Publications

2026

1. TMLR

   

   V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions

   Mumuksh Tayal^*, Manan Tayal^*, Aditya Singh, Shishir Kolathaya, and Ravi Prakash

   Transactions on Machine Learning Research (TMLR), 2026

   Also accepted at AAAI Workshop on Deployable AI (DAI) 2026 (Oral)

   arXiv Bib Code Website

   @article{tayal2025vocbf,
     title = {V-{OCBF}: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions},
     author = {Tayal, Mumuksh and Tayal, Manan and Singh, Aditya and Kolathaya, Shishir and Prakash, Ravi},
     journal = {Transactions on Machine Learning Research (TMLR)},
     year = {2026},
     url = {https://openreview.net/forum?id=PGO9mpIyyb},
     note = {Also accepted at AAAI Workshop on Deployable AI (DAI) 2026 (Oral)}
   }

2. TCST

   

   A Collision Cone Approach for Control Barrier Functions

   Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal, Rajpal Singh, Tejas Rao, Jishnu Keshavan, Pushpak Jagtap, and Shishir Kolathaya

   In Transactions on Control Systems Technology (TCST), 2026

   DOI arXiv Bib Code Website

   @inproceedings{tayal2024collision,
     title = {A Collision Cone Approach for Control Barrier Functions},
     author = {Tayal, Manan and Goswami, Bhavya Giri and Rajgopal, Karthik and Singh, Rajpal and Rao, Tejas and Keshavan, Jishnu and Jagtap, Pushpak and Kolathaya, Shishir},
     journal = {Transactions on Control Systems Technology (TCST)},
     booktitle = {Transactions on Control Systems Technology (TCST)},
     year = {2026},
     pages = {1-14},
     doi = {10.1109/TCST.2026.3661160}
   }

3. IEEE TAI

   

   On Convergence of Adam with Data Dependent Stepsize

   Alokendu Mazumder, Rishab Sabharwal, Bhartendu Kumar, Manan Tayal, Chirag Garg, Arnab Roy, and Punit Rathore

   IEEE Transactions on Artificial Intelligence, 2026

   DOI arXiv Bib Code

   @article{mazumder2026convergence,
     title = {On Convergence of Adam with Data Dependent Stepsize},
     author = {Mazumder, Alokendu and Sabharwal, Rishab and Kumar, Bhartendu and Tayal, Manan and Garg, Chirag and Roy, Arnab and Rathore, Punit},
     journal = {IEEE Transactions on Artificial Intelligence},
     year = {2026},
     publisher = {IEEE},
     pages = {1-15},
     doi = {10.1109/TAI.2026.3656866},
   }

4. Submitted

   

   A Robust Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems

   Manan Tayal, Aditya Singh, Ganga Nair, Shishir Kolathaya, and Somil Bansal

   Under Submission to The International Journal of Robotics Research (IJRR), 2026

   arXiv Bib Code Website

   @article{tayal2026robust_piml,
     title = {A Robust Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems},
     author = {Tayal, Manan and Singh, Aditya and Nair, Ganga and Kolathaya, Shishir and Bansal, Somil},
     journal = {Under Submission to The International Journal of Robotics Research (IJRR)},
     year = {2026},
   }

5. Submitted

   

   MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control

   Manan Tayal, Aditya Singh, Shishir Kolathaya, and Somil Bansal

   Under Submission at Robotics and Automation Letters (RA-L), 2026

   Also accepted at AAAI Workshop on Multi-Agent Path Finding 2026

   arXiv Bib Code Website

   @article{tayal2025madpinn,
     title = {MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control},
     author = {Tayal, Manan and Singh, Aditya and Kolathaya, Shishir and Bansal, Somil},
     journal = {Under Submission at Robotics and Automation Letters (RA-L)},
     year = {2026},
     note = {Also accepted at AAAI Workshop on Multi-Agent Path Finding 2026}
   }

6. Submitted

   

   Safe Flow Q-Learning: Offline Safe Reinforcement Learning with Reachability-Based Flow Policies

   Mumuksh Tayal, Manan Tayal, and Ravi Prakash

   Under Submission, 2026

   arXiv Bib

   @article{tayal2026safe,
     title = {Safe Flow Q-Learning: Offline Safe Reinforcement Learning with Reachability-Based Flow Policies},
     author = {Tayal, Mumuksh and Tayal, Manan and Prakash, Ravi},
     journal = {Under Submission},
     year = {2026},
   }

7. Submitted

   

   Epigraph-Guided Flow Matching for Safe and Performant Offline Reinforcement Learning

   Manan Tayal and Mumuksh Tayal

   Under Submission, 2026

   Also accepted at ICLR 2026 Workshop: VerifAI-2: The Second Workshop on AI Verification in the Wild

   arXiv Bib Website

   @article{tayal2026epigraph,
     title = {Epigraph-Guided Flow Matching for Safe and Performant Offline Reinforcement Learning},
     author = {Tayal, Manan and Tayal, Mumuksh},
     journal = {Under Submission},
     year = {2026},
     note = {Also accepted at ICLR 2026 Workshop: VerifAI-2: The Second Workshop on AI Verification in the Wild}
   }

