| 2025 | ICML | Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations. | Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, Jianyu Chen |
| 2025 | ICRA | Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion. | Boyuan Liang, Lingfeng Sun, Xinghao Zhu, Bike Zhang, Ziyin Xiong, Yixiao Wang, Chenran Li, Koushil Sreenath, Masayoshi Tomizuka |
| 2025 | ICRA | Berkeley Humanoid: A Research Platform for Learning-Based Control. | Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath |
| 2025 | IROS | Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. | Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng |
| 2025 | IROS | Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight. | Bibek Gupta, Mintae Kim, Albert Park, Eric Sihite, Koushil Sreenath, Alireza Ramezani |
| 2025 | IROS | Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models. | Yutao Ouyang, Jinhan Li, Yunfei Li, Zhongyu Li, Chao Yu, Koushil Sreenath, Yi Wu |
| 2025 | ICRA | CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills Using Large Language Models. | Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Payam Delgosha, Koushil Sreenath, Negar Mehr |
| 2024 | CoRL | DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. | Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Yakun Sophia Shao, Borivoje Nikolic, Koushil Sreenath |
| 2024 | IROS | Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. | Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu |
| 2024 | IROS | HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. | Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath |
| 2024 | IROS | Deep Geometric Potential Functions for Tracking on Manifolds. | Nikhil Potu Surya Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, Roberto Horowitz |
| 2024 | IROS | Leveraging Symmetry in RL-based Legged Locomotion Control. | Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath |
| 2024 | ICRA | Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control. | Massimiliano de Sa, Prasanth Kotaru, Koushil Sreenath |
| 2023 | IROS | Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. | Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath |
| 2023 | IROS | Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. | Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath |
| 2022 | CoRL | GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. | Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine |
| 2022 | CoRL | Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. | Tyler Westenbroek, Fernando Castaeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath |
| 2022 | ICRA | Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries. | Ayush Agrawal, Shuxiao Chen, Akshara Rai, Koushil Sreenath |
| 2022 | ICRA | Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions. | Suiyi He, Jun Zeng, Koushil Sreenath |
| 2022 | IROS | Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. | Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath |
| 2022 | IROS | Adapting Rapid Motor Adaptation for Bipedal Robots. | Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik |
| 2022 | IROS | Teaching Robots to Span the Space of Functional Expressive Motion. | Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan |
| 2022 | ICRA | Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions. | Akshay Thirugnanam, Jun Zeng, Koushil Sreenath |
| 2022 | ICRA | Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. | Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath |
| 2021 | ICRA | Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard. | Jonathan Anglingdarma, Ayush Agrawal, Joshua Morey, Koushil Sreenath |
| 2021 | ICRA | Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. | Sylvia L. Herbert, Jason J. Choi, Suvansh Sanjeev, Marsalis T. Gibson, Koushil Sreenath, Claire J. Tomlin |
| 2021 | ICRA | Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. | Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath |
| 2021 | IROS | Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles. | Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath |
| 2021 | ICRA | Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. | Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath |
| 2021 | ICRA | Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. | Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath |
| 2020 | IROS | Staging energy sources to extend flight time of a multirotor UAV. | Karan P. Jain, Jerry Tang, Koushil Sreenath, Mark W. Mueller |
| 2020 | IROS | Animated Cassie: A Dynamic Relatable Robotic Character. | Zhongyu Li, Christine Cummings, Koushil Sreenath |
| 2020 | IROS | Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization. | Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, Koushil Sreenath |
| 2018 | ICRA | Safe Teleoperation of Dynamic UAVs Through Control Barrier Functions. | Bin Xu, Koushil Sreenath |
| 2017 | HRI | Online Adaptive Teleoperation via Incremental Intent Modeling. | Xuning Yang, Koushil Sreenath, Nathan Michael |
| 2017 | ICRA | A framework for efficient teleoperation via online adaptation. | Xuning Yang, Koushil Sreenath, Nathan Michael |
| 2017 | ISRR | Multi-robot Trajectory Generation for an Aerial Payload Transport System. | Sarah Y. Tang, Koushil Sreenath, Vijay Kumar |
| 2016 | IROS | Optimal control for geometric motion planning of a robot diver. | Roberto Shu, Avinash Siravuru, Akshara Rai, Tony Dear, Koushil Sreenath, Howie Choset |
| 2016 | WAFR | Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions. | Quan Nguyen, Xingye Da, J. W. Grizzle, Koushil Sreenath |
| 2016 | WAFR | Symbolic Computation of Dynamics on Smooth Manifolds. | Brian Bittner, Koushil Sreenath |
| 2015 | ICRA | The Reaction Mass Biped: Equations of motion, hybrid model for walking and trajectory tracking control. | Koushil Sreenath, Amit K. Sanyal |
| 2014 | ICRA | Toward image based visual servoing for aerial grasping and perching. | Justin Thomas, Giuseppe Loianno, Koushil Sreenath, Vijay Kumar |
| 2013 | ICRA | Trajectory generation and control of a quadrotor with a cable-suspended load - A differentially-flat hybrid system. | Koushil Sreenath, Nathan Michael, Vijay Kumar |
| 2012 | ICRA | Switching control design for accommodating large step-down disturbances in bipedal robot walking. | Hae-Won Park, Koushil Sreenath, Alireza Ramezani, Jessy W. Grizzle |
| 2012 | ICRA | Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. | Koushil Sreenath, Hae-Won Park, J. W. Grizzle |