Related papers: Safe Human-Interactive Control via Shielding
Human oversight of AI is promoted as a safeguard against risks such as inaccurate outputs, system malfunctions, or violations of fundamental rights, and is mandated in regulation like the European AI Act. Yet debates on human oversight have…
Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup…
Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in…
Robotic manipulation in dynamic and unstructured environments requires safety mechanisms that exploit what is known and what is uncertain about the world. Existing safety filters often assume full observability, limiting their applicability…
The coordinated assurance of interrelated critical properties, such as system safety and cyber-security, is one of the toughest challenges in critical systems engineering. In this chapter, we summarise approaches to the coordinated…
There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platforms have been designed to consider reaching casualties and…
The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…
Safety assurance is a critical yet challenging aspect when developing self-driving technologies. Hamilton-Jacobi backward-reachability analysis is a formal verification tool for verifying the safety of dynamic systems in the presence of…
Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
Robotics and Artificial Intelligence (AI) have been inextricably intertwined since their inception. Today, AI-Robotics systems have become an integral part of our daily lives, from robotic vacuum cleaners to semi-autonomous cars. These…
Tasks where robots must anticipate human intent, such as navigating around a cluttered home or sorting everyday items, are challenging because they exhibit a wide range of valid actions that lead to similar outcomes. Moreover, zero-shot…
Due to agile developments in the field of robotics and human-robot interaction, prospective robotic agents are intended to play the role of teammates and partner with humans to perform operations, rather than tools that are replacing humans…
Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…
Ensuring safe interactions in human-centric environments requires robots to understand and adhere to constraints recognized by humans as "common sense" (e.g., "moving a cup of water above a laptop is unsafe as the water may spill" or…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
Existing definitions and associated conceptual frameworks for computer-based system safety should be revisited in light of real-world experiences from deploying autonomous vehicles. Current terminology used by industry safety standards…