Cover Image

Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Brunke, Lukas, Zhang, Yanni, Römer, Ralf, Naimer, Jack, Staykov, Nikola, Zhou, Siqi, Schoellig, Angela P.
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Is Data All That Matters? The Role of Control Frequency for Learning-Based Sampled-Data Control of Uncertain Systems
by: Römer, Ralf, et al.
Published: (2024)

Where Did I Leave My Glasses? Open-Vocabulary Semantic Exploration in Real-World Semi-Static Environments
by: Bogenberger, Benjamin, et al.
Published: (2025)

Addressing Relative Degree Issues in Control Barrier Function Synthesis with Physics-Informed Neural Networks
by: Brunke, Lukas, et al.
Published: (2025)

SQ-CBF: Signed Distance Functions for Numerically Stable Superquadric-Based Safety Filtering
by: Zhao, Haocheng, et al.
Published: (2026)

Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments
by: Qian, Jingxing, et al.
Published: (2024)

Safety Filtering While Training: Improving the Performance and Sample Efficiency of Reinforcement Learning Agents
by: Bejarano, Federico Pizarro, et al.
Published: (2024)

ARMimic: Learning Robotic Manipulation from Passive Human Demonstrations in Augmented Reality
by: Walia, Rohan, et al.
Published: (2025)

Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks
by: Du, Xintong, et al.
Published: (2026)

Improving Drone Racing Performance Through Iterative Learning MPC
by: Zhao, Haocheng, et al.
Published: (2025)

Flying through Moving Gates without Full State Estimation
by: Römer, Ralf, et al.
Published: (2024)

Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments
by: Zhou, Siqi, et al.
Published: (2024)

Preventing Inactive CBF Safety Filters Caused by Invalid Relative Degree Assumptions
by: Brunke, Lukas, et al.
Published: (2024)

Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments
by: Du, Xintong, et al.
Published: (2026)

SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control
by: D'Orazio, Francesco, et al.
Published: (2025)

MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation
by: Sheng, Yu, et al.
Published: (2024)

Diffusion Predictive Control with Constraints
by: Römer, Ralf, et al.
Published: (2024)

SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreography
by: Schuck, Martin, et al.
Published: (2024)

A Modular Framework for Motion Planning using Safe-by-Design Motion Primitives
by: Vukosavljev, Marijan, et al.
Published: (2019)

CRISP -- Compliant ROS2 Controllers for Learning-Based Manipulation Policies and Teleoperation
by: Pro, Daniel San José, et al.
Published: (2025)

Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation
by: Dawood, Murad, et al.
Published: (2023)

Failure Prediction at Runtime for Generative Robot Policies
by: Römer, Ralf, et al.
Published: (2025)

From Demonstrations to Safe Deployment: Path-Consistent Safety Filtering for Diffusion Policies
by: Römer, Ralf, et al.
Published: (2025)

RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots
by: Zhang, Zhang, et al.
Published: (2025)

Practical Considerations for Discrete-Time Implementations of Continuous-Time Control Barrier Function-Based Safety Filters
by: Brunke, Lukas, et al.
Published: (2024)

CLARE: Continual Learning for Vision-Language-Action Models via Autonomous Adapter Routing and Expansion
by: Römer, Ralf, et al.
Published: (2026)

Semantic Scene Segmentation for Robotics
by: Hurtado, Juana Valeria, et al.
Published: (2024)

Deploying SICNav in the Field: Safe and Interactive Crowd Navigation using MPC and Bilevel Optimization
by: Samavi, Sepehr, et al.
Published: (2025)

Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior
by: Burnett, Keenan, et al.
Published: (2024)

SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization
by: Samavi, Sepehr, et al.
Published: (2023)

Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
by: Wu, Albert, et al.
Published: (2026)

SemanticVLA: Semantic-Aligned Sparsification and Enhancement for Efficient Robotic Manipulation
by: Li, Wei, et al.
Published: (2025)

Semantic2D: Enabling Semantic Scene Understanding with 2D Lidar Alone
by: Xie, Zhanteng, et al.
Published: (2024)

Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters
by: Heins, Adam, et al.
Published: (2024)

Sensor Query Schedule and Sensor Noise Covariances for Accuracy-constrained Trajectory Estimation
by: Goudar, Abhishek, et al.
Published: (2026)

Decentralized and Fully Onboard: Range-Aided Cooperative Localization and Navigation on Micro Aerial Vehicles
by: Goudar, Abhishek, et al.
Published: (2026)

Force Push: Robust Single-Point Pushing with Force Feedback
by: Heins, Adam, et al.
Published: (2024)

EWMBench: Evaluating Scene, Motion, and Semantic Quality in Embodied World Models
by: Yue, Hu, et al.
Published: (2025)

LiftNav: Path Planning via Semantic Lifting in TSDF-Guided Gaussian Splatting
by: Schieber, Hannah, et al.
Published: (2026)

Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
by: Deng, Chengyu, et al.
Published: (2026)

Incremental Language Understanding for Online Motion Planning of Robot Manipulators
by: Abrams, Mitchell, et al.
Published: (2025)