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cs.RO2025
Semantic-Metric Bayesian Risk Fields: Learning Robot Safety from Human Videos with a VLM Prior
Timothy Chen, Marcus Dominguez-Kuhne, Aiden Swann +2
Humans interpret safety not as a binary signal but as a continuous, context- and spatially-dependent notion of risk. While risk is subjective, humans form rational mental models th…
cs.RO2025
Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation
Chengyang He, Gadiel Sznaier Camps, Xu Liu +2
We present Latent Theory of Mind (LatentToM), a decentralized diffusion policy architecture for collaborative robot manipulation. Our policy allows multiple manipulators with their…
cs.RO2025
Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternatives
Chengyang He, Xu Liu, Gadiel Sznaier Camps +2
Diffusion policies have demonstrated remarkable dexterity and robustness in intricate, high-dimensional robot manipulation tasks, while training from a small number of demonstratio…