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

19 October 2024

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

39 / 39 papers shown

Title
Towards Safe Robot Foundation Models Using Inductive Biases Maximilian Tölle Theo Gruner Daniel Palenicek Tim Schneider Jonas Günster Joe Watson Davide Tateo Puze Liu Jan Peters OffRL AI4CE 63 0 0 15 May 2025
IMPACT: Intelligent Motion Planning with Acceptable Contact Trajectories via Vision-Language Models Yiyang Ling Karan Owalekar Oluwatobiloba Adesanya Erdem Bıyık Daniel Seita 80 2 0 13 Mar 2025
Safety Guardrails for LLM-Enabled Robots Zachary Ravichandran Alexander Robey Vijay Kumar George Pappas Hamed Hassani 109 5 0 10 Mar 2025
Towards Safe Robot Foundation Models Maximilian Tölle Theo Gruner Daniel Palenicek Jonas Günster Puze Liu Joe Watson Davide Tateo Jan Peters OffRL 106 0 0 10 Mar 2025
GPT4Scene: Understand 3D Scenes from Videos with Vision-Language Models Zhangyang Qi Zhixiong Zhang Ye Fang Jiaqi Wang Hengshuang Zhao 187 16 0 02 Jan 2025
APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs Huaxiaoyue Wang Nathaniel Chin Gonzalo Gonzalez-Pumariega Xiangwan Sun Neha Sunkara Maximus Adrian Pace Jeannette Bohg Sanjiban Choudhury 52 5 0 25 Oct 2024
Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models Mike Zhang Kaixian Qu Vaishakh Patil Cesar Cadena Marco Hutter LM&Ro 3DV 106 6 0 23 Sep 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Yongqian Li Ruohan Zhang Li Fei-Fei 121 114 0 03 Sep 2024
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics Wentao Yuan Jiafei Duan Valts Blukis Wilbert Pumacay Ranjay Krishna Adithyavairavan Murali Arsalan Mousavian Dieter Fox LM&Ro 107 66 0 15 Jun 2024
"Task Success" is not Enough: Investigating the Use of Video-Language Models as Behavior Critics for Catching Undesirable Agent Behaviors L. Guan Yifan Zhou Denis Liu Yantian Zha H. B. Amor Subbarao Kambhampati LM&Ro 68 17 0 06 Feb 2024
SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities Boyuan Chen Zhuo Xu Sean Kirmani Brian Ichter Danny Driess Pete Florence Dorsa Sadigh Leonidas Guibas Fei Xia LRM ReLM 75 269 0 22 Jan 2024
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning Yuanyi Zhong Alihusein Kuwajerwala Sacha Morin Krishna Murthy Jatavallabhula Bipasha Sen ... Celso Miguel de Melo Joshua B. Tenenbaum Antonio Torralba Florian Shkurti Liam Paull LM&Ro 109 186 0 28 Sep 2023
Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping Adam Rashid Satvik Sharma Chung Min Kim Justin Kerr Lawrence Yunliang Chen Angjoo Kanazawa Ken Goldberg 112 93 0 14 Sep 2023
The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systems Kai-Chieh Hsu Haimin Hu J. F. Fisac 65 78 0 11 Sep 2023
Language-Conditioned Path Planning Amber Xie Youngwoon Lee Pieter Abbeel Stephen James LM&Ro 98 15 0 31 Aug 2023
SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning Krishan Rana Jesse Haviland Sourav Garg Jad Abou-Chakra Ian Reid Niko Sünderhauf LM&Ro 79 236 0 12 Jul 2023
VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models Wenlong Huang Chen Wang Ruohan Zhang Yunzhu Li Jiajun Wu Li Fei-Fei LM&Ro 118 517 0 12 Jul 2023
OpenMask3D: Open-Vocabulary 3D Instance Segmentation Ayca Takmaz Elisabetta Fedele R. Sumner Marc Pollefeys F. Tombari Francis Engelmann ISeg VLM 81 173 0 23 Jun 2023
Visual Instruction Tuning Haotian Liu Chunyuan Li Qingyang Wu Yong Jae Lee SyDa VLM MLLM 569 4,910 0 17 Apr 2023
Segment Anything A. Kirillov Eric Mintun Nikhila Ravi Hanzi Mao Chloe Rolland ... Spencer Whitehead Alexander C. Berg Wan-Yen Lo Piotr Dollár Ross B. Girshick MLLM VLM 368 7,381 0 05 Apr 2023
3D Semantic Segmentation in the Wild: Learning Generalized Models for Adverse-Condition Point Clouds Aoran Xiao Jiaxing Huang Weihao Xuan Ruijie Ren Kangcheng Liu Dayan Guan Abdulmotaleb El Saddik Shijian Lu Eric P. Xing 88 46 0 03 Apr 2023
GPT-4 Technical Report OpenAI OpenAI OpenAI Josh Achiam Steven Adler Sandhini Agarwal Lama Ahmad ... Shengjia Zhao Tianhao Zheng Juntang Zhuang William Zhuk Barret Zoph LLMAG MLLM 1.5K 14,748 0 15 Mar 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 349 1,231 0 07 Mar 2023
OpenScene: 3D Scene Understanding with Open Vocabularies Songyou Peng Kyle Genova ChiyuMaxJiang Andrea Tagliasacchi Marc Pollefeys Thomas Funkhouser 3DPC VLM 100 366 0 28 Nov 2022
Visual Language Maps for Robot Navigation Chen Huang Oier Mees Andy Zeng Wolfram Burgard LM&Ro 241 367 0 11 Oct 2022
LATTE: LAnguage Trajectory TransformEr A. Bucker Luis F. C. Figueredo Sami Haddadin Ashish Kapoor Shuang Ma Sai H. Vemprala Rogerio Bonatti LM&Ro 107 59 0 04 Aug 2022
Inner Monologue: Embodied Reasoning through Planning with Language Models Wenlong Huang F. Xia Ted Xiao Harris Chan Jacky Liang ... Tomas Jackson Linda Luu Sergey Levine Karol Hausman Brian Ichter LLMAG LM&Ro LRM 134 920 0 12 Jul 2022
Safety-Critical Manipulation for Collision-Free Food Preparation Andrew W. Singletary W. Guffey Tamás G. Molnár Ryan W. Sinnet Aaron D. Ames 61 50 0 02 May 2022
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances Michael Ahn Anthony Brohan Noah Brown Yevgen Chebotar Omar Cortes ... Ted Xiao Peng Xu Sichun Xu Mengyuan Yan Andy Zeng LM&Ro 192 1,984 0 04 Apr 2022
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation Jiawei Chiu Jean-Pierre Sleiman Mayank Mittal Farbod Farshidian Marco Hutter 56 61 0 24 Feb 2022
PriFit: Learning to Fit Primitives Improves Few Shot Point Cloud Segmentation Gopal Sharma Bidya Dash Aruni RoyChowdhury Matheus Gadelha Marios Loizou Liangliang Cao Rui Wang Erik Learned-Miller Subhransu Maji E. Kalogerakis 3DPC 55 13 0 27 Dec 2021
Robust and Accurate Superquadric Recovery: a Probabilistic Approach Weixiao