Publications

Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid (2023). Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. Preprint.

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Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid (2023). Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. In 2023 International Conference on Intelligent Robots and Systems (IROS).

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Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya (2023). MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. In 2023 International Conference on Intelligent Robots and Systems (IROS).

Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid (2023). Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. Preprint.

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Chengyang Peng, Octavian Donca, Guillermo A. Castillo, Ayonga Hereid (2023). Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression. In 2023 International Conference on Robotics and Automation (ICRA).

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Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid (2023). On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots. In “IEEE Transactions on Robotics”.

Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid (2022). On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. In 2022 International Conference on Intelligent Robots and Systems (IROS).

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Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang (2022). Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion. IEEE Access.

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Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya (2022). Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. In IEEE Robotics and Automation Letters.

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Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang (2021). Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. In 2021 International Conference on Intelligent Robots and Systems (IROS).

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Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya (2021). Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. In 2021 International Conference on Intelligent Robots and Systems (IROS).

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Guillermo A. Castillo, Bowen Weng, Terrence C Stewart, Ayonga Hereid, Wei Zhang (2020). Velocity regulation of 3d bipedal walking robots with uncertain dynamics through adaptive neural network controller. In 2020 International Conference on Intelligent Robots and Systems (IROS).

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Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang (2020). Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. In 2020 International Conference on Robotics and Automation (ICRA).

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Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang (2019). Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. In 2019 International Conference on Robotics and Automation (ICRA).

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