1 citations · 2 across the 22 of their papers we have counts for
4 papers · 2 filters
VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies
Meg Wilkinson, Emily Fourney, Joel W. Burdick +1
Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned policies do not provide safety guarantees for collision avoidance---e…
Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
Sergio A. Esteban, Jason H. K. Siu, Derrick Mach +4
Motion retargeting approaches often prioritize kinematic similarity over whole-body dynamics, contact consistency, and actuation limits, yielding references that are difficult for…
D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
Erdi Sayar, Ersin Daş, Joel W. Burdick +2
A key limitation on the use of diffusion models in robotic planning is their inability to inherently enforce safety or dynamical constraints, which often results in physically infe…
Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety f…