5 papers · 1 filter
Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure
Yiyuan Pan, Hanjiang Hu, Shangtao Li +2
A central challenge in deploying robot policies is inference-time policy steering: redirecting a policy to satisfy natural-language preferences unseen in training, without retraini…
VLESA: Vision-Language Embodied Safety Agent for Human Activity Monitoring
Hanjiang Hu, Yiyuan Pan, Jiaxing Li +5
As AI systems increasingly assist humans in physical tasks, ensuring safety becomes paramount -- physical actions carry immediate and irreversible consequences that digital errors…
Verified Task-Space Motion Planning Under Joint-Space Constraints
Hanjiang Hu, Changliu Liu, Yebin Wang
Reactive task-space planners such as Bug2 operate with fixed Cartesian step sizes and are unaware of the manipulator's joint-angle limits. When the Jacobian is poorly conditioned,…
Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators
Jiaxing Li, Hanjiang Hu, Zhuoyuan Wang +2
Safety critical control of robotic manipulation tasks involving deformable media such as fluids, cloth, and soft objects remains challenging because existing learning based approac…
Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories
Yiyuan Pan, Xusheng Luo, Hanjiang Hu +2
Scaling robot learning to long-horizon tasks remains a formidable challenge. While end-to-end policies often lack the structural priors needed for effective long-term reasoning, tr…