Cover Image

Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Cai, Wenqi, Abanes, John, Evangeliou, Nikolaos, Tzes, Anthony
Format:	Preprint
Published:	2026
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion
by: Cai, Wenqi, et al.
Published: (2026)

RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
by: Rayyan, Omar, et al.
Published: (2024)

Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions
by: Chaikalis, Dimitris, et al.
Published: (2023)

SLAM-based Safe Indoor Exploration Strategy
by: Mostafa, Omar, et al.
Published: (2025)

SafeFlow: Safe Robot Motion Planning with Flow Matching via Control Barrier Functions
by: Dai, Xiaobing, et al.
Published: (2025)

Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions
by: Mestres, Pol, et al.
Published: (2024)

Deep Equivariant Multi-Agent Control Barrier Functions
by: Bousias, Nikolaos, et al.
Published: (2025)

Safe Multi-agent Satellite Servicing with Control Barrier Functions
by: Parikh, Deep, et al.
Published: (2025)

A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions
by: Janwani, Neil C., et al.
Published: (2023)

Safe Collective Control under Noisy Inputs and Competing Constraints via Non-Smooth Barrier Functions
by: Enwerem, Clinton, et al.
Published: (2023)

Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control
by: Safari, Amirsaeid, et al.
Published: (2026)

Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
by: Yang, Shuo, et al.
Published: (2023)

Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions
by: Hamandi, Mahmoud, et al.
Published: (2024)

Safe Sliding Mode Control for Marine Vessels Using High-Order Control Barrier Functions and Fast Projection
by: Syntakas, Spyridon, et al.
Published: (2025)

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
by: Muchacho, Rafael I. Cabral, et al.
Published: (2025)

Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
by: Dickson, Akua K., et al.
Published: (2025)

Gaussian Process Implicit Surfaces as Control Barrier Functions for Safe Robot Navigation
by: Khan, Mouhyemen, et al.
Published: (2025)

Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions
by: Singh, Aditya, et al.
Published: (2025)

Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
by: Kim, Joonkyung, et al.
Published: (2026)

Control Barrier Functions with Audio Risk Awareness for Robot Safe Navigation on Construction Sites
by: Mootz, Johannes, et al.
Published: (2026)

Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets
by: Paine, Tyler, et al.
Published: (2026)

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

Corridor-based Adaptive Control Barrier and Lyapunov Functions for Safe Mobile Robot Navigation
by: Mohammad, Nicholas, et al.
Published: (2025)

Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction
by: Almubarak, Hassan, et al.
Published: (2025)

Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
by: Peng, Chengyang, et al.
Published: (2024)

Dynamic Log-Gaussian Process Control Barrier Function for Safe Robotic Navigation in Dynamic Environments
by: Yin, Xin, et al.
Published: (2025)

Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
by: Tayal, Manan, et al.
Published: (2023)

Computing Safe Control Inputs using Discrete-Time Matrix Control Barrier Functions via Convex Optimization
by: Usevitch, James, et al.
Published: (2025)

Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems
by: Sharifi, Maryam, et al.
Published: (2024)

Fast, Smooth, and Safe: Implicit Control Barrier Functions through Reach-Avoid Differential Dynamic Programming
by: Kumar, Athindran Ramesh, et al.
Published: (2023)

Safe Neural Control for Non-Affine Control Systems with Differentiable Control Barrier Functions
by: Xiao, Wei, et al.
Published: (2023)

Counter-example guided Imitation Learning of Feedback Controllers from Temporal Logic Specifications
by: Dang, Thao, et al.
Published: (2024)

Safe Decentralized Multi-Agent Control using Black-Box Predictors, Conformal Decision Policies, and Control Barrier Functions
by: Huriot, Sacha, et al.
Published: (2024)

Data-Driven Permissible Safe Control with Barrier Certificates
by: Mazouz, Rayan, et al.
Published: (2024)

Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
by: Forghani, Kimia, et al.
Published: (2025)

A Safe Hybrid Control Framework for Car-like Robot with Guaranteed Global Path-Invariance using a Control Barrier Function
by: Wang, Nan, et al.
Published: (2025)

Risk-Aware Robot Control in Dynamic Environments Using Belief Control Barrier Functions
by: Han, Shaohang, et al.
Published: (2025)

Safety Embedded Adaptive Control Using Barrier States
by: AL-Sunni, Maitham F., et al.
Published: (2025)

Stochastic Neural Control Barrier Functions
by: Zhang, Hongchao, et al.
Published: (2025)

Multi-Constraint Safe Reinforcement Learning via Closed-form Solution for Log-Sum-Exp Approximation of Control Barrier Functions
by: Wang, Chenggang, et al.
Published: (2025)