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cs.RO2025
How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints
Kensuke Nakamura, Arun L. Bishop, Steven Man +3
Latent safety filters extend Hamilton-Jacobi (HJ) reachability to operate on latent state representations and dynamics learned directly from high-dimensional observations, enabling…
cs.RO2025
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control
Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel +8
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant appr…