Koushil Sreenath

ORCID

Publication Activity (10 Years)

Years Active: 2007-2024
Publications (10 Years): 146

Top Venues

Publications

Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
Leveraging Symmetry in RL-based Legged Locomotion Control. CoRR (2024)
Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, Koushil Sreenath
Real-world humanoid locomotion with reinforcement learning. Sci. Robotics 9 (89) (2024)
Will Lavanakul, Jason J. Choi, Koushil Sreenath, Claire J. Tomlin
Safety filters for black-box dynamical systems by learning discriminating hyperplanes. L4DC (2024)
Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura M. Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. CoRR (2024)
Will Lavanakul, Jason J. Choi, Koushil Sreenath, Claire J. Tomlin
Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes. CoRR (2024)
Massimiliano de Sa, Prasanth Kotaru, Koushil Sreenath
Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control. ICRA (2024)
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control. CoRR (2024)
Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Yakun Sophia Shao, Borivoje Nikolic, Koushil Sreenath
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. CoRR (2024)
Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. CoRR (2024)
Yutao Ouyang, Jinhan Li, Yunfei Li, Zhongyu Li, Chao Yu, Koushil Sreenath, Yi Wu
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models. CoRR (2024)
Boyuan Liang, Lingfeng Sun, Xinghao Zhu, Bike Zhang, Ziyin Xiong, Chenran Li, Koushil Sreenath, Masayoshi Tomizuka
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion. CoRR (2024)
Ilija Radosavovic, Bike Zhang, Baifeng Shi, Jathushan Rajasegaran, Sarthak Kamat, Trevor Darrell, Koushil Sreenath, Jitendra Malik
Humanoid Locomotion as Next Token Prediction. CoRR (2024)
Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath
Berkeley Humanoid: A Research Platform for Learning-based Control. CoRR (2024)
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions. CoRR (2023)
Fernando Castañeda, Haruki Nishimura, Rowan Thomas McAllister, Koushil Sreenath, Adrien Gaidon
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States. L4DC (2023)
Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath
Prompt a Robot to Walk with Large Language Models. CoRR (2023)
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. Robotics: Science and Systems (2023)
Yifan Zeng, Suiyi He, Han Hoang Nguyen, Zhongyu Li, Koushil Sreenath, Jun Zeng
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. CoRR (2023)
Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. IROS (2023)
Yifan Zeng, Suiyi He, Han Hoang Nguyen, Yihan Li, Zhongyu Li, Koushil Sreenath, Jun Zeng
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. CDC (2023)
Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems. CoRR (2023)
Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, Koushil Sreenath
Learning Humanoid Locomotion with Transformers. CoRR (2023)
Fernando Castañeda, Haruki Nishimura, Rowan McAllister, Koushil Sreenath, Adrien Gaidon
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States. CoRR (2023)
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. IROS (2023)
Jason J. Choi, Fernando Castañeda, Wonsuhk Jung, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems. CoRR (2023)
Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems. IEEE Robotics Autom. Lett. 8 (6) (2023)
Shuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath
Learning Torque Control for Quadrupedal Locomotion. Humanoids (2023)
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning. CoRR (2023)
Shuo Liu, Jun Zeng, Koushil Sreenath, Calin A. Belta
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions. ACC (2023)
Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath
Autonomous navigation of underactuated bipedal robots in height-constrained environments. Int. J. Robotics Res. 42 (8) (2023)
Jason J. Choi, Donggun Lee, Boyang Li, Jonathan P. How, Koushil Sreenath, Sylvia L. Herbert, Claire J. Tomlin
A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis. CoRR (2023)
Fernando Castañeda, Jason J. Choi, Wonsuhk Jung, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
Probabilistic Safe Online Learning with Control Barrier Functions. CoRR (2022)
Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. CoRR (2022)
Hengbo Ma, Bike Zhang, Masayoshi Tomizuka, Koushil Sreenath
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments. ECC (2022)
Shuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath
Learning Torque Control for Quadrupedal Locomotion. CoRR (2022)
Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. ICRA (2022)
Shuo Liu, Jun Zeng, Koushil Sreenath, Calin A. Belta
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions. CoRR (2022)
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions. ICRA (2022)
Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. CoRL (2022)
Suiyi He, Jun Zeng, Koushil Sreenath
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions. ICRA (2022)
Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots. CoRR (2022)
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik
Adapting Rapid Motor Adaptation for Bipedal Robots. CoRR (2022)
Quan Nguyen, Koushil Sreenath
L1 Adaptive Control Barrier Functions for Nonlinear Underactuated Systems. ACC (2022)
Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. CoRR (2022)
Quan Nguyen, Koushil Sreenath
Robust Safety-Critical Control for Dynamic Robotics. IEEE Trans. Autom. Control. 67 (3) (2022)
Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan
Teaching Robots to Span the Space of Functional Expressive Motion. IROS (2022)
Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller
Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry. IEEE Access 10 (2022)
Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. Robotics: Science and Systems (2022)
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization. CoRR (2022)
Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. CoRR (2022)
Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. IROS (2022)
Ayush Agrawal, Shuxiao Chen, Akshara Rai, Koushil Sreenath
Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries. ICRA (2022)
Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath
Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots. IEEE Robotics Autom. Lett. 7 (4) (2022)
Karan P. Jain, Prasanth Kotaru, Massimiliano de Sa, Mark W. Mueller, Koushil Sreenath
Tethered Power Supply for Quadcopters: Architecture, Analysis and Experiments. CoRR (2022)
Hengbo Ma, Bike Zhang, Masayoshi Tomizuka, Koushil Sreenath
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments. CoRR (2022)
Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. CoRL (2022)
Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller
Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry. CoRR (2022)
Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. CoRR (2022)
Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. CoRR (2022)
Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. CoRR (2022)
Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan
Teaching Robots to Span the Space of Functional Expressive Motion. CoRR (2022)
Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. CoRR (2022)
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. ACC (2022)
Jason J. Choi, Ayush Agrawal, Koushil Sreenath, Claire J. Tomlin, Somil Bansal
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. IEEE Robotics Autom. Lett. 7 (2) (2022)
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik
Adapting Rapid Motor Adaptation for Bipedal Robots. IROS (2022)
Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. ICRA (2021)
Sylvia L. Herbert, Jason J. Choi, Suvansh Sanjeev, Marsalis Gibson, Koushil Sreenath, Claire J. Tomlin
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. ICRA (2021)
Jun Zeng, Bike Zhang, Koushil Sreenath
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function. ACC (2021)
Jason J. Choi, Donggun Lee, Koushil Sreenath, Claire J. Tomlin, Sylvia L. Herbert
Robust Control Barrier-Value Functions for Safety-Critical Control. CoRR (2021)
Jun Zeng, Zhongyu Li, Koushil Sreenath
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. CDC (2021)
Suiyi He, Jun Zeng, Koushil Sreenath
Competitive Car Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee. CoRR (2021)
Yandong Ji, Bike Zhang, Koushil Sreenath
Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain. CASE (2021)
Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. CoRR (2021)
Ayush Agrawal, Shuxiao Chen, Akshara Rai, Koushil Sreenath
Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries. CoRR (2021)
Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. CoRR (2021)
Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty. CDC (2021)
Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. CASE (2021)
Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics. ACC (2021)
Sylvia L. Herbert, Jason J. Choi, Suvansh Qazi, Marsalis Gibson, Koushil Sreenath, Claire J. Tomlin
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. CoRR (2021)
Suiyi He, Jun Zeng, Bike Zhang, Koushil Sreenath
Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. CoRR (2021)
Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. CoRR (2021)
Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty. CoRR (2021)
Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. IROS (2021)
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. CoRR (2021)
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. ICRA (2021)
Jason J. Choi, Donggun Lee, Koushil Sreenath, Claire J. Tomlin, Sylvia L. Herbert
Robust Control Barrier-Value Functions for Safety-Critical Control. CDC (2021)
Suiyi He, Jun Zeng, Bike Zhang, Koushil Sreenath
Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. ACC (2021)
Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath
Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments. CoRR (2021)
Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. CoRR (2021)
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. CoRR (2021)
Jun Zeng, Zhongyu Li, Koushil Sreenath
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. CoRR (2021)
Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. CoRR (2021)
Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. ICRA (2021)
Jonathan Anglingdarma, Ayush Agrawal, Joshua Morey, Koushil Sreenath
Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard. ICRA (2021)
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes. CoRR (2021)
Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. ACC (2021)
Tyler Westenbroek, Ayush Agrawal, Fernando Castañeda, S. Shankar Sastry, Koushil Sreenath
Combining Model-Based Design and Model-Free Policy Optimization to Learn Safe, Stabilizing Controllers. ADHS (2021)
Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. IEEE Robotics Autom. Lett. 6 (4) (2021)
Jason J. Choi, Fernando Castañeda, Claire J. Tomlin, Koushil Sreenath
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions. Robotics: Science and Systems (2020)
Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Shankar Sastry, Claire J. Tomlin, Koushil Sreenath
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. L4DC (2020)

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Publication Activity (10 Years)

Top Topics

Top Venues

Koushil Sreenath