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Predictive Relative-Velocity Steering for Safe Robotic Manipulator Teleoperation in Dynamic Environments
Changhao Hu, Zeyi Liu, Songqiao Hu +3
Recent advances in teleoperation have enabled robotic manipulators to perform dexterous, human-arm-like motions. However, human operators may fail to avoid suddenly appearing obsta…
Multimodal Benchmark for Safety Assessment in Industrial Inspection Scenarios
Zeyi Liu, Shuang Liu, Jihai Min +7
With the rapid development of industrial intelligence and unmanned inspection, reliable perception and safety assessment for AI systems in complex and dynamic industrial sites has…
VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layer
Songqiao Hu, Zeyi Liu, Shuang Liu +5
Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in generalizing across diverse robotic manipulation tasks. However, deploying these models in unstruct…
Learning-based Adaptive Safety-Critical Control With Evolving Unsafe Regions
Songqiao Hu, Zidong Wang, Zeyi Liu +2
Control barrier functions (CBFs) provide a principled framework for safety-critical control, but their construction typically requires an explicit and differentiable description of…