Shishir Kolathaya

Publication Activity (10 Years)

Years Active: 2012-2024
Publications (10 Years): 61

Top Topics

Robotic Systems

Dynamic Behaviors

Lyapunov Function

Top Venues

Publications

Nilaksh Nilaksh, Abhishek Ranjan, Shreenabh Agrawal, Aayush Jain, Pushpak Jagtap, Shishir Kolathaya
Barrier Functions Inspired Reward Shaping for Reinforcement Learning. CoRR (2024)
Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal, Rajpal Singh, Tejas Rao, Jishnu Keshavan, Pushpak Jagtap, Shishir Kolathaya
A Collision Cone Approach for Control Barrier Functions. CoRR (2024)
GVS Mothish, Manan Tayal, Shishir Kolathaya
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains. CoRR (2024)
Nilaksh, Abhishek Ranjan, Shreenabh Agrawal, Aayush Jain, Pushpak Jagtap, Shishir Kolathaya
Barrier Functions Inspired Reward Shaping for Reinforcement Learning. ICRA (2024)
Manan Tayal, Hongchao Zhang, Pushpak Jagtap, Andrew Clark, Shishir Kolathaya
Learning a Formally Verified Control Barrier Function in Stochastic Environment. CoRR (2024)
Aryan Agarwal, Ravi Agrawal, Manan Tayal, Pushpak Jagtap, Shishir Kolathaya
Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions. CoRR (2024)
Manan Tayal, Shishir Kolathaya
Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments. ECC (2024)
Manan Tayal, Shishir Kolathaya
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments. CoRR (2023)
Ayush Agrawal, Mukunda Bharatheesha, Shishir Kolathaya
Formation Control of Differential-Drive Robots with Input Saturation and Constraint on Formation Size. CDC (2023)
Manan Tayal, Shishir Kolathaya
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach. CoRR (2023)
Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal, Pushpak Jagtap, Shishir Kolathaya
Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance. CoRR (2023)
Naman Saxena, Subhojyoti Khastagir, Shishir Kolathaya, Shalabh Bhatnagar
Off-Policy Average Reward Actor-Critic with Deterministic Policy Search. ICML (2023)
Naman Saxena, Subhojyoti Khastigir, Shishir Kolathaya, Shalabh Bhatnagar
Off-Policy Average Reward Actor-Critic with Deterministic Policy Search. CoRR (2023)
Eshwar S. R, Shishir Kolathaya, Gugan Thoppe
Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking. VALUETOOLS (2023)
Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya
MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. IROS (2023)
Aditya Shirwatkar, Vamshi Kumar Kurva, Devaraju Vinoda, Aman Singh, Aditya Sagi, Himanshu Lodha, Bhavya Giri Goswami, Shivam Sood, Ketan Nehete, Shishir Kolathaya
Force control for Robust Quadruped Locomotion: A Linear Policy Approach. ICRA (2023)
Manan Tayal, Shishir Kolathaya
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs). CoRR (2023)
GVS Mothish, Karthik Rajgopal, Ravi Kola, Manan Tayal, Shishir Kolathaya
Stoch BiRo: Design and Control of a low cost bipedal robot. CoRR (2023)
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. IEEE Robotics Autom. Lett. 7 (2) (2022)
Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, Shishir Kolathaya
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning. ICRA (2022)
Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
Safety-Critical Kinematic Control of Robotic Systems. IEEE Control. Syst. Lett. 6 (2022)
Yogita Choudhary, Shishir Kolathaya
Energy based Control Barrier functions for Robotic Manipulators with Large Safety Constraints. ECC (2022)
Eshwar S. R, Shishir Kolathaya, Gugan Thoppe
Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking. CoRR (2022)
Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur
Multi-Instance Aware Localization for End-to-End Imitation Learning. CoRR (2021)
Shishir Kolathaya
PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry. IEEE Control. Syst. Lett. 5 (3) (2021)
Sagar Venkatesh Gubbi, Shishir Kolathaya, Bharadwaj Amrutur
Imitation Learning for High Precision Peg-in-Hole Tasks. CoRR (2021)
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. CoRR (2021)
Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D. Ames
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 6 (2) (2021)
Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, Shishir Kolathaya
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning. CoRR (2021)
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. IROS (2021)
Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
Safety-Critical Kinematic Control of Robotic Systems. ACC (2021)
Sagar Gubbi Venkatesh, Nihesh Rathod, Shishir Kolathaya, Bharadwaj Amrutur
Stochastic Action Prediction for Imitation Learning. CoRR (2021)
