Castaneda, Fernando

3 publications

L4DC 2023 In-Distribution Barrier Functions: Self-Supervised Policy Filters That Avoid Out-of-Distribution States Fernando Castañeda, Haruki Nishimura, Rowan Thomas McAllister, Koushil Sreenath, Adrien Gaidon

CoRL 2022 Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath

L4DC 2020 Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Shankar Sastry, Claire Tomlin, Koushil Sreenath