Koushil Sreenath

research

∙ 09/18/2023

Prompt a Robot to Walk with Large Language Models

Large language models (LLMs) pre-trained on vast internet-scale data hav...

0 Yen-Jen Wang, et al. ∙

research

∙ 06/23/2023

Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions

In this paper, we focus on non-conservative obstacle avoidance between r...

0 Akshay Thirugnanam, et al. ∙

research

∙ 04/17/2023

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems

Obstacle avoidance for multi-robot navigation with polytopic shapes is c...

0 Jihao Huang, et al. ∙

research

∙ 03/06/2023

Learning Humanoid Locomotion with Transformers

We present a sim-to-real learning-based approach for real-world humanoid...

0 Ilija Radosavovic, et al. ∙

research

∙ 02/28/2023

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments

This work introduces a novel control strategy called Iterative Linear Qu...

0 Yifan Zeng, et al. ∙

research

∙ 02/19/2023

Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning

This work aims to push the limits of agility for bipedal robots by enabl...

0 Zhongyu Li, et al. ∙

research

∙ 01/27/2023

In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States

Learning-based control approaches have shown great promise in performing...

11 Fernando Castañeda, et al. ∙

research

∙ 12/29/2022

Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization

This paper presents a safety-critical locomotion control framework for q...

0 Qiayuan Liao, et al. ∙

research

∙ 10/10/2022

Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning

We present a reinforcement learning (RL) framework that enables quadrupe...

0 Xiaoyu Huang, et al. ∙

research

∙ 10/09/2022

Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions

Safety is one of the fundamental challenges in control theory. Recently,...

0 Shuo Liu, et al. ∙

research

∙ 09/12/2022

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots

Recent years have seen a surge in commercially-available and affordable ...

0 Gilbert Feng, et al. ∙

research

∙ 08/23/2022

Probabilistic Safe Online Learning with Control Barrier Functions

Learning-based control schemes have recently shown great efficacy perfor...

0 Fernando Castañeda, et al. ∙

research

∙ 08/13/2022

Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning

Recent advances in the reinforcement learning (RL) literature have enabl...

0 Tyler Westenbroek, et al. ∙

research

∙ 08/01/2022

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot

We address the problem of enabling quadrupedal robots to perform precise...

0 Yandong Ji, et al. ∙

research

∙ 06/29/2022

Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots

This paper tackles the problem of robots collaboratively towing a load w...

4 Chenyu Yang, et al. ∙

research

∙ 05/11/2022

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models

Bridging model-based safety and model-free reinforcement learning (RL) f...

6 Zhongyu Li, et al. ∙

research

∙ 03/15/2022

Tethered Power Supply for Quadcopters: Architecture, Analysis and Experiments

Tethered quadcopters are used for extended flight operations where the n...

0 Karan P. Jain, et al. ∙

research

∙ 03/04/2022

Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control

In this paper, we propose a multi-domain control parameter learning fram...

9 Lizhi Yang, et al. ∙

research

∙ 03/04/2022

Teaching Robots to Span the Space of Functional Expressive Motion

Our goal is to enable robots to perform functional tasks in emotive ways...

0 Arjun Sripathy, et al. ∙

research

∙ 01/21/2022

Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots

Contact-rich robotic systems, such as legged robots and manipulators, ar...

0 Jason J. Choi, et al. ∙

research

∙ 01/04/2022

Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments

Control barrier functions (CBFs) have become a popular tool to enforce s...

5 Hengbo Ma, et al. ∙

research

∙ 12/13/2021

Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions

This paper presents a novel planning and control strategy for competing ...

0 Suiyi He, et al. ∙

research

∙ 09/25/2021

A Fast Computational Optimization for Control and Trajectory Planning for Obstacle Avoidance between Polytopes

Obstacle avoidance between polytopes is a challenging topic for optimal ...

0 Akshay Thirugnanam, et al. ∙

research

∙ 07/18/2021

A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions

Developing controllers for obstacle avoidance between polytopes is a cha...

0 Akshay Thirugnanam, et al. ∙

research

∙ 07/01/2021

Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles

Quadrupeds are strong candidates for navigating challenging environments...

1 Scott Gilroy, et al. ∙

research

∙ 06/13/2021

Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty

Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) a...

0 Fernando Castañeda, et al. ∙

research

∙ 05/21/2021

Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions

Safety is one of the fundamental problems in robotics. Recently, one-ste...

0 Jun Zeng, et al. ∙

research

∙ 04/09/2021

Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update

This paper proposes a state estimator for legged robots operating in sli...

0 Sangli Teng, et al. ∙

research

∙ 03/26/2021

Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction

An autonomous robot that is able to physically guide humans through narr...

0 Anxing Xiao, et al. ∙

research

∙ 03/26/2021

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Developing robust walking controllers for bipedal robots is a challengin...

0 Zhongyu Li, et al. ∙

research

∙ 01/15/2021

Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability

Autonomous systems like aircraft and assistive robots often operate in s...

0 Sylvia Herbert, et al. ∙

research

∙ 11/14/2020

Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects

This paper presents a method to design a min-norm Control Lyapunov Funct...

0 Fernando Castañeda, et al. ∙

research

∙ 09/07/2020

Animated Cassie: A Dynamic Relatable Robotic Character

Creating robots with emotional personalities will transform the usabilit...

0 Zhongyu Li, et al. ∙

research

∙ 08/01/2020

Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization

The feet of robots are typically used to design locomotion strategies, s...

0 Chenyu Yang, et al. ∙

research

∙ 07/22/2020

Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function

The optimal performance of robotic systems is usually achieved near the ...

0 Jun Zeng, et al. ∙

research

∙ 05/14/2020

Optimal Robust Safety-Critical Control for Dynamic Robotics

We present a novel method of optimal robust control through quadratic pr...

0 Quan Nguyen, et al. ∙

research

∙ 04/16/2020

Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

In this paper, the issue of model uncertainty in safety-critical control...

0 Jason Choi, et al. ∙

research

∙ 04/15/2020

Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning

The main drawbacks of input-output linearizing controllers are the need ...

0 Fernando Castañeda, et al. ∙

research

∙ 03/09/2020

Staging energy sources to extend flight time of a multirotor UAV

Energy sources such as batteries do not decrease in mass after consumpti...

0 Karan P. Jain, et al. ∙

research

∙ 11/28/2019

Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control

Using quadrotors UAVs for cooperative payload transportation using cable...

0 Prasanth Kotaru, et al. ∙

research

∙ 07/26/2019

Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot

Motivated towards achieving multi-modal locomotion, in this paper, we de...

0 Jonathan Rogers, et al. ∙

research

∙ 02/22/2018

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

This paper presents a design methodology for feedback control policy tha...

0 Omar Harib, et al. ∙

research

∙ 12/04/2017

Deep Visual Perception for Dynamic Walking on Discrete Terrain

Dynamic bipedal walking on discrete terrain, like stepping stones, is a ...

0 Avinash Siravuru, et al. ∙

Koushil Sreenath

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