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. CoRR (2021)
Shishir Kolathaya
Local Stability of PD Controlled Bipedal Walking Robots. CoRR (2020)
Sashank Tirumala, Sagar Venkatesh Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations. CoRR (2020)
Sashank Tirumala, Sagar Venkatesh Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations. RO-MAN (2020)
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach. CoRR (2020)
Shishir Kolathaya
Local stability of PD controlled bipedal walking robots. Autom. 114 (2020)
Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
Safety-Critical Kinematic Control of Robotic Systems. CoRR (2020)
Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur
Teaching Robots Novel Objects by Pointing at Them. CoRR (2020)
Sagar Gubbi Venkatesh, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur
Multi-Instance Aware Localization for End-to-End Imitation Learning. IROS (2020)
Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur
Teaching Robots Novel Objects by Pointing at Them. RO-MAN (2020)
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Varma, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach. CoRL (2020)
Shishir Kolathaya, Ashitava Ghosal, Bharadwaj Amrutur, Ashish Joglekar, Suhan Shetty, Dhaivat Dholakiya, Abhimanyu, Aditya Sagi, Shounak Bhattacharya, Abhik Singla, Shalabh Bhatnagar
Trajectory based Deep Policy Search for Quadrupedal Walking. RO-MAN (2019)
Shishir Kolathaya, Sushant Veer
PD based Robust Quadratic Programs for Robotic Systems. IROS (2019)
Sashank Tirumala, Aditya Sagi, Kartik Paigwar, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
Gait Library Synthesis for Quadruped Robots via Augmented Random Search. CoRR (2019)
Dhaivat Dholakiya, Shounak Bhattacharya, Ajay Gunalan, Abhik Singla, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya
Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch. CoRR (2019)
Shishir Kolathaya, Aaron D. Ames
Input-to-State Safety With Control Barrier Functions. IEEE Control. Syst. Lett. 3 (1) (2019)
Shounak Bhattacharya, Abhik Singla, Abhimanyu, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots. RO-MAN (2019)
Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives. ICRA (2019)
Shounak Bhattacharya, Abhik Singla, Abhimanyu, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots. CoRR (2019)
Shishir Kolathaya, Jacob Reher, Ayonga Hereid, Aaron D. Ames
Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. ACC (2018)
Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives. CoRR (2018)
Shishir Kolathaya, Jacob Reher, Aaron D. Ames
Input to State Stability of Bipedal Walking Robots: Application to DURUS. CoRR (2018)
Shishir Kolathaya, William Guffey, Ryan W. Sinnet, Aaron D. Ames
Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. IEEE Robotics Autom. Lett. 3 (4) (2018)
Shishir Kolathaya
Phase Uncertainty to State Stability of Continuous Periodic Orbits. CoRR (2017)
Wen-Loong Ma, Shishir Kolathaya, Eric R. Ambrose, Christian M. Hubicki, Aaron D. Ames
Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. HSCC (2017)
Shishir Kolathaya, Ayonga Hereid, Aaron D. Ames
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. ACC (2016)
Ayonga Hereid, Shishir Kolathaya, Aaron D. Ames
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. CDC (2016)
Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames
Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. WAFR (2016)
Shishir Kolathaya, Benjamin J. Morris, Ryan W. Sinnet, Aaron D. Ames
System Identification and Control through Efficient SVA Based Regressor Computation. CoRR (2016)
Aaron D. Ames, Paulo Tabuada, Bastian Schürmann, Wen-Loong Ma, Shishir Kolathaya, Matthias Rungger, Jessy W. Grizzle
First steps toward formal controller synthesis for bipedal robots. HSCC (2015)
Shishir Kolathaya, Aaron D. Ames
Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits. ADHS (2015)
Shishir Kolathaya, Wen-Loong Ma, Aaron D. Ames
Composing Dynamical Systems to Realize Dynamic Robotic Dancing. WAFR (2014)
Shishir Kolathaya, Aaron D. Ames
Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty. ACC (2014)
Huihua Zhao, Shishir Kolathaya, Aaron D. Ames
Quadratic programming and impedance control for transfemoral prosthesis. ICRA (2014)
Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC (2014)
Wen-Loong Ma, Huihua Zhao, Shishir Kolathaya, Aaron D. Ames
Human-inspired walking via unified PD and impedance control. ICRA (2014)
Shishir Kolathaya, Aaron D. Ames
Achieving bipedal locomotion on rough terrain through human-inspired control. SSRR (2012)