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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.RO2025
Learning Robot Safety from Sparse Human Feedback using Conformal Prediction
Aaron O. Feldman, Joseph A. Vincent, Maximilian Adang +2
Ensuring robot safety can be challenging; user-defined constraints can miss edge cases, policies can become unsafe even when trained from safe data, and safety can be subjective. T…
cs.RO2023
Guarantees on Robot System Performance Using Stochastic Simulation Rollouts
Joseph A. Vincent, Aaron O. Feldman, Mac Schwager
We provide finite-sample performance guarantees for control policies executed on stochastic robotic systems. Given an open- or closed-loop policy and a finite set of trajectory rol…