5 papers
Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization
Le Qiu, Cole Harrison, Jiankai Sun +5
Functional robotic grasping requires a policy that generalizes across diverse object geometries and poses while maintaining task-specific contact precision. We study this challenge…
Preventing Robotic Jailbreaking via Multimodal Domain Adaptation
Francesco Marchiori, Rohan Sinha, Christopher Agia +4
Large Language Models (LLMs) and Vision-Language Models (VLMs) are increasingly deployed in robotic environments but remain vulnerable to jailbreaking attacks that bypass safety me…
Space-LLaVA: a Vision-Language Model Adapted to Extraterrestrial Applications
Matthew Foutter, Daniele Gammelli, Justin Kruger +5
Foundation Models (FMs), e.g., large language models, possess attributes of intelligence which offer promise to endow a robot with the contextual understanding necessary to navigat…
Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction
Jakob Thumm, Christopher Agia, Marco Pavone +1
Adjusting robot behavior to human preferences can require intensive human feedback, preventing quick adaptation to new users and changing circumstances. Moreover, current approache…
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress
Christopher Agia, Rohan Sinha, Jingyun Yang +4
Robot behavior policies trained via imitation learning are prone to failure under conditions that deviate from their training data. Thus, algorithms that monitor learned policies a…