2 papers
cs.RO2026
Guided Discovery of New Behaviors using Diffusion Policies
Dian Yu, Sebastian Sanokowski, Majid Khadiv
Diffusion models have become a powerful tool for generative modeling in robotics, with diffusion policies excelling at modeling multimodal action-trajectory distributions. However,…
cs.RO2026
Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering
Aditya Shirwatkar, Sebastian Sanokowski, Shishir Kolathaya +2
Reinforcement learning (RL) policies enable dynamic legged locomotion but lack mechanisms to avoid violations of safety constraints that are absent during training. Large-scale off…