Shishir Kolathaya

104 papers A* 9A 5B 4C 8Misc 1Journal 63Unranked 14
YearRankTypeTitle / Venue / Authors
2026 J jnl
Data-Driven Physics Embedded Dynamics with Predictive Control and Reinforcement Learning for Quadrupeds.
CoRR
Prakrut Kotecha, Aditya Shirwatkar, Shishir Kolathaya
2026 J jnl
MULE - Multi-Terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion.
IEEE Robotics Autom. Lett.
Vamshi Kumar Kurva, Shishir Kolathaya
2026 J jnl
STRIDE: Structured Lagrangian and Stochastic Residual Dynamics via Flow Matching.
CoRR
Prakrut Kotecha, Ganga Nair B, Shishir Kolathaya
2026 J jnl
V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions.
Trans. Mach. Learn. Res.
Mumuksh Tayal, Manan Tayal, Aditya Singh, Shishir Kolathaya, Ravi Prakash
2026 J jnl
VIP-Loco: A Visually Guided Infinite Horizon Planning Framework for Legged Locomotion.
CoRR
Aditya Shirwatkar, Satyam Gupta, Shishir Kolathaya
2025 — conf
A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling.
Humanoids
Aman Singh, Aastha Mishra, Deepak Kapa, Suryank Joshi, Shishir Kolathaya
2025 J jnl
A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling.
CoRR
Aman Singh, Aastha Mishra, Deepak Kapa, Suryank Joshi, Shishir Kolathaya
2025 A* conf
A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems.
ICML
Manan Tayal, Aditya Singh, Shishir Kolathaya, Somil Bansal
2025 J jnl
A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems.
CoRR
Manan Tayal, Aditya Singh, Shishir Kolathaya, Somil Bansal
2025 J jnl
COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators.
CoRR
Aman Singh, Deepak Kapa, Suryank Joshi, Shishir Kolathaya
2025 J jnl
CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions.
CoRR
Manan Tayal, Aditya Singh, Pushpak Jagtap, Shishir Kolathaya
2025 J jnl
Fixed time convergence guarantees for Higher Order Control Barrier Functions.
CoRR
Janani S. K, Shishir Kolathaya
2025 J jnl
GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets.
CoRR
Narayanan P. P., Sarvesh Prasanth Venkatesan, Srinivas Kantha Reddy, Shishir Kolathaya
2025 J jnl
Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion.
CoRR
Prakrut Kotecha, Aditya Shirwatkar, Shishir Kolathaya
2025 J jnl
MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control.
CoRR
Manan Tayal, Aditya Singh, Shishir Kolathaya, Somil Bansal
2025 J jnl
MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion.
CoRR
Vamshi Kumar Kurva, Shishir Kolathaya
2025 J jnl
Neural Control Barrier Functions from Physics Informed Neural Networks.
CoRR
Shreenabh Agrawal, Manan Tayal, Aditya Singh, Shishir Kolathaya
2025 A* conf
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion.
ICRA
Aditya Shirwatkar, Naman Saxena, Kishore Chandra, Shishir Kolathaya
2025 J jnl
Real-Time Gait Adaptation for Quadrupeds using Model Predictive Control and Reinforcement Learning.
CoRR
Prakrut Kotecha, Ganga Nair B, Shishir Kolathaya
2025 J jnl
Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions.
CoRR
Aditya Singh, Aastha Mishra, Manan Tayal, Shishir Kolathaya, Pushpak Jagtap
2025 J jnl
Safety Certification in the Latent space using Control Barrier Functions and World Models.
CoRR
Mehul Anand, Shishir Kolathaya
2025 — conf
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates.
CDC
Manan Tayal, Aditya Singh, Pushpak Jagtap, Shishir Kolathaya
2025 A conf
Signal Temporal Logic Compliant Co-design of Planning and Control.
