4 papers · 1 filter
Winning a Won Game: Strict Reach-Avoid-Stay Control Barrier Functions for High-Dimensional Black-Box Systems
Donggeon David Oh, Duy P. Nguyen, Gongkai Yuan +3
Robots must complete their tasks and maintain the achieved outcomes while avoiding safety failures at all times. Strict reach-avoid-stay (sRAS) formalizes this requirement: safely…
CodeGraphVLP: Code-as-Planner Meets Semantic-Graph State for Non-Markovian Vision-Language-Action Models
Khoa Vo, Sieu Tran, Taisei Hanyu +8
Vision-Language-Action (VLA) models promise generalist robot manipulation, but are typically trained and deployed as short-horizon policies that assume the latest observation is su…
MAGICS: Adversarial RL with Minimax Actors Guided by Implicit Critic Stackelberg for Convergent Neural Synthesis of Robot Safety
Justin Wang, Haimin Hu, Duy Phuong Nguyen +1
While robust optimal control theory provides a rigorous framework to compute robot control policies that are provably safe, it struggles to scale to high-dimensional problems, lead…
Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination
Duy P. Nguyen, Kai-Chieh Hsu, Wenhao Yu +2
Despite the impressive recent advances in learning-based robot control, ensuring robustness to out-of-distribution conditions remains an open challenge. Safety filters can, in prin…