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Koushil Sreenath

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

Jun 13, 2021
Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath

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

May 21, 2021
Jun Zeng, Zhongyu Li, Koushil Sreenath

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

Apr 09, 2021
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath

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

Mar 26, 2021
Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath

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Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Mar 26, 2021
Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath

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

Jan 15, 2021
Sylvia Herbert, Jason J. Choi, Suvansh Qazi, Marsalis Gibson, Koushil Sreenath, Claire J. Tomlin

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

Nov 14, 2020
Fernando Castañeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath

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Animated Cassie: A Dynamic Relatable Robotic Character

Sep 07, 2020
Zhongyu Li, Christine Cummings, Koushil Sreenath

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Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization

Aug 01, 2020
Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, Koushil Sreenath

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

Jul 22, 2020
Jun Zeng, Bike Zhang, Koushil Sreenath

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