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

For robots navigating in human-populated environments, safety and social compliance are equally critical, yet prior work has mostly emphasized safety. Socially compliant navigation that accounts for human comfort, social norms, and…

Real-world path planning tasks typically involve multiple constraints beyond simple route optimization, such as the number of routes, maximum route length, depot locations, and task-specific requirements. Traditional approaches rely on…

Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…

Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

Large Language Models (LLMs) pre-trained on internet-scale datasets have shown impressive capabilities in code understanding, synthesis, and general purpose question-and-answering. Key to their performance is the substantial prior knowledge…

Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, provable safety, and socially aware behavior. Current…

Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown…

Automating activities through robots in unstructured environments, such as construction sites, has been a long-standing desire. However, the high degree of unpredictable events in these settings has resulted in far less adoption compared to…

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…

Following road safety norms is non-negotiable not only for humans but also for the AI systems that govern autonomous vehicles. In this work, we evaluate how well multi-modal large language models (LLMs) understand road safety concepts,…

Nowadays, many control systems are networked and embed communication and computation capabilities. Such control architectures are prone to cyber attacks on the cyberinfrastructure. Consequently, there is an impellent need to develop…

In social robotics, a pivotal focus is enabling robots to engage with humans in a more natural and seamless manner. The emergence of advanced large language models (LLMs) such as Generative Pre-trained Transformers (GPTs) and autoregressive…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

While large language models (LLMs) are trained to align with human values, their generations may still violate safety constraints. A growing line of work addresses this problem by modifying the model's sampling policy at decoding time using…

Large Language Models (LLMs) are transforming the robotics domain by enabling robots to comprehend and execute natural language instructions. The cornerstone benefits of LLM include processing textual data from technical manuals,…

Recently, learning-based controllers have been shown to push mobile robotic systems to their limits and provide the robustness needed for many real-world applications. However, only classical optimization-based control frameworks offer the…

Robot navigation is crucial across various domains, yet traditional methods focus on efficiency and obstacle avoidance, often overlooking human behavior in shared spaces. With the rise of service robots, socially aware navigation has gained…