The safety filter: A unified view of safety-critical control in autonomous systems
Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …
by the expanding reach of robotic technologies. However, the emergence of new …
Online update of safety assurances using confidence-based predictions
K Nakamura, S Bansal - 2023 IEEE International Conference …, 2023 - ieeexplore.ieee.org
Robots such as autonomous vehicles and assistive manipulators are increasingly operating
in dynamic environ-ments and close physical proximity to people. In such scenarios, the …
in dynamic environ-ments and close physical proximity to people. In such scenarios, the …
Learning-aware safety for interactive autonomy
One of the outstanding challenges for the widespread deployment of robotic systems like
autonomous vehicles is ensuring safe interaction with humans without sacrificing efficiency …
autonomous vehicles is ensuring safe interaction with humans without sacrificing efficiency …
Deception game: Closing the safety-learning loop in interactive robot autonomy
An outstanding challenge for the widespread deployment of robotic systems like
autonomous vehicles is ensuring safe interaction with humans without sacrificing …
autonomous vehicles is ensuring safe interaction with humans without sacrificing …
Updating Robot Safety Representations Online from Natural Language Feedback
Robots must operate safely when deployed in novel and human-centered environments, like
homes. Current safe control approaches typically assume that the safety constraints are …
homes. Current safe control approaches typically assume that the safety constraints are …
Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition
A critical task for developing safe autonomous driving stacks is to determine whether an
obstacle is safety-critical, ie, poses an imminent threat to the autonomous vehicle. Our …
obstacle is safety-critical, ie, poses an imminent threat to the autonomous vehicle. Our …
Learning Approximated Maximal Safe Sets via Hypernetworks for MPC-Based Local Motion Planning
This paper presents a novel learning-based approach for online estimation of maximal safe
sets for local motion planning tasks in mobile robotics. We leverage the idea of …
sets for local motion planning tasks in mobile robotics. We leverage the idea of …
Decision boundary learning for safe vision-based navigation via Hamilton-Jacobi reachability analysis and support vector machine
T Toufighi, M Bui, R Shrestha… - 6th Annual Learning for …, 2024 - proceedings.mlr.press
We develop a self-supervised learning method that can predict safe and unsafe high-level
waypoints for robot navigation in the form of a decision boundary given solely a RGB image …
waypoints for robot navigation in the form of a decision boundary given solely a RGB image …
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
Learning-based approaches have recently shown notable success in legged locomotion.
However, these approaches often lack accountability, necessitating empirical tests to …
However, these approaches often lack accountability, necessitating empirical tests to …
Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach
Fast and Safe Tracking (FaSTrack) is a modular framework that provides safety guarantees
while planning and executing trajectories in real time via value functions of Hamilton-Jacobi …
while planning and executing trajectories in real time via value functions of Hamilton-Jacobi …