5 papers
SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation
Chengyue Huang, Khang Vo Huynh, Sebastian Elbaum +3
Robotic manipulation is typically evaluated by task success, but reaching the correct final state does not guarantee safe execution. A robot may succeed despite contamination, prem…
Optimization-Based Robust Permissive Synthesis for Interval MDPs
Khang Vo Huynh, David Parker, Lu Feng
We present an optimization-based framework for robust permissive synthesis for Interval Markov Decision Processes (IMDPs). While robust IMDP controller synthesis typically yields a…
Safe POMDP Online Planning among Dynamic Agents via Adaptive Conformal Prediction
Shili Sheng, Pian Yu, David Parker +2
Online planning for partially observable Markov decision processes (POMDPs) provides efficient techniques for robot decision-making under uncertainty. However, existing methods fal…
Trust-Aware Motion Planning for Human-Robot Collaboration under Distribution Temporal Logic Specifications
Pian Yu, Shuyang Dong, Shili Sheng +2
Recent work has considered trust-aware decision making for human-robot collaboration (HRC) with a focus on model learning. In this paper, we are interested in enabling the HRC syst…
Safe POMDP Online Planning via Shielding
Shili Sheng, David Parker, Lu Feng
Partially observable Markov decision processes (POMDPs) have been widely used in many robotic applications for sequential decision-making under uncertainty. POMDP online planning a…