10 papers · 1 filter
Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions
Lizhi Yang, Ryan M. Bena, Meg Wilkinson +4
Traditional safety-critical control methods, such as control barrier functions, suffer from semantic blindness, exhibiting the same behavior around obstacles regardless of contextu…
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…
Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
Zachary Olkin, William D. Compton, Ryan M. Bena +1
Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have…
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a b…
A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as…
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
Gilbert Bahati, Ryan M. Bena, Meg Wilkinson +3
Robotic systems navigating in real-world settings require a semantic understanding of their environment to properly determine safe actions. This work aims to develop the mathematic…