3 papers
cs.RO2026
VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies
Meg Wilkinson, Emily Fourney, Joel W. Burdick +1
Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned policies do not provide safety guarantees for collision avoidance---e…
cs.RO2026
Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety f…
cs.RO2024
Mobile Robot Sensory Coverage in 2-D Environments: An Optimization Approach with Efficiency Bounds
E. Fourney, J. W. Burdick, E. D. Rimon
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find t…