相关论文: One Filter to Deploy Them All: Robust Safety for Q…

Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on control barrier functions (CBFs), which are…

Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR…

We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robustness under terrain uncertainty.…

Large Multimodal Reasoning Models (LMRMs) are moving into real applications, where they must be both useful and safe. Safety is especially challenging in multimodal settings: images and text can be combined to bypass guardrails, and single…

Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performance inter-robot collaboration is critical for effective task…

Robust reinforcement learning (RL) aims to learn policies that remain effective despite uncertainties in its environment, which frequently arise in real-world applications due to variations in environment dynamics. The robust RL methods…

Artificial intelligence (AI) and reinforcement learning (RL) have shown significant promise in wireless systems, enabling dynamic spectrum allocation, traffic management, and large-scale Internet of Things (IoT) coordination. However, their…

In this study, we conduct a comprehensive benchmark of the Safe Reinforcement Learning (Safe RL) algorithms for the task of vision-driven river following of Unmanned Aerial Vehicle (UAV) in a Unity-based photo-realistic simulation…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…

This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…

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…

Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most…

The Responsibility-Sensitive Safety (RSS) model offers provable safety for vehicle behaviors such as minimum safe following distance. However, handling worst-case variability and uncertainty may significantly lower vehicle permissiveness,…

Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…

Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limitations are especially pronounced in dense…

This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…

Disturbance rejection in high-precision control applications can be significantly improved upon via online convex optimization (OCO). This includes classical techniques such as recursive least squares (RLS) and more recent, regret-based…

Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…

Agile locomotion in complex 3D environments requires robust spatial awareness to safely avoid diverse obstacles such as aerial clutter, uneven terrain, and dynamic agents. Depth-based perception approaches often struggle with sensor noise,…