相关论文: From Words to Safety: Language-Conditioned Safety …

Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation.…

Construction robotics increasingly relies on natural language processing for task execution, creating a need for robust methods to interpret commands in complex, dynamic environments. While existing research primarily focuses on what tasks…

Recent advancements in Large Language Models (LLMs) offer new opportunities to create natural language interfaces for Autonomous Driving Systems (ADSs), moving beyond rigid inputs. This paper addresses the challenge of mapping the…

There is a growing demand for mobile robots to operate in more variable environments, where guaranteeing safe robot navigation is a priority, in addition to time performance. To achieve this, current solutions for local planning use a…

The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

Humans have the remarkable ability to navigate through unfamiliar environments by solely relying on our prior knowledge and descriptions of the environment. For robots to perform the same type of navigation, they need to be able to…

Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerical optimization, and…

Navigating towards fully open language goals and exploring open scenes in an intelligent way have always raised significant challenges. Recently, Vision Language Models (VLMs) have demonstrated remarkable capabilities to reason with both…

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…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…

Safe reinforcement learning (RL) agents accomplish given tasks while adhering to specific constraints. Employing constraints expressed via easily-understandable human language offers considerable potential for real-world applications due to…

Existing navigation decision support systems often perform poorly when handling non-predefined navigation scenarios. Leveraging the generalization capabilities of large language model (LLM) in handling unknown scenarios, this research…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…

Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe…

Navigating socially in human environments requires more than satisfying geometric constraints, as collision-free paths may still interfere with ongoing activities or conflict with social norms. Addressing this challenge calls for analyzing…

Autonomous Driving (AD) encounters significant safety hurdles in long-tail unforeseen driving scenarios, largely stemming from the non-interpretability and poor generalization of the deep neural networks within the AD system, particularly…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…