2 citations · 2 across the 3 of their papers we have counts for
4 papers
WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation
Samuel Zhen, Siwon Jo, Yanze Zhang +1
Vision-language-action (VLA) policies have demonstrated impressive capabilities in generalizable robotic manipulation, but their deployment in the real world remains challenging du…
Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations
Siwon Jo, Yanze Zhang, Yupeng Yang +1
Safe navigation often relies on well-defined conditions based on the shape of robots and obstacles, and can be challenging when they have irregular geometries. While Control Barrie…
Adaptive Deadlock Avoidance for Decentralized Multi-agent Systems via CBF-inspired Risk Measurement
Yanze Zhang, Yiwei Lyu, Siwon Jo +2
Decentralized safe control plays an important role in multi-agent systems given the scalability and robustness without reliance on a central authority. However, without an explicit…
Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention
Wonjong Lee, Joonyeol Sim, Joonkyung Kim +3
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightwe…