6 papers
SQ-CBF: Signed Distance Functions for Numerically Stable Superquadric-Based Safety Filtering
Haocheng Zhao, Lukas Brunke, Oliver Lagerquist +2
Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions provide an effective framework for real-time sa…
OS-Harm: A Benchmark for Measuring Safety of Computer Use Agents
Thomas Kuntz, Agatha Duzan, Hao Zhao +4
Computer use agents are LLM-based agents that can directly interact with a graphical user interface, by processing screenshots or accessibility trees. While these systems are gaini…
Improving Drone Racing Performance Through Iterative Learning MPC
Haocheng Zhao, Niklas Schlüter, Lukas Brunke +1
Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model…
Self-adaptive vision-language model for 3D segmentation of pulmonary artery and vein
Xiaotong Guo, Deqian Yang, Dan Wang +6
Accurate segmentation of pulmonary structures iscrucial in clinical diagnosis, disease study, and treatment planning. Significant progress has been made in deep learning-based segm…
ChemSafetyBench: Benchmarking LLM Safety on Chemistry Domain
Haochen Zhao, Xiangru Tang, Ziran Yang +8
The advancement and extensive application of large language models (LLMs) have been remarkable, including their use in scientific research assistance. However, these models often g…
Analytically Exact Quantum Simulation of N-Body Interactions via Untunable Decentralized Hamiltonians for Implementing the Toric Code and Its Modifications
Haochen Zhao, Florian Mintert
We propose a new quantum simulation method for simulating N-body interactions, which are tensor products of N Pauli operators, in an analytically exact manner. This method iterativ…