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Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning


Oct 10, 2022
Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath

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* First two authors contributed equally. Accompanying video is at https://youtu.be/iX6OgG67-ZQ 

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


Oct 09, 2022
Shuo Liu, Jun Zeng, Koushil Sreenath, Calin A. Belta

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GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots


Sep 12, 2022
Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine

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* First two authors contributed equally 

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Probabilistic Safe Online Learning with Control Barrier Functions


Aug 23, 2022
Fernando Castañeda, Jason J. Choi, Wonsuhk Jung, Bike Zhang, Claire J. Tomlin, Koushil Sreenath

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Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning


Aug 13, 2022
Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath

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


Aug 01, 2022
Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath

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* Accepted to 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 

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


Jun 29, 2022
Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath

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* Extended version of the manuscript accepted to IEEE Robotics and Automation Letters (RA-L) 2022 

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Adapting Rapid Motor Adaptation for Bipedal Robots


May 30, 2022
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik

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* First two authors contributed equally. Website at https://ashish-kmr.github.io/a-rma/ 

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


May 11, 2022
Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath

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* Accepted in Proceedings of Robotics: Science and Systems 2022 (RSS 2022) 

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Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry


Apr 07, 2022
Xiangyu Wu, Shuxiao Chen, Koushil Sreenath, Mark W. Mueller

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* 8 pages 

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