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May 02, 2025
Our recent work titled “A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems” has been accepted to International Conference on Machine Learning (ICML) 2025, Vancouver, Canada. (
ICML 2025).
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March 15, 2025
We are thrilled to announce that our Patent (Application Number: 202341032643) on “A method and system for controlling quadrupedal robot locomotion” by Aditya Shirwatkar, Aditya Sagi and Shishir Kolathaya has been granted by the Indian patent office.
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January 31, 2025
Our recent work titled “PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion” has been accepted to IEEE International Conference on Robotics and Automation (ICRA) 2025, Atlanta, USA.
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September 25, 2024
We are thrilled to announce that 3 of our papers have been accepted to Indian Control Conference (ICC) 2024, Bhopal, India. Congratulations to all the authors!
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August 29, 2024
We are thrilled to announce that our Patent 📝 “Low-cost sandwiched robotic leg design for legged locomotion” by Aman Singh and Shishir Kolathaya has been granted by the Indian patent office ✨.
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July 20, 2024
Our recent work titled “Learning a Formally Verified Control Barrier Function in Stochastic Environment” has been accepted to IEEE Conference on Decision and Control (CDC) 2024, Milan, Italy.
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June 02, 2024
We are thrilled to announce that our paper, “Revisit Anything: Visual Place Recognition via Image Segment Retrieval,” has been accepted at the European Conference on Computer Vision (ECCV) 2024, Milan, Italy.
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March 02, 2024
We are thrilled to announce that our paper, “Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments,” has been accepted at the European Control Conference 2024 (
ECC), Stockholm, Sweden.
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January 31, 2024
Our recent work titled “Barrier Functions Inspired Reward Shaping for Reinforcement Learning” has been accepted to 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan. (
ICRA 2024).
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January 26, 2024
We are thrilled to announce that two of our papers are accepted at the American Control Conference (
ACC), Toronto, Canada, this time! 📝✨ “Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach” by Manan Tayal, Rajpal Singh, Jishnu Keshvan & Shishir Kolathaya and “Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance” by Bhavya Giri Goswami
, Manan Tayal, Karthik Rajgopal, Pushpak Jagtap & Shishir Kolathaya.
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September 25, 2023
Our recent work titled “Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs” has been accepted to Indian Control Conference (ICC) 2023, Vishakhapatnam, India.
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July 20, 2023
Our recent work titled “Formation control of differential-drive robots with input saturation and constraints on formation size” has been accepted to IEEE Conference on Decision and Control (CDC) 2023, Singapore.
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June 26, 2023
Our recent work titled “MELP: Model Embedded Linear Policies for Robust Bipedal Hopping” has been accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023, Detroit, USA.
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May 15, 2023
Our recent work titled “Off-Policy Average Reward Actor-Critic with Deterministic Policy Search” has been accepted to International Conference on Machine Learning (ICML) 2023, Hawaii, USA. (
ICML 2023).
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January 26, 2023
Our recent work titled “Force control for Robust Quadruped Locomotion: A Linear Policy Approach” has been accepted to 2023 IEEE International Conference on Robotics and Automation (ICRA), London, UK. (
ICRA 2023).
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January 20, 2022
Our recent work titled “Dynamic Mirror Descent MPC for Model-based Model-free Reinforcement Learning” has been accepted to 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia (PA), USA. (
ICRA 2022).
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January 15, 2022
Our recent work titled “Learning Controllers for Robust Bipedal Locomotion on Challenging Terrains” has been accepted to 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia (PA), USA. (
ICRA 2022).
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June 30, 2021
Our recent work titled “Learning Linear Policies for Robust Bipedal Locomotion
on Terrains with Varying Slopes” has been accepted to 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic. (
IROS 2021).
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November 16, 2020
We presented our work on “Quadrupedal Walking on Sloped Terrrains with Linear Policies” in Conference on Robot learning (
CoRL 2020). Please check the presentation
Video and
Preprint.
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October 29, 2020
Welcome to the new website for the Stoch Lab!
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October 15, 2020
Our research on Robust Quadrupedal Locomotion on Sloped Terrains - A Linear Policy Approach has been accepted to Conference on Robot learning (
CoRL 2020). Preprint releasing soon.
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September 01, 2020
Sashank Tirumala presented our research on Learning Stable Maneuvers for Quadrupedal locomotion at 29th IEEE International Conference on Robot & Human Interactive Communication (
RO-MAN 2020) which held virtually during 31 AUG - 04 SEPT, 2020.
The paper is available
here
