4 papers
Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees
Jakob Thumm, Marian Frei, Tianle Ni +2
We propose a framework for vision-based human pose estimation and motion prediction that gives conformal prediction guarantees for certifiably safe human-robot collaboration. Our f…
From Demonstrations to Safe Deployment: Path-Consistent Safety Filtering for Diffusion Policies
Ralf Römer, Julian Balletshofer, Jakob Thumm +3
Diffusion policies (DPs) achieve state-of-the-art performance on complex manipulation tasks by learning from large-scale demonstration datasets, often spanning multiple embodiments…
A General Safety Framework for Autonomous Manipulation in Human Environments
Jakob Thumm, Julian Balletshofer, Leonardo Maglanoc +2
Autonomous robots are projected to significantly augment the manual workforce, especially in repetitive and hazardous tasks. For a successful deployment of such robots in human env…
Multi-Objective Causal Bayesian Optimization
Shriya Bhatija, Paul-David Zuercher, Jakob Thumm +1
In decision-making problems, the outcome of an intervention often depends on the causal relationships between system components and is highly costly to evaluate. In such settings,…