相关论文: Modular Safety Guardrails Are Necessary for Founda…

Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace…

Foundation models are increasingly deployed in socially sensitive domains such as education, mental health, and caregiving, where failures are often cumulative and context-dependent. Existing guardrail approaches -- ranging from…

Safety is a critical requirement for the real-world deployment of robotic systems. Unfortunately, while current robot foundation models show promising generalization capabilities across a wide variety of tasks, they fail to address safety,…

As robots become increasingly integrated into open-world, human-centered environments, their ability to interpret natural language instructions and adhere to safety constraints is critical for effective and trustworthy interaction. Existing…

Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models, have opened new avenues for embodied AI in mobile service robotics. By…

When AI interacts with the physical world -- as a robot or an assistive agent -- new safety challenges emerge beyond those of purely ``digital AI". In such interactions, the potential for physical harm is direct and immediate. How well do…

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…

Embodied AI systems, including AI-powered robots that autonomously interact with the physical world, stand to be significantly advanced by Large Language Models (LLMs), which enable robots to better understand complex language commands and…

Recent advances in foundation models (FMs), including large language models (LLMs), vision-language models (VLMs), and world models, have opened new opportunities for autonomous driving systems (ADSs) in perception, reasoning,…

Although the integration of large language models (LLMs) into robotics has unlocked transformative capabilities, it has also introduced significant safety concerns, ranging from average-case LLM errors (e.g., hallucinations) to adversarial…

Safety stands as the primary obstacle preventing the widespread adoption of learning-based robotic systems in our daily lives. While reinforcement learning (RL) shows promise as an effective robot learning paradigm, conventional RL…

The rapid emergence of foundation models, particularly Large Language Models (LLMs) and Vision-Language Models (VLMs), has introduced a transformative paradigm in robotics. These models offer powerful capabilities in semantic understanding,…

Robotic foundation models (RFMs) are emerging as a promising route towards flexible, instruction- and demonstration-driven robot control, however, a critical investigation of their industrial applicability is still lacking. This survey…

The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…

Foundation Model (FM)-based agents are revolutionizing application development across various domains. However, their rapidly growing capabilities and autonomy have raised significant concerns about AI safety. Researchers are exploring…

Robot foundation models hold the potential for deployment across diverse environments, from industrial applications to household tasks. While current research focuses primarily on the policies' generalization capabilities across a variety…

The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prioritize immediate safe foot placement over longer term dynamic…

The advancement of autonomous systems -- from legged robots to self-driving vehicles and aircraft -- necessitates executing increasingly high-performance and dynamic motions without ever putting the system or its environment in harm's way.…

Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…

Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…