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

Safety-critical task planning in robotic systems remains challenging: classical planners suffer from poor scalability, Reinforcement Learning (RL)-based methods generalize poorly, and base Large Language Models (LLMs) cannot guarantee…

Safety fine-tuning helps align Large Language Models (LLMs) with human preferences for their safe deployment. To better understand the underlying factors that make models safe via safety fine-tuning, we design a synthetic data generation…

Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…

In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…

Safety is an essential component for deploying reinforcement learning (RL) algorithms in real-world scenarios, and is critical during the learning process itself. A natural first approach toward safe RL is to manually specify constraints on…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructions. Previous works based on rule-based language parsing or…

Physically Assistive Robots (PARs) require personalized behaviors to ensure user safety and comfort. However, traditional preference learning methods, like exhaustive pairwise comparisons, cause severe physical and cognitive fatigue for…

The integration of large language models (LLMs) into robotic task planning has unlocked better reasoning capabilities for complex, long-horizon workflows. However, ensuring safety in LLM-driven plans remains a critical challenge, as these…

Humans interpret safety not as a binary signal but as a continuous, context- and spatially-dependent notion of risk. While risk is subjective, humans form rational mental models that guide action selection in dynamic environments. This work…

Construction safety inspection remains mostly manual, and automated approaches still rely on task-specific datasets that are hard to maintain in fast-changing construction environments due to frequent retraining. Meanwhile, field inspection…

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous…

Large Language Models (LLMs) are increasingly used to control robotic systems such as drones, but their risks of causing physical threats and harm in real-world applications remain unexplored. Our study addresses the critical gap in…

Object manipulation for rearrangement into a specific goal state is a significant task for collaborative robots. Accurately determining object placement is a key challenge, as misalignment can increase task complexity and the risk of…

Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…

Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emerged as an alternative planning method to conservative…

Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems. It is often easier to synthesize CBFs for a Reduced order Model (RoM), and track the resulting safe behavior on…

The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…