expressive Motion. IROS Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan
2022	J	`jnl`	Teaching Robots to Span the Space of Functional Expressive Motion. CoRR Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan
2022	J	`jnl`	Tethered Power Supply for Quadcopters: Architecture, Analysis and Experiments. CoRR Karan P. Jain, Prasanth Kotaru, Massimiliano de Sa, Mark W. Mueller, Koushil Sreenath
2022	A*	`conf`	Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries. ICRA Ayush Agrawal, Shuxiao Chen, Akshara Rai, Koushil Sreenath
2022	J	`jnl`	Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization. CoRR Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
2021	J	`jnl`	A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. CoRR Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
2021	J	`jnl`	A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes. CoRR Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
2021	—	`conf`	Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. CASE Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath
2021	J	`jnl`	Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. CoRR Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, 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	J	`jnl`	Competitive Car Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee. CoRR Suiyi He, Jun Zeng, Koushil Sreenath
2021	—	`conf`	Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. CDC Jun Zeng, Zhongyu Li, Koushil Sreenath
2021	J	`jnl`	Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. CoRR Jun Zeng, Zhongyu Li, 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	A*	`conf`	Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. ICRA Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
2021	J	`jnl`	Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. CoRR Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
2021	A*	`conf`	Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard. ICRA Jonathan Anglingdarma, Ayush Agrawal, Joshua Morey, Koushil Sreenath
2021	J	`jnl`	Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. IEEE Robotics Autom. Lett. Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames
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
2021	A	`conf`	Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. IROS Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath
2021	J	`jnl`	Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. CoRR Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath
2021	—	`conf`	Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain. CASE Yandong Ji, Bike Zhang, Koushil Sreenath
2021	A*	`conf`	Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. ICRA Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
2021	J	`jnl`	Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. CoRR Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
2021	A*	`conf`	Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. ICRA Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath
2021	J	`jnl`	Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. CoRR Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath
2021	—	`conf`	Robust Control Barrier-Value Functions for Safety-Critical Control. CDC Jason J. Choi, Donggun Lee, Koushil Sreenath, Claire J. Tomlin, Sylvia L. Herbert
2021	J	`jnl`	Robust Control Barrier-Value Functions for Safety-Critical Control. CoRR Jason J. Choi, Donggun Lee, Koushil Sreenath, Claire J. Tomlin, Sylvia L. Herbert
2021	C	`conf`	Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. ACC Suiyi He, Jun Zeng, Bike Zhang, Koushil Sreenath
2021	J	`jnl`	Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. CoRR Suiyi He, Jun Zeng, Bike Zhang, Koushil Sreenath
2021	C	`conf`	Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. ACC Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath
2021	J	`jnl`	Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. CoRR Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath
2021	C	`conf`	Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function. ACC Jun Zeng, Bike Zhang, Koushil Sreenath
2021	A*	`conf`	Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. ICRA Sylvia L. Herbert, Jason J. Choi, Suvansh Sanjeev, Marsalis T. Gibson, Koushil Sreenath, Claire J. Tomlin
2021	J	`jnl`	Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. CoRR Sylvia L. Herbert, Jason J. Choi, Suvansh Qazi, Marsalis T. Gibson, Koushil Sreenath, Claire J. Tomlin
2021	J	`jnl`	Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments. CoRR Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath
2021	J	`jnl`	Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries. CoRR Ayush Agrawal, Shuxiao Chen, Akshara Rai, Koushil Sreenath
