相关论文: SafeFlowMPC: Predictive and Safe Trajectory Planni…

In robot manipulation, robot learning has become a prevailing approach. However, generative models within this field face a fundamental trade-off between the slow, iterative sampling of diffusion models and the architectural constraints of…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…

Likelihood-based policy gradient methods are the dominant approach for training robot control policies from rewards. These methods rely on differentiable action likelihoods, which constrain policy outputs to simple distributions like…

Rapid robot motion generation is critical in Human-Robot Collaboration (HRC) systems, as robots need to respond to dynamic environments in real time by continuously observing their surroundings and replanning their motions to ensure both…

Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…

Although learning-based methods have great potential for robotics, one concern is that a robot that updates its parameters might cause large amounts of damage before it learns the optimal policy. We formalize the idea of safe learning in a…

The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model…

This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-environment interaction to address diverse…

Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many existing approaches emphasize safety or efficiency while…

Safe learning of locomotion skills is still an open problem. Indeed, the intrinsically unstable nature of the open-loop dynamics of locomotion systems renders naive learning from scratch prone to catastrophic failures in the real world. In…

The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…

Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor observations without relying on a privileged collision checker…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

Safety remains a central challenge in control of dynamical systems, particularly when the boundaries of unsafe sets are complex (e.g., nonconvex, nonsmooth) or unknown. This paper proposes a learning-enabled framework for safety-critical…

This paper presents a safe learning-based eco-driving framework tailored for mixed traffic flows, which aims to optimize energy efficiency while guaranteeing safety during real-system operations. Even though reinforcement learning (RL) is…

In safety-critical robot planning or control, manually specifying safety constraints or learning them from demonstrations can be challenging. In this article, we propose a certifiable alignment method for a robot to learn a safety…

Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited…

We introduce Riemannian Flow Matching Policies (RFMP), a novel model for learning and synthesizing robot visuomotor policies. RFMP leverages the efficient training and inference capabilities of flow matching methods. By design, RFMP…