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

Safety is always one of the most critical principles for a system to be controlled. This paper investigates a safety-critical control scheme for unknown structured systems by using the control barrier function (CBF) method. Benefited from…

We address the task of Vision-Language Navigation in Continuous Environments (VLN-CE) under the zero-shot setting. Zero-shot VLN-CE is particularly challenging due to the absence of expert demonstrations for training and minimal environment…

The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue and its inability to account for the kinematics of moving obstacles. This paper addresses the critical challenge of autonomous collision…

We consider the problem of safely exploring a static and unknown environment while learning valid control barrier functions (CBFs) from sensor data. Existing works either assume known environments, target specific dynamics models, or use…

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…

Autonomous drone racing requires the tight coupling of perception, planning, and control under extreme agility. However, recent approaches typically rely on precomputed spatial reference trajectories or explicit 6-DoF gate pose estimation,…

We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…

Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently conflict, as informative viewpoints often lie near uncertain…

Foundation models, e.g., large language models (LLMs), trained on internet-scale data possess zero-shot generalization capabilities that make them a promising technology towards detecting and mitigating out-of-distribution failure modes of…

Vision-and-Language Navigation (VLN) presents a complex challenge in embodied AI, requiring agents to interpret natural language instructions and navigate through visually rich, unfamiliar environments. Recent advances in large…

This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…

We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…

Safety has been a critical issue for the deployment of learning-based approaches in real-world applications. To address this issue, control barrier function (CBF) and its variants have attracted extensive attention for safety-critical…

Navigating robots discreetly in human work environments while considering the possible privacy implications of robotic tasks presents significant challenges. Such scenarios are increasingly common, for instance, when robots transport…

Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of…

Self driving laboratories (SDLs) are highly automated research environments that leverage advanced technologies to conduct experiments and analyze data with minimal human involvement. These environments often involve delicate laboratory…

This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN…

Vision Language Models (VLMs) can produce unintended and harmful content when exposed to adversarial attacks, particularly because their vision capabilities create new vulnerabilities. Existing defenses, such as input preprocessing,…

UAVs, commonly referred to as drones, have witnessed a remarkable surge in popularity due to their versatile applications. These cyber-physical systems depend on multiple sensor inputs, such as cameras, GPS receivers, accelerometers, and…

In the field of control engineering, the connection between Signal Temporal Logic (STL) and time-varying Control Barrier Functions (CBF) has attracted considerable attention. CBFs have demonstrated notable success in ensuring the safety of…