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cs.RO2026
Foundational World Models Accurately Detect Bimanual Manipulator Failures
Isaac R. Ward, Michelle Ho, Houjun Liu +7
Deploying visuomotor robots at scale is challenging due to the potential for anomalous failures to degrade performance, cause damage, or endanger human life. Bimanual manipulators…
cs.RO2020
Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components
Joseph A. Vincent, Mac Schwager
We present a method for computing exact reachable sets for deep neural networks with rectified linear unit (ReLU) activation. Our method is well-suited for use in rigorous safety a…