3 papers
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.LG2025
Conformal Safety Monitoring for Flight Testing: A Case Study in Data-Driven Safety Learning
Aaron O. Feldman, D. Isaiah Harp, Joseph Duncan +1
We develop a data-driven approach for runtime safety monitoring in flight testing, where pilots perform maneuvers on aircraft with uncertain parameters. Because safety violations c…
cs.CV2025
SketchPlan: Diffusion Based Drone Planning From Human Sketches
Sixten Norelius, Aaron O. Feldman, Mac Schwager
We propose SketchPlan, a diffusion-based planner that interprets 2D hand-drawn sketches over depth images to generate 3D flight paths for drone navigation. SketchPlan comprises two…