Guillermo A. Castillo

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Research Focus

Key Achievements

Top Papers

1. 1
   Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot

   67 citations · 2021
2. 2
   Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains

   29 citations · 2022
3. 3
   Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion

   27 citations · 2022
4. 4
   Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT

   21 citations · 2019
5. 5
   Template Model Inspired Task Space Learning for Robust Bipedal Locomotion

   20 citations · 2023
6. 6
   Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes

   14 citations · 2021
7. 7
   Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression

   8 citations · 2023
8. 8
   On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots

   8 citations · 2023
9. 9
   On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots

   6 citations · 2022
10. 10
    Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning

    4 citations · 2020

Key Collaborators