2020	A	`conf`	Animated Cassie: A Dynamic Relatable Robotic Character. IROS Zhongyu Li, Christine Cummings, Koushil Sreenath
2020	J	`jnl`	Animated Cassie: A Dynamic Relatable Robotic Character. CoRR Zhongyu Li, Christine Cummings, Koushil Sreenath
2020	—	`conf`	Ball Juggling on the Bipedal Robot Cassie. ECC Katherine L. Poggensee, Albert H. Li, Daniel Sotsaikich, Bike Zhang, Prasanth Kotaru, Mark W. Mueller, Koushil Sreenath
2020	J	`jnl`	Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload. IEEE Robotics Autom. Lett. Jun Zeng, Prasanth Kotaru, Mark W. Mueller, Koushil Sreenath
2020	A	`conf`	Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization. IROS Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, Koushil Sreenath
2020	J	`jnl`	Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization. CoRR Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, 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	J	`jnl`	Optimal Robust Safety-Critical Control for Dynamic Robotics. CoRR Quan Nguyen, 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
2020	J	`jnl`	Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function. CoRR Jun Zeng, Bike Zhang, Koushil Sreenath
2020	A	`conf`	Staging energy sources to extend flight time of a multirotor UAV. IROS Karan P. Jain, Jerry Tang, Koushil Sreenath, Mark W. Mueller
2020	J	`jnl`	Staging energy sources to extend flight time of a multirotor UAV. CoRR Karan P. Jain, Jerry Tang, Koushil Sreenath, Mark W. Mueller
2019	—	`conf`	Bipedal Robotic Running on Stochastic Discrete Terrain. ECC Ayush Agrawal, Koushil Sreenath
2019	—	`conf`	Control Barrier Functions: Theory and Applications. ECC Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada
2019	J	`jnl`	Control Barrier Functions: Theory and Applications. CoRR Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada
2019	—	`conf`	Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot. Humanoids Shuxiao Chen, Jonathan Rogers, Bike Zhang, Koushil Sreenath
2019	J	`jnl`	Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot. CoRR Shuxiao Chen, Jonathan Rogers, Bike Zhang, Koushil Sreenath
2019	C	`conf`	Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley. ACC Jun Zeng, Prasanth Kotaru, Koushil Sreenath
2019	C	`conf`	Geometric Control of a Quadrotor with a Load Suspended from an Offset. ACC Jun Zeng, Koushil Sreenath
2019	J	`jnl`	Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control. CoRR Prasanth Kotaru, Koushil Sreenath
2019	J	`jnl`	Online adaptive teleoperation via motion primitives for mobile robots. Auton. Robots Xuning Yang, Ayush Agrawal, Koushil Sreenath, Nathan Michael
2019	—	`conf`	Variation Based Extended Kalman Filter on S ECC Prasanth Kotaru, Koushil Sreenath
2018	J	`jnl`	Dynamic bipedal locomotion over stochastic discrete terrain. Int. J. Robotics Res. Quan Nguyen, Ayush Agrawal, William C. Martin, Hartmut Geyer, Koushil Sreenath
2018	J	`jnl`	Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. CoRR 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
2018	A*	`conf`	Safe Teleoperation of Dynamic UAVs Through Control Barrier Functions. ICRA Bin Xu, Koushil Sreenath
2018	J	`jnl`	The Reaction Mass Biped: Geometric Mechanics and Control. J. Intell. Robotic Syst. Avinash Siravuru, Sasi Prabhakaran Viswanathan, Koushil Sreenath, Amit K. Sanyal
2017	A*	`conf`	A framework for efficient teleoperation via online adaptation. ICRA Xuning Yang, Koushil Sreenath, Nathan Michael
2017	J	`jnl`	Deep Visual Perception for Dynamic Walking on Discrete Terrain. CoRR Avinash Siravuru, Allan Wang, Quan Nguyen, Koushil Sreenath
2017	—	`conf`	Deep visual perception for dynamic walking on discrete terrain. Humanoids Avinash Siravuru, Allan Wang, Quan Nguyen, Koushil Sreenath
2017	J	`jnl`	Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s). CoRR Prasanth Kotaru, Guofan Wu, Koushil Sreenath
2017	—	`conf`	Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation. Robotics: Science and Systems Ayush Agrawal, Koushil Sreenath
2017	—	`conf`	Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. Robotics: Science and Systems Quan Nguyen, Ayush Agrawal, Xingye Da, William C. Martin, Hartmut Geyer, Jessy W. Grizzle, Koushil Sreenath
2017	C	`conf`	Dynamics and control of a quadrotor with a payload suspended through an elastic cable. ACC Prasanth Kotaru, Guofan Wu, Koushil Sreenath
2017	J	`jnl`	First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. IEEE Access Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
2017	C	`conf`	Multi-robot Trajectory Generation for an Aerial Payload Transport System. ISRR Sarah Y. Tang, Koushil Sreenath, Vijay Kumar
2017	—	`conf`	Online Adaptive Teleoperation via Incremental Intent Modeling. HRI (Companion) Xuning Yang, Koushil Sreenath, Nathan Michael
