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cs.RO2026
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…
eess.SY2026
Synthesis and Deployment of Maximal Robust Control Barrier Functions through Adversarial Reinforcement Learning
Donggeon David Oh, Duy P. Nguyen, Haimin Hu +1
Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on e…
cs.RO2026
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…