IROS
Manas Sashank Juvvi, Tushar Dilip Kurne, Vaishnavi J, Shishir Kolathaya, Pushpak Jagtap
2025 J jnl
Signal Temporal Logic Compliant Co-design of Planning and Control.
CoRR
Manas Sashank Juvvi, Tushar Dilip Kurne, Vaishnavi J, Shishir Kolathaya, Pushpak Jagtap
2025 J jnl
Stochastic Neural Control Barrier Functions.
CoRR
Hongchao Zhang, Manan Tayal, Jackson Cox, Pushpak Jagtap, Shishir Kolathaya, Andrew Clark
2025 J jnl
V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions.
CoRR
Mumuksh Tayal, Manan Tayal, Aditya Singh, Shishir Kolathaya, Ravi Prakash
2024 J jnl
A Collision Cone Approach for Control Barrier Functions.
CoRR
Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal, Rajpal Singh, Tejas Rao, Jishnu Keshavan, Pushpak Jagtap, Shishir Kolathaya
2024 A* conf
Barrier Functions Inspired Reward Shaping for Reinforcement Learning.
ICRA
Nilaksh, Abhishek Ranjan, Shreenabh Agrawal, Aayush Jain, Pushpak Jagtap, Shishir Kolathaya
2024 J jnl
Barrier Functions Inspired Reward Shaping for Reinforcement Learning.
CoRR
Nilaksh Nilaksh, Abhishek Ranjan, Shreenabh Agrawal, Aayush Jain, Pushpak Jagtap, Shishir Kolathaya
2024 J jnl
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains.
CoRR
GVS Mothish, Manan Tayal, Shishir Kolathaya
2024 C conf
Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance.
ACC
Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal, Pushpak Jagtap, Shishir Kolathaya
2024 C conf
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach.
ACC
Manan Tayal, Rajpal Singh, Jishnu Keshavan, Shishir Kolathaya
2024 J jnl
Discrete time model predictive control for humanoid walking with step adjustment.
CoRR
Vishnu Joshi, Suraj Kumar, Nithin V, Shishir Kolathaya
2024 — conf
Learning a Formally Verified Control Barrier Function in Stochastic Environment.
CDC
Manan Tayal, Hongchao Zhang, Pushpak Jagtap, Andrew Clark, Shishir Kolathaya
2024 J jnl
Learning a Formally Verified Control Barrier Function in Stochastic Environment.
CoRR
Manan Tayal, Hongchao Zhang, Pushpak Jagtap, Andrew Clark, Shishir Kolathaya
2024 J jnl
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion.
CoRR
Aditya Shirwatkar, Naman Saxena, Kishore Chandra, Shishir Kolathaya
2024 — conf
Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments.
ECC
Manan Tayal, Shishir Kolathaya
2024 J jnl
Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions.
CoRR
Aryan Agarwal, Ravi Agrawal, Manan Tayal, Pushpak Jagtap, Shishir Kolathaya
2024 — conf
Revisit Anything: Visual Place Recognition via Image Segment Retrieval.
ECCV (68)
Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya, Madhava Krishna, Sourav Garg
2024 J jnl
Revisit Anything: Visual Place Recognition via Image Segment Retrieval.
CoRR
Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya, Madhava Krishna, Sourav Garg
2024 J jnl
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates.
CoRR
Manan Tayal, Aditya Singh, Pushpak Jagtap, Shishir Kolathaya
2023 J jnl
Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance.
CoRR
Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal, Pushpak Jagtap, Shishir Kolathaya
2023 J jnl
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach.
CoRR
Manan Tayal, Shishir Kolathaya
2023 A* conf
Force control for Robust Quadruped Locomotion: A Linear Policy Approach.
ICRA
Aditya Shirwatkar, Vamshi Kumar Kurva, Devaraju Vinoda, Aman Singh, Aditya Sagi, Himanshu Lodha, Bhavya Giri Goswami, Shivam Sood, Ketan Nehete, Shishir Kolathaya
2023 — conf
Formation Control of Differential-Drive Robots with Input Saturation and Constraint on Formation Size.
