| 2025 | ICRA | Enhancing Repeatability and Reliability of Accelerated Risk Assessment in Robot Testing. | Linda Capito, Guillermo A. Castillo, Bowen Weng |
| 2025 | ICRA | Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions. | Chengyang Peng, Victor Paredes, Guillermo A. Castillo, Ayonga Hereid |
| 2025 | IROS | Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds. | Zhaoyang Xiang, Victor Paredes, Guillermo A. Castillo, Ayonga Hereid |
| 2024 | ICRA | Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. | Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid |
| 2024 | ICRA | Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. | Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid |
| 2023 | ICRA | Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression. | Chengyang Peng, Octavian A. Donca, Guillermo A. Castillo, Ayonga Hereid |
| 2023 | IROS | Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. | Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid |
| 2023 | IROS | MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. | Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya |
| 2022 | IROS | On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. | Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid |
| 2021 | IROS | Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. | Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid |
| 2021 | IROS | Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. | Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya |
| 2020 | ICRA | Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. | Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid |
| 2020 | IROS | Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. | Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid |
| 2019 | ICRA | Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. | Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Zheng Wang, Wei Zhang |