8. Submitted

   

   CP-NCBF: A conformal prediction-based approach to synthesize verified neural control barrier functions

   Manan Tayal^*, Aditya Singh^*, Pushpak Jagtap, and Shishir Kolathaya

   In Submission, 2026

   arXiv Bib

   @inproceedings{tayal2025cp,
     title = {CP-NCBF: A conformal prediction-based approach to synthesize verified neural control barrier functions},
     author = {Tayal, Manan and Singh, Aditya and Jagtap, Pushpak and Kolathaya, Shishir},
     journal = {arXiv preprint arXiv:2503.17395},
     booktitle = {Submission},
     year = {2026}
   }

2025

1. CDC

   

   Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates

   Manan Tayal, Aditya Singh, Pushpak Jagtap, and Shishir Kolathaya

   In 2025 IEEE 64th Conference on Decision and Control (CDC), 2025

   arXiv Bib Code Website

   @inproceedings{tayal2025semi,
     author = {Tayal, Manan and Singh, Aditya and Jagtap, Pushpak and Kolathaya, Shishir},
     booktitle = {2025 IEEE 64th Conference on Decision and Control (CDC)},
     title = {Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates},
     year = {2025},
   }

2. ICC

   Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions

   Aditya Singh, Aastha Mishra, Manan Tayal, Shishir Kolathaya, and Pushpak Jagtap

   In 2025 IEEE Indian Control Conference (ICC), 2025

   arXiv Bib

   @inproceedings{singh2025safe,
     title = {Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions},
     author = {Singh, Aditya and Mishra, Aastha and Tayal, Manan and Kolathaya, Shishir and Jagtap, Pushpak},
     booktitle = {2025 IEEE Indian Control Conference (ICC)},
     year = {2025},
   }

3. ICML

   

   A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems

   Manan Tayal^*, Aditya Singh^*, Shishir Kolathaya, and Somil Bansal

   In International Conference on Machine Learning (ICML), 2025

   arXiv Bib Code Website

   @inproceedings{tayal2025physics,
     title = {A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems},
     author = {Tayal, Manan and Singh, Aditya and Kolathaya, Shishir and Bansal, Somil},
     booktitle = {International Conference on Machine Learning (ICML)},
     year = {2025}
   }

4. LeaPRIDE@IROS

   

   RISE: Robust Imitation through Stochastic Encodings

   Mumuksh Tayal, Manan Tayal, and Ravi Prakash

   IROS 2025 Workshop on Learning, Planning, and Reasoning in Dynamic Environments, 2025

   arXiv Bib Website

   @article{tayal2025genosil,
     title = {RISE: Robust Imitation through Stochastic Encodings},
     author = {Tayal, Mumuksh and Tayal, Manan and Prakash, Ravi},
     journal = {IROS 2025 Workshop on Learning, Planning, and Reasoning in Dynamic Environments},
     year = {2025}
   }

2024

1. CDC

   

   Learning a Formally Verified Control Barrier Function in Stochastic Environment

   Manan Tayal, Hongchao Zhang, Pushpak Jagtap, Andrew Clark, and Shishir Kolathaya

   In 2024 IEEE 63rd Conference on Decision and Control (CDC), 2024

   DOI arXiv Bib Code

   @inproceedings{tayal2024learning,
     author = {Tayal, Manan and Zhang, Hongchao and Jagtap, Pushpak and Clark, Andrew and Kolathaya, Shishir},
     booktitle = {2024 IEEE 63rd Conference on Decision and Control (CDC)},
     title = {Learning a Formally Verified Control Barrier Function in Stochastic Environment},
     year = {2024},
     pages = {4098-4104},
     keywords = {Training;Jacobian matrices;Sufficient conditions;Filters;Heuristic algorithms;Neural networks;Control systems;Safety;Collision avoidance;Autonomous vehicles},
     doi = {10.1109/CDC56724.2024.10886052}
   }

2. ICC

   

   BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains

   GVS Mothish, Manan Tayal, and Shishir Kolathaya

   In 2024 IEEE Indian Control Conference (ICC), 2024

   Bib Website

   @inproceedings{mothish2024birodiff,
     title = {BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains},
     author = {Mothish, GVS and Tayal, Manan and Kolathaya, Shishir},
     booktitle = {2024 IEEE Indian Control Conference (ICC)},
     year = {2024}
   }

3. ACC

   

   Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach

   Manan Tayal, Rajpal Singh, Jishnu Keshavan, and Shishir Kolathaya

   In 2024 American Control Conference (ACC), 2024

   DOI arXiv Bib Website

   @inproceedings{tayal2024control,
     author = {Tayal, Manan and Singh, Rajpal and Keshavan, Jishnu and Kolathaya, Shishir},
     booktitle = {2024 American Control Conference (ACC)},
     title = {Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach},
     year = {2024},
     pages = {3722-3727},
     doi = {10.23919/ACC60939.2024.10644548},
   }

4. ACC

   

   Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance

   Bhavya Giri Goswami^*, Manan Tayal^*, Karthik Rajgopal, Pushpak Jagtap, and Shishir Kolathaya

   In 2024 American Control Conference (ACC), 2024

   DOI arXiv Bib Website

   @inproceedings{goswami2024collision,
     author = {Goswami, Bhavya Giri and Tayal, Manan and Rajgopal, Karthik and Jagtap, Pushpak and Kolathaya, Shishir},
     booktitle = {2024 American Control Conference (ACC)},
     title = {Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance},
     year = {2024},
     pages = {325-331},
     doi = {10.23919/ACC60939.2024.10644338},
   }

5. ECC

   

   Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments

   Manan Tayal and Shishir Kolathaya

   In 2024 European Control Conference (ECC), 2024

   DOI arXiv Bib Website

   @inproceedings{tayal2024polygonal,
     title = {Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments},
     author = {Tayal, Manan and Kolathaya, Shishir},
     booktitle = {2024 European Control Conference (ECC)},
     pages = {2212--2217},
     year = {2024},
     organization = {IEEE},
     doi = {10.23919/ECC64448.2024.10591026}
   }

6. ICCAR

   

   Stoch BiRo: Design and control of a low-cost bipedal robot

   GVS Mothish^*, Karthik Rajgopal^*, Ravi Kola^*, Manan Tayal, and Shishir Kolathaya

   In 2024 10th International Conference on Control, Automation and Robotics (ICCAR), 2024

   Bib Website

   @inproceedings{mothish2024stoch,
     title = {Stoch BiRo: Design and control of a low-cost bipedal robot},
     author = {Mothish, GVS and Rajgopal, Karthik and Kola, Ravi and Tayal, Manan and Kolathaya, Shishir},
     booktitle = {2024 10th International Conference on Control, Automation and Robotics (ICCAR)},
     pages = {135--140},
     year = {2024},
     organization = {IEEE}
   }

2023

1. ICC

   

   Collision cone control barrier functions for kinematic obstacle avoidance in ugvs

   Phani Thontepu^*, Bhavya Giri Goswami^*, Manan Tayal^*, Neelaksh Singh, Shyam Sundar PI, Shyam Sundar MG, Suresh Sundaram, Vaibhav Katewa, and Shishir Kolathaya

   In 2023 Ninth Indian Control Conference (ICC), 2023

   arXiv Bib

   @inproceedings{thontepu2023collision,
     title = {Collision cone control barrier functions for kinematic obstacle avoidance in ugvs},
     author = {Thontepu, Phani and Goswami, Bhavya Giri and Tayal, Manan and Singh, Neelaksh and PI, Shyam Sundar and MG, Shyam Sundar and Sundaram, Suresh and Katewa, Vaibhav and Kolathaya, Shishir},
     booktitle = {2023 Ninth Indian Control Conference (ICC)},
     pages = {293--298},
     year = {2023},
     organization = {IEEE}
   }

2. arXiv

   

   Safe legged locomotion using collision cone control barrier functions (c3bfs)

   Manan Tayal and Shishir Kolathaya

   arXiv preprint arXiv:2309.01898, 2023

   arXiv Bib Code

   @article{tayal2023safe,
     title = {Safe legged locomotion using collision cone control barrier functions (c3bfs)},
     author = {Tayal, Manan and Kolathaya, Shishir},
     journal = {arXiv preprint arXiv:2309.01898},
     year = {2023}
   }

2022

1. CyPhySS

   

   Realising the role of arms on improving the stability bipedal robots

   Manan Tayal and Shishir Kolathaya

   2022 Cyber Physical Systems Symposium (CyPhySS), 2022

   Bib

   @article{tayal2022realising,
     title = {Realising the role of arms on improving the stability bipedal robots},
     author = {Tayal, Manan and Kolathaya, Shishir},
     journal = {2022 Cyber Physical Systems Symposium (CyPhySS)},
     year = {2022}
   }

2021

1. IITB

   

   Travelling Salesman Problem: Parallel Implementations & Analysis

   Amey Gohil^*, Manan Tayal^*, Tezan Sahu, and Vyankatesh Sawalpurkar

   IIT Bombay, 2021

   Bib

   @article{gohil2021travelling,
     title = {Travelling Salesman Problem: Parallel Implementations \& Analysis},
     author = {Gohil, Amey and Tayal, Manan and Sahu, Tezan and Sawalpurkar, Vyankatesh},
     journal = {IIT Bombay},
     year = {2021}
   }