2016	—	`conf`	3D dynamic walking on stepping stones with control barrier functions. CDC Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath
2016	C	`conf`	Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions. WAFR Quan Nguyen, Xingye Da, J. W. Grizzle, Koushil Sreenath
2016	C	`conf`	Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints. ACC Quan Nguyen, Koushil Sreenath
2016	A	`conf`	Optimal control for geometric motion planning of a robot diver. IROS Roberto Shu, Avinash Siravuru, Akshara Rai, Tony Dear, Koushil Sreenath, Howie Choset
2016	C	`conf`	Optimal robust control for constrained nonlinear hybrid systems with application to bipedal locomotion. ACC Quan Nguyen, Koushil Sreenath
2016	C	`conf`	Safety-critical control of a planar quadrotor. ACC Guofan Wu, Koushil Sreenath
2016	C	`conf`	Symbolic Computation of Dynamics on Smooth Manifolds. WAFR Brian Bittner, Koushil Sreenath
2015	C	`conf`	L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs. ACC Quan Nguyen, Koushil Sreenath
2015	—	`conf`	Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs. Robotics: Science and Systems Quan Nguyen, Koushil Sreenath
2015	—	`conf`	Safety-Critical Control for Dynamical Bipedal Walking with Precise Footstep Placement. ADHS Quan Nguyen, Koushil Sreenath
2015	C	`conf`	Safety-critical and constrained geometric control synthesis using control Lyapunov and control Barrier functions for systems evolving on manifolds. ACC Guofan Wu, Koushil Sreenath
2015	A*	`conf`	The Reaction Mass Biped: Equations of motion, hybrid model for walking and trajectory tracking control. ICRA Koushil Sreenath, Amit K. Sanyal
2015	J	`jnl`	Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs. IEEE Access Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle
2015	J	`jnl`	Variation-Based Linearization of Nonlinear Systems Evolving on SO(3) and 𝕊 IEEE Access Guofan Wu, Koushil Sreenath
2014	—	`conf`	Dynamically Feasible Motion Planning through Partial Differential Flatness. Robotics: Science and Systems Suresh Ramasamy, Guofan Wu, Koushil Sreenath
2014	—	`conf`	Geometric control of multiple quadrotors transporting a rigid-body load. CDC Guofan Wu, Koushil Sreenath
2014	J	`jnl`	Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. IEEE Trans. Autom. Control. Aaron D. Ames, Kevin S. Galloway, Koushil Sreenath, Jessy W. Grizzle
2014	A*	`conf`	Toward image based visual servoing for aerial grasping and perching. ICRA Justin Thomas, Giuseppe Loianno, Koushil Sreenath, Vijay Kumar
2013	—	`conf`	A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations. HSCC Koushil Sreenath, Connie R. Hill Jr., Vijay Kumar
2013	—	`conf`	Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots. Robotics: Science and Systems Koushil Sreenath, Vijay Kumar
2013	J	`jnl`	Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. Int. J. Robotics Res. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle
2013	—	`conf`	Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load. CDC Koushil Sreenath, Taeyoung Lee, Vijay Kumar
2013	—	`conf`	Geometric control of cooperating multiple quadrotor UAVs with a suspended payload. CDC Taeyoung Lee, Koushil Sreenath, Vijay Kumar
2013	J	`jnl`	Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs CoRR Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle
2013	A*	`conf`	Trajectory generation and control of a quadrotor with a cable-suspended load - A differentially-flat hybrid system. ICRA Koushil Sreenath, Nathan Michael, Vijay Kumar
2012	A*	`conf`	Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. ICRA Koushil Sreenath, Hae-Won Park, J. W. Grizzle
2012	—	`conf`	Optimal trajectory generation under homology class constraints. CDC Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, Vijay Kumar
2012	A*	`conf`	Switching control design for accommodating large step-down disturbances in bipedal robot walking. ICRA Hae-Won Park, Koushil Sreenath, Alireza Ramezani, Jessy W. Grizzle
2012	—	`conf`	Trajectory Planning for Systems with Homotopy Class Constraints. ARK Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, Vijay Kumar
2011	J	`jnl`	A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. Int. J. Robotics Res. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle
2010	—	`conf`	Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. CDC Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, Jessy W. Grizzle
2010	—	`conf`	Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion. Humanoids Jeffrey Koncsol, Hae-Won Park, Koushil Sreenath
2009	C	`conf`	MABEL, a new robotic bipedal walker and runner. ACC J. W. Grizzle, Jonathan W. Hurst, Benjamin Morris, Hae-Won Park, Koushil Sreenath
2007	J	`jnl`	Simultaneous adaptive localization of a wireless sensor network. ACM SIGMOBILE Mob. Comput. Commun. Rev. Koushil Sreenath, Frank L. Lewis, Dan O. Popa