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cs.RO2026
Dual Stress: Runtime Safety Monitoring for Safety-Constrained MPC Navigation
Jamil Chahine, Wenqi Cai, John Abanes +1
Runtime hazard monitors for autonomous naviga- tion are conventionally built from geometric quantities: predicted clearance, time to collision, and required deceleration. A model-p…
cs.RO2026
Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions
Wenqi Cai, John Abanes, Nikolaos Evangeliou +1
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movement…