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cs.RO2026
Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
Albert Wu, Riccardo Bonalli, Thomas Lew +1
Robotic dexterous manipulation requires continuously reconciling objectives and constraints defined on heterogeneous geometric spaces: a robot controlled on a config…
cs.RO2026
Boundary Sampling to Learn Predictive Safety Filters via Pontryagin's Maximum Principle
James Dallas, Thomas Lew, John Talbot +3
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance…