Lokesh Krishna

I am a first year PhD student at the Dynamic Robotics and Control Laboratory at the University of Southern California, Viterbi School of Engineering. I received my Bachelor's in Electronics Engineering from the Indian Institute of Technology (BHU) Varanasi.

In my past life, I was a student collaborator working with Dr. Nidhi Seethapathi at the Seethapathi Motor Control Lab, MIT on the development of a framework to study human locomotor adaptation.Prior to that, I was a guest researcher at the Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, working on control strategies for agile and dynamic bipedal locomotion under the supervision of Majid Khadiv. I was also a student researcher at the Stochastic Robotics Lab, Indian Institute of Science, jointly advised by Shishir Kolathaya and Ayonga Hereid, where I worked towards the development of a lightweight control frameworks for robust proprioceptive bipedal walking.

Apart from my research activities, I also co-found and lead the student research group, RoboReG at my IIT BHU. As the technical lead of this group, I have successfully mentored several student-driven research projects and led student teams in events/competitions of national significance.I am always happy to learn and open to network.

Email  /  CV  /  LinkedIn  /  Google Scholar  /  Twitter  /  GitHub

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Research

My research interest lies in extending the athletic intelligence in robots and thereby leveraging their motor skills. I am interested in adopting formal methods from optimization, reinforcement learning to control hybrid and underactuated robotic systems. In future, I look forward to working towards the development of algorithms with the optimal balance of performance, reliability and guarantees that are key to real-world robotic applications. Representative works are highlighted.

Publications
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), submitted to ICRA 2022
IEEE Xplore / arXiv / video

To make bipeds walk blindly on arbitary slopes, outdoors and stairs aswell as have a direct sim-to-real transfer, we find linear policies to be sufficient.

Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
Lokesh Krishna, Utkarsh Mishra, Guillermo Castillo, Ayonga Hereid, Shishir Kolathaya
Accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)
IEEE Xplore / arXiv / project page / video

In this paper, we view toward deployment of robust and light-weight control frameworks for bipedal walking robots.

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 the 4th Conference on Robot Learning (CoRL 2020), MIT, USA
PMLR / arXiv / project page / GitHub / video / slides

What is the minimum possible control framework that can be deployed to realize stable locomotion behaviors on slopped terrains in medium-size low-cost quadruped robots?

Projects
Ongoing Work(s)
A Framework for Learning Human Locomotor Adaptation under Rigid Body assumptions
Lokesh Krishna, Inseung Kang, Nidhi Seethapathi

GitHub / video (coming soon)
Completed Work(s)
Learning Agile Bipedal Locomotion Through Trajectory Driven
Multi Stage Learning

Lokesh Krishna , Miroslav Bogdanovic , Majid Khadiv , Ludovic Righetti

GitHub (request acess) / video
AADOpt: A Framework for Antenna Array Design and Synthesis through Optimisation
Lokesh Krishna, Prityush Chandra, Prajwal Nair, MK Meshram

GitHub / preprint

Intelligent Picking: An end to end solution for ware house automation
Yash Sahijwani, Raghav Soni, Ayush Kumar Shaw, Niranth Sai, Lokesh Krishna

National Finalists, Flipkart Grid 2.0 Robotics Challenge

Slides / GitHub / video
Jerbot: a biomimetic bipedal robot
Lokesh Krishna, Nishant Kumar, Niranth Sai

GitHub / video
TOWRpy: a simulation test bed for TOWR trajectories in Pybullet
Lokesh Krishna, Shishir Kolathaya

GitHub
Mini Projects

MiniCheetahEnv: A modular pybullet environment for mini-cheetah with an MPC controller
GitHub / Video


ArduinoMLP: A NN netowrk library for Arduino
GitHub / Report / Video


RaisimStoch2: a simulation environment for Stoch2 in RAISIM
GitHub


LudoBot: An autonmous ludo solving robot
GitHub / Video


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


GAMCA: Genetic Algorithm to solve Maze like Cellular Automata
GitHub /

Service
cs188 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.