Koushil Sreenath
Professor of Mechanical Engineering
Studies dynamic legged locomotion and learning-based control for humanoid robots.
Koushil Sreenath's lab at UC Berkeley works on legged locomotion & humanoids and manipulation & robot learning. 65 papers since 2023, 42 at top venues, mostly IROS and ICRA. 6 PhD students. 50 alumni, most often to Agility Robotics. and Cruise LLC.. Applications close .
At a glance
- papers, 2023–2026
- 17/ year
- at T1 venues
- 65%
- PhD students
- 6
- MS students
- 0
- alumni listed
- 50
Papers by yearfrom the lab homepage, 2023–2026
- 18 papers2026 · T1 13 · collecting
- 23 papers2025 · T1 16
- 13 papers2024 · T1 9
- 11 papers2023 · T1 4
T1 venuesOtherVenues: IROS, ICRA, CoRL, CDC, RSS
Research focuspaper titles that use each topic's words
- Manipulation & robot learning33 papers
- Legged locomotion & humanoids15 papers
- dynamic5 papers
- legged locomotion2 papers
- dynamic legged0 papers
Paper list
From the lab homepage.
202618 papers
- Science Robotics (T1)BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion (opens in a new tab)
- TMLR (T1)CHyLL: Learning Continuous Neural Representations of Hybrid Systems (opens in a new tab)
- SICONControl Barrier Functions for Collision Avoidance between Strongly Convex Regions (opens in a new tab)
- IEEE International Conference on Humanoid RobotsCoordinated Humanoid Manipulation with Choice Policies (opens in a new tab)
- ICRA (T1)Ego-Vision World Model for Humanoid Contact Planning (opens in a new tab)
- ICML (T1)Embedding Hybrid Systems into Continuous Latent Vector Fields (opens in a new tab)
- Science Robotics (T1)Evolution of Humanoid Locomotion Control (opens in a new tab)
- CoRL (T1)HiRE: Hindsight Reward Editing for Policy Finetuning (opens in a new tab)
- ICRA (T1)HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning (opens in a new tab)
- RLCIn-Distribution Imagination for Model-Based Offline Reinforcement Learning (opens in a new tab)
- ICRA (T1)Learning Dexterous Manipulation Skills from Imperfect Simulations (opens in a new tab)
- ICLR (T1)MomaGraph: State-Aware Unified Scene Graphs with Vision–Language Model for Embodied Task Planning (opens in a new tab)
202523 papers
- IEEE/ASME Transactions on MechatronicsA Novel Differential Three-segment Leg Enhancing Payload and Efficiency of Quadrupeds (opens in a new tab)
- ICRA (T1)Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion (opens in a new tab)
- ICRA (T1)Berkeley Humanoid: A Research Platform for Learning-based Control (opens in a new tab)
- T-RO (T1)Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems (opens in a new tab)
- ICRA (T1)CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models (opens in a new tab)
- CDCData-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data (opens in a new tab)
- RSS (T1)DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories (opens in a new tab)
- RSS (T1)Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot (opens in a new tab)
- TOG (T1)Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control (opens in a new tab)
- TCSTDynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions (opens in a new tab)
- IROS (T1)Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight (opens in a new tab)
- CoRL (T1)HuB: Learning Extreme Humanoid Balance (opens in a new tab)
202413 papers
- IROS (T1)Deep Geometric Potential Functions for Tracking on Manifolds (opens in a new tab)
- CoRL (T1)DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets (opens in a new tab)
- CDCGait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker (opens in a new tab)
- IROS (T1)HILMA-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation (opens in a new tab)
- NeurIPS (T1)Humanoid Locomotion as Next Token Prediction (opens in a new tab)
- IROS (T1)Learning Visual Quadrupedal Loco-Manipulation from Demonstrations (opens in a new tab)
- IROS (T1)Leveraging Symmetry in RL-based Legged Locomotion Control (opens in a new tab)
- ICRA (T1)Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control (opens in a new tab)
- CDCPrompt a Robot to Walk with Large Language Models (opens in a new tab)
- Science Robotics (T1)Real-World Humanoid Locomotion with Reinforcement Learning (opens in a new tab)
- IJRR (T1)Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control (opens in a new tab)
- L4DCSafety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes (opens in a new tab)
202311 papers
- IJRR (T1)Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments (opens in a new tab)
- IROS (T1)Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning (opens in a new tab)
- CSMData-Driven Safety Filters: Hamilton-Jacobi Reachability, Control Barrier Functions, and Predictive Methods for Uncertain Systems (opens in a new tab)
- CDCi2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (opens in a new tab)
- L4DCIn-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States (opens in a new tab)
- ACCIterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions (opens in a new tab)
- IEEE International Conference on Humanoid RobotsLearning Torque Control for Quadrupedal Locomotion (opens in a new tab)
- RSS (T1)Robust and Versatile Bipedal Jumping Control through Reinforcement Learning (opens in a new tab)
- Control for Societal-scale Challenges: Road MapSafety-Critical Systems (opens in a new tab)
- RA-LVelocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems (opens in a new tab)
- IROS (T1)Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization (opens in a new tab)
Where alumni went50 listed, 25% to industry
Industry 5Academia 15
Most often to
- Agility Robotics.
- Cruise LLC.
- Tesla
Also to
- Carnegie Mellon University
- Chinese University of Hongkong.
- NASA Jet Propulsion Laboratory.
Apply to UC BerkeleyFall 2027
UC Berkeley EECS Computer Science PhD
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- Single round
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- GRE
- not required
- English
- TOEFL/IELTS (non-English-country degrees)
- Fee
- See program page
Confirmed on the program page.
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