11 papers
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…
Steering Dialogue Dynamics for Robustness against Multi-turn Jailbreaking Attacks
Hanjiang Hu, Alexander Robey, Changliu Liu
Large language models (LLMs) are shown to be vulnerable to jailbreaking attacks where adversarial prompts are designed to elicit harmful responses. While existing defenses effectiv…
Training Task Reasoning LLM Agents for Multi-turn Task Planning via Single-turn Reinforcement Learning
Hanjiang Hu, Changliu Liu, Na Li +1
Large Language Models (LLMs) have demonstrated remarkable capabilities in knowledge acquisition, reasoning, and tool use, making them promising candidates for autonomous agent appl…