相关论文: Reachability-based Trajectory Design with Neural I…

While Deep Reinforcement Learning (DRL) has achieved remarkable success across various domains, it remains vulnerable to occasional catastrophic failures without additional safeguards. An effective solution to prevent these failures is to…

This paper introduces a novel framework for continuous 3D trajectory optimization in cluttered environments, leveraging online neural Euclidean Signed Distance Fields (ESDFs). Unlike prior approaches that rely on discretized ESDF grids with…

Neural networks have recently become popular for a wide variety of uses, but have seen limited application in safety-critical domains such as robotics near and around humans. This is because it remains an open challenge to train a neural…

Safety is a central requirement for autonomous system operation across domains. Hamilton-Jacobi (HJ) reachability analysis can be used to construct "least-restrictive" safety filters that result in infrequent, but often extreme, control…

Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…

Robot person following (RPF) -- mobile robots that follow and assist a specific person -- has emerging applications in personal assistance, security patrols, eldercare, and logistics. To be effective, such robots must follow the target…

Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…

We introduce Neural Riemannian Motion Fields (NRMF), a novel 3D generative human motion prior that enables robust, temporally consistent, and physically plausible 3D motion recovery. Unlike existing VAE or diffusion-based methods, our…

A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…

A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…

Reconstructing hand-held objects from a single RGB image is an important and challenging problem. Existing works utilizing Signed Distance Fields (SDF) reveal limitations in comprehensively capturing the complex hand-object interactions,…

Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…

Safety is a critical concern for the next generation of autonomy that is likely to rely heavily on deep neural networks for perception and control. Formally verifying the safety and robustness of well-trained DNNs and learning-enabled…

Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal…

Accurate mapping and localization are very important for many industrial robotics applications. In this paper, we propose an improved Signed Distance Function (SDF) for both 2D SLAM and pure localization to improve the accuracy of mapping…

The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes time-varying control barrier functions (time varying CBFs)…

Existing methods in neural scene reconstruction utilize the Signed Distance Function (SDF) to model the density function. However, in indoor scenes, the density computed from the SDF for a sampled point may not consistently reflect its real…

Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…