15 papers
Modular Safety Guardrails Are Necessary for Foundation-Model-Enabled Robots in the Real World
Joonkyung Kim, Wenxi Chen, Davood Soleymanzadeh +9
The integration of foundation models (FMs) into robotics has accelerated real-world deployment, while introducing new safety challenges arising from open-ended semantic reasoning a…
Position: Human-Centric AI Requires a Minimum Viable Level of Human Understanding
Fangzhou Lin, Qianwen Ge, Lingyu Xu +7
AI systems increasingly produce fluent, correct, end-to-end outcomes. Over time, this erodes users' ability to explain, verify, or intervene. We define this divergence as the Capab…
VISTAv2: World Imagination for Indoor Vision-and-Language Navigation
Yanjia Huang, Xianshun Jiang, Xiangbo Gao +2
Vision-and-Language Navigation (VLN) requires agents to follow language instructions while acting in continuous real-world spaces. Prior image imagination based VLN work shows bene…
SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Driving
Xiangbo Gao, Tzu-Hsiang Lin, Ruojing Song +6
Collaborative driving systems leverage vehicle-to-everything (V2X) communication across multiple agents to enhance driving safety and efficiency. Traditional V2X systems take raw s…
FORGE-Tree: Diffusion-Forcing Tree Search for Long-Horizon Robot Manipulation
Yanjia Huang, Shuo Liu, Sheng Liu +4
Long-horizon robot manipulation tasks remain challenging for Vision-Language-Action (VLA) policies due to drift and exposure bias, often denoise the entire trajectory with fixed hy…
AirV2X: Unified Air-Ground Vehicle-to-Everything Collaboration
Xiangbo Gao, Yuheng Wu, Fengze Yang +7
While multi-vehicular collaborative driving demonstrates clear advantages over single-vehicle autonomy, traditional infrastructure-based V2X systems remain constrained by substanti…