相关论文: ASMA: An Adaptive Safety Margin Algorithm for Visi…

Recent advances in Vision-Language-Action (VLA) models have enabled robots to execute increasingly complex tasks. However, VLA models trained through imitation learning struggle to operate reliably in dynamic environments and often fail…

Vision-and-Language Navigation (VLN) in continuous environments requires agents to interpret natural language instructions while navigating unconstrained 3D spaces. Existing VLN-CE frameworks rely on a two-stage approach: a waypoint…

Safe reinforcement learning (RL) for robotic systems requires policies that improve task performance while satisfying state and input constraints during both training and deployment. Control barrier functions (CBFs) provide a principled…

Unmanned Aerial Vehicle (UAV) swarms offer versatile applications in logistics, agriculture, and surveillance, yet controlling them requires expert knowledge for safety and feasibility. Traditional static methods limit adaptability, while…

Learning to safely navigate in unknown environments is an important task for autonomous drones used in surveillance and rescue operations. In recent years, a number of learning-based Simultaneous Localisation and Mapping (SLAM) systems…

This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree…

Vision Language Models (VLMs) bridge visual perception and linguistic reasoning. In Autonomous Driving (AD), this synergy has enabled Vision Language Action (VLA) models, which translate high-level multimodal understanding into driving…

Vision-and-Language Navigation (VLN) requires agents to autonomously navigate complex environments via visual images and natural language instructions--remains highly challenging. Recent research on enhancing language-guided navigation…

Autonomous robots operating in dynamic environments should identify and report anomalies. Embodying proactive mitigation improves safety and operational continuity. This paper presents a multimodal anomaly detection and mitigation system…

Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…

Vision-language-action (VLA) models have recently emerged as a powerful paradigm for building generalist robots. However, traditional VLA models that generate actions through flow matching (FM) typically rely on rigid and uniform time…

In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…

In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to…

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…

We present a real-time safety filter for motion planning, including those that are learning-based, using Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance with road boundaries. A key feature of our…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model…

For drones, as safety-critical systems, there is an increasing need for onboard detect & avoid (DAA) technology i) to see, sense or detect conflicting traffic or imminent non-cooperative threats due to their high mobility with multiple…

This paper investigates the boresight alignment control problem under safety constraints and performance requirements, involving pointing-forbidden constraint, attitude angular velocity limitation, and pointing accuracy requirement.…

Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…