10 accepted papers
Recent works have shown that foundational safe control methods, such as Hamilton–Jacobi (HJ) reachability analysis, can be applied in the latent space of world models. While this enables the synthesis of latent safety filters for hard-to-model vision-based tasks, they assume that the safety constrai…
Antibodies originate from germline immunoglobulin gene templates and are diversified by somatic hypermutation during affinity maturation. This process produces sequences in which conserved germline residues provide structural scaffolding, complemented by rare non-germline substitutions that refine a…
Hamilton-Jacobi (HJ) reachability is a rigorous mathematical framework that enables robots to simultaneously detect unsafe states and generate actions that prevent future failures. While in theory, HJ reachability can synthesize safe controllers for nonlinear systems and nonconvex constraints, in pr…
Recent advances in generative world models have enabled classical safe control methods, such as Hamilton-Jacobi (HJ) reachability, to generalize to complex robotic systems operating directly from high-dimensional sensor observations. However, obtaining comprehensive coverage of all safety-critical s…
Robot decision-making increasingly relies on data-driven human prediction models when operating around people. While these models are known to mispredict in out-of-distribution interactions, only a subset of prediction errors impact downstream robot performance. We propose characterizing such ``sy…
An outstanding challenge for the widespread deployment of robotic systems like autonomous vehicles is ensuring safe interaction with humans without sacrificing performance. Existing safety methods often neglect the robot’s ability to learn and adapt at runtime, leading to overly conservative behavio…
Robots such as autonomous vehicles and assistive manipulators are increasingly operating in dynamic environ-ments and close physical proximity to people. In such scenarios, the robot can leverage a human motion predictor to predict their future states and plan safe and efficient trajectories. Howeve…
Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. However, the provided safety assurances are often predicated on the assumption that once deployed, the system or its environment does not evolve. Online, however, an autonomous system might…
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field through a centralized Gaussian process, this work leverages t…
Jointly achieving safety and efficiency in human-robot interaction settings is a challenging problem, as the robot’s planning objectives may be at odds with the human’s own intent and expectations. Recent approaches ensure safe robot operation in uncertain environments through a supervisory control