4 papers · 1 filter
Progress Probes : Lightweight Runtime Monitoring for Vision-Language-Action Models
Atiksh Bhardwaj, Edward W. Duan, Junwon Seo +4
Vision-Language-Action (VLA) models can perform diverse manipulation tasks directly from visual observations and natural language instructions, but they remain prone to mistakes an…
Modeling Latent Disturbances for Robust Decision-Making in World Models
Junwon Seo, Andrea Bajcsy
In this paper, we study robust decision-making in the latent space of world models (WMs). Robust optimization is a mathematical framework where, given explicitly specified dynamics…
AnySafe: Adapting Latent Safety Filters at Runtime via Safety Constraint Parameterization in the Latent Space
Sankalp Agrawal, Junwon Seo, Kensuke Nakamura +2
Recent works have shown that foundational safe control methods, such as Hamilton-Jacobi (HJ) reachability analysis, can be applied in the latent space of world models. While this e…
Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures
Junwon Seo, Kensuke Nakamura, Andrea Bajcsy
Recent advances in generative world models have enabled classical safe control methods, such as Hamilton-Jacobi (HJ) reachability, to generalize to complex robotic systems operatin…