CDC
Ayush Agrawal, Mukunda Bharatheesha, Shishir Kolathaya
2023 — conf
Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking.
VALUETOOLS
Eshwar S. R, Shishir Kolathaya, Gugan Thoppe
2023 A conf
MELP: Model Embedded Linear Policies for Robust Bipedal Hopping.
IROS
Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya
2023 A* conf
Off-Policy Average Reward Actor-Critic with Deterministic Policy Search.
ICML
Naman Saxena, Subhojyoti Khastagir, Shishir Kolathaya, Shalabh Bhatnagar
2023 J jnl
Off-Policy Average Reward Actor-Critic with Deterministic Policy Search.
CoRR
Naman Saxena, Subhojyoti Khastagir, Shishir Kolathaya, Shalabh Bhatnagar
2023 J jnl
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments.
CoRR
Manan Tayal, Shishir Kolathaya
2023 J jnl
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs).
CoRR
Manan Tayal, Shishir Kolathaya
2023 J jnl
Stoch BiRo: Design and Control of a low cost bipedal robot.
CoRR
GVS Mothish, Karthik Rajgopal, Ravi Kola, Manan Tayal, Shishir Kolathaya
2022 J jnl
Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach.
CoRR
Phani Thontepu, Bhavya Giri Goswami, Neelaksh Singh, Shyamsundar P. I, Shyam Sundar M. G, Suresh Sundaram, Vaibhav Katewa, Shishir Kolathaya
2022 A* conf
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning.
ICRA
Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, Shishir Kolathaya
2022 — conf
Energy based Control Barrier functions for Robotic Manipulators with Large Safety Constraints.
ECC
Yogita Choudhary, Shishir Kolathaya
2022 J jnl
Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking.
CoRR
Eshwar S. R, Shishir Kolathaya, Gugan Thoppe
2022 J jnl
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains.
IEEE Robotics Autom. Lett.
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
2022 J jnl
Safety-Critical Kinematic Control of Robotic Systems.
IEEE Control. Syst. Lett.
Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
2021 J jnl
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion.
IEEE Robotics Autom. Lett.
Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D. Ames
2021 J jnl
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning.
CoRR
Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, Shishir Kolathaya
2021 J jnl
Imitation Learning for High Precision Peg-in-Hole Tasks.
CoRR
Sagar Venkatesh Gubbi, Shishir Kolathaya, Bharadwaj Amrutur
2021 A conf
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes.
IROS
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
2021 J jnl
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes.
CoRR
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
2021 J jnl
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains.
CoRR
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
2021 J jnl
Multi-Instance Aware Localization for End-to-End Imitation Learning.
CoRR
Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur
2021 J jnl
PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry.
IEEE Control. Syst. Lett.
Shishir Kolathaya
2021 C conf
Safety-Critical Kinematic Control of Robotic Systems.
ACC
Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
2021 J jnl
Stochastic Action Prediction for Imitation Learning.
CoRR
Sagar Gubbi Venkatesh, Nihesh Rathod, Shishir Kolathaya, Bharadwaj Amrutur
2020 B conf
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations.
RO-MAN
Sashank Tirumala, Sagar Venkatesh Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
2020 J jnl
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations.
CoRR
Sashank Tirumala, Sagar Venkatesh Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
2020 J jnl
Local Stability of PD Controlled Bipedal Walking Robots.
CoRR
Shishir Kolathaya
2020 J jnl
Local stability of PD controlled bipedal walking robots.
Autom.
Shishir Kolathaya
2020 A conf
Multi-Instance Aware Localization for End-to-End Imitation Learning.
IROS
Sagar Gubbi Venkatesh, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur
2020 Misc conf
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach.
CoRL
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Varma, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
2020 J jnl
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach.
CoRR
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
2020 J jnl
Safety-Critical Kinematic Control of Robotic Systems.
CoRR
Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
2020 B conf
Teaching Robots Novel Objects by Pointing at Them.
RO-MAN
Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur
2020 J jnl
Teaching Robots Novel Objects by Pointing at Them.
CoRR
Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur
2019 J jnl
Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch.
CoRR
Dhaivat Dholakiya, Shounak Bhattacharya, Ajay Gunalan, Abhik Singla, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya
2019 J jnl
Gait Library Synthesis for Quadruped Robots via Augmented Random Search.
CoRR
Sashank Tirumala, Aditya Sagi, Kartik Paigwar, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
2019 J jnl
Input-to-State Safety With Control Barrier Functions.
IEEE Control. Syst. Lett.
Shishir Kolathaya, Aaron D. Ames
2019 B conf
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots.
RO-MAN
Shounak Bhattacharya, Abhik Singla, Abhimanyu, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya
2019 J jnl
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots.
CoRR
Shounak Bhattacharya, Abhik Singla, Abhimanyu, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya
2019 A conf
PD based Robust Quadratic Programs for Robotic Systems.
IROS
Shishir Kolathaya, Sushant Veer
2019 A* conf
Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives.
ICRA
Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
2019 B conf
Trajectory based Deep Policy Search for Quadrupedal Walking.
RO-MAN
Shishir Kolathaya, Ashitava Ghosal, Bharadwaj Amrutur, Ashish Joglekar, Suhan Shetty, Dhaivat Dholakiya, Abhimanyu, Aditya Sagi, Shounak Bhattacharya, Abhik Singla, Shalabh Bhatnagar
2018 J jnl
Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers.
IEEE Robotics Autom. Lett.
Shishir Kolathaya, William Guffey, Ryan W. Sinnet, Aaron D. Ames
2018 J jnl
Input to State Stability of Bipedal Walking Robots: Application to DURUS.
CoRR
Shishir Kolathaya, Jacob Reher, Aaron D. Ames
2018 C conf
Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion.
ACC
Shishir Kolathaya, Jacob Reher, Ayonga Hereid, Aaron D. Ames
2018 J jnl
Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives.
CoRR
Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
2017 — conf
Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment.
HSCC
Wen-Loong Ma, Shishir Kolathaya, Eric R. Ambrose, Christian M. Hubicki, Aaron D. Ames
2017 J jnl
Phase Uncertainty to State Stability of Continuous Periodic Orbits.
CoRR
Shishir Kolathaya
2016 C conf
Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS.
WAFR
Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames
2016 — conf
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization.
CDC
Ayonga Hereid, Shishir Kolathaya, Aaron D. Ames
2016 J jnl
System Identification and Control through Efficient SVA Based Regressor Computation.
CoRR
Shishir Kolathaya, Benjamin J. Morris, Ryan W. Sinnet, Aaron D. Ames
2016 C conf
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion.
ACC
Shishir Kolathaya, Ayonga Hereid, Aaron D. Ames
2015 — conf
First steps toward formal controller synthesis for bipedal robots.
HSCC
Aaron D. Ames, Paulo Tabuada, Bastian Schürmann, Wen-Loong Ma, Shishir Kolathaya, Matthias Rungger, Jessy W. Grizzle
2015 — conf
Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits.
ADHS
Shishir Kolathaya, Aaron D. Ames
2014 C conf
Composing Dynamical Systems to Realize Dynamic Robotic Dancing.
WAFR
Shishir Kolathaya, Wen-Loong Ma, Aaron D. Ames
2014 — conf
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control.
HSCC
Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames
2014 C conf
Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty.
ACC
Shishir Kolathaya, Aaron D. Ames
2014 A* conf
Human-inspired walking via unified PD and impedance control.
ICRA
Wen-Loong Ma, Huihua Zhao, Shishir Kolathaya, Aaron D. Ames
2014 A* conf
Quadratic programming and impedance control for transfemoral prosthesis.
ICRA
Huihua Zhao, Shishir Kolathaya, Aaron D. Ames
2012 — conf
Achieving bipedal locomotion on rough terrain through human-inspired control.
SSRR
Shishir Kolathaya, Aaron D. Ames