Lokesh Krishna

I am a PhD student at the Dynamic Robotics and Control Laboratory (DRCL) advised by Quan Nguyen at the USC Viterbi. My research focuses on robot control synthesis for extreme performance, leveraging reinforcement learning guided by the principles of control theory.

Recently, I interned at Boston Dynamics working under Michael Lutter on reinforcement learning for whole-body manipulation in eAtlas.

In my past life as an undergraduate at IIT (BHU) Varanasi, I was a student researcher at Stochastic Robotics Lab, IISc, advised by Shishir Kolathaya and Ayonga Hereid, developing lightweight control frameworks for robust bipedal walking and at the Movement Generation and Control Group, Max Planck Institute, working on agile bipedal locomotion with Majid Khadiv. At the Seethapathi Motor Control Lab, MIT, I briefly collaborated on human locomotor adaptation.

Email / LinkedIn / Google Scholar / Twitter / GitHub

Publications

	DiffCoTune: Differentiable Co-Tuning for Cross-domain Robot Control Lokesh Krishna, Sheng Cheng, Junheng Li, Naira Hovakimyan , Quan Nguyen Accepted at IEEE RA-L in 2025 arXiv / video
	Preferenced Oracle Guided Multi-mode Policies for Dynamic Bipedal Loco-Manipulation Prashanth Ravichandar, Lokesh Krishna, Nikhil Sobanbabu, Quan Nguyen Accepted at IROS 2025 website / arXiv / GitHub / video
	Learning Multimodal Bipedal Locomotion and Implicit Transitions: A Versatile Policy Approach Lokesh Krishna, Quan Nguyen Accepted at IROS 2023 arXiv / video
	Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains Lokesh Krishna, Guillermo Castillo, Utkarsh Mishra, Ayonga Hereid, Shishir Kolathaya Accepted at IEEE RA-L (journal) and ICRA 2022 IEEE Xplore / arXiv / video
	Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes Lokesh Krishna, Utkarsh Mishra, Guillermo Castillo, Ayonga Hereid, Shishir Kolathaya Accepted at IROS 2021 IEEE Xplore / arXiv / project page / video
	Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya Accepted at CoRL 2020 PMLR / arXiv / project page / GitHub / video / slides

Preprints

OGMP: Oracle Guided Multi-mode Policies for Agile and Versatile Robot Control
Lokesh Krishna, Nikhil Sobanbabu, Quan Nguyen

arXiv / GitHub / video

Code Fossils

A Framework for Learning Human Locomotor Adaptation under Rigid Body assumptions
GitHub / Video

Learning Agile Bipedal Locomotion Through Trajectory Driven
Multi Stage Learning
GitHub / Video

Jerbot: a biomimetic bipedal robot
GitHub / Video

Intelligent Picking for ware house automation National Finalists, Flipkart Grid 2.0 Robotics Challenge
GitHub / video

LudoBot: An autonmous ludo solving robot
GitHub / Video

GestureBot: A mobile manpualtion platform for gesture controlled teleoperation
GitHub / Video

AADOpt: A Framework for Antenna Array Design and Synthesis through Optimisation
GitHub

ArduinoMLP: A NN netowrk library for Arduino
GitHub

Service

	Technical Head, 2020-21 Founder, 2020
	Coordinator, Robotics Summer Camp 2021 Mentor, Robotics Summer Camp 2020 Panel Member, 2020-21 Mentor, 2019-20

I am a Roboticist, I dont make cool websites. He does.