Cover Image

Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Bena, Ryan M., Bahati, Gilbert, Werner, Blake, Cosner, Ryan K., Yang, Lizhi, Ames, Aaron D.
Format:	Preprint
Published:	2025
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
by: Bahati, Gilbert, et al.
Published: (2025)

Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
by: Bahati, Gilbert, et al.
Published: (2025)

Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
by: Yamaguchi, Erina, et al.
Published: (2026)

Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
by: Wilkinson, Meg, et al.
Published: (2026)

Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions
by: Yang, Lizhi, et al.
Published: (2026)

CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions
by: Yang, Lizhi, et al.
Published: (2025)

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
by: Yang, Lizhi, et al.
Published: (2025)

Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems
by: Cohen, Max H., et al.
Published: (2024)

Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree
by: Bahati, Gilbert, et al.
Published: (2025)

Probabilistic Control Barrier Functions: Safety in Probability for Discrete-Time Stochastic Systems
by: Mestres, Pol, et al.
Published: (2025)

Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion
by: Werner, Blake, et al.
Published: (2025)

Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions
by: Cosner, Ryan K., et al.
Published: (2024)

Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments
by: Bena, Ryan M., et al.
Published: (2024)

Learning Safe Control via On-the-Fly Bandit Exploration
by: Capone, Alexandre, et al.
Published: (2025)

Stability Margins of CBF-QP Safety Filters: Analysis and Synthesis
by: Mousavi, Shima Sadat, et al.
Published: (2026)

A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
by: Agrawal, Devansh R., et al.
Published: (2024)

Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
by: Kim, Taekyung, et al.
Published: (2026)

Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach
by: Liu, Jinhao, et al.
Published: (2024)

Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions
by: Compton, William D., et al.
Published: (2024)

MPC as a Copilot: A Predictive Filter Framework with Safety and Stability Guarantees
by: Yan, Yunda, et al.
Published: (2026)

Adversarial Stress Testing of SPARK Humanoid Safety Filters
by: Ghosh, Saurav, et al.
Published: (2026)

Maximal Controlled Invariant-MPC: Enhancing Feasibility and Reducing Conservatism through Terminal CBF Constraint in Safety-Critical Control
by: Dokania, Tanmay, et al.
Published: (2026)

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models
by: Yang, Lizhi, et al.
Published: (2025)

Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice
by: Compton, William D., et al.
Published: (2024)

Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
by: Das, Ersin, et al.
Published: (2025)

Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety
by: Das, Ersin, et al.
Published: (2024)

Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models
by: Cohen, Max H., et al.
Published: (2024)

Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
by: Olkin, Zachary, et al.
Published: (2026)

Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks
by: Tan, Xiao, et al.
Published: (2025)

Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation
by: Mestres, Pol, et al.
Published: (2025)

Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints
by: Tan, Xiao, et al.
Published: (2024)

Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties
by: Cohen, Max H., et al.
Published: (2026)

Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet
by: Singletary, Andrew W., et al.
Published: (2026)

Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems
by: Cohen, Max H., et al.
Published: (2025)

A Closed-Form Dual-Barrier CBF Safety Filter for Holonomic Robots on Incrementally Built Occupancy Grid Maps
by: Paudel, Himanshu, et al.
Published: (2026)

Courteous MPC for Autonomous Driving with CBF-inspired Risk Assessment
by: Zhang, Yanze, et al.
Published: (2024)

Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
by: Compton, William D., et al.
Published: (2026)

Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
by: Kim, Taekyung, et al.
Published: (2026)

Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
by: Wang, Hao, et al.
Published: (2026)

Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications
by: Akella, Prithvi, et al.
Published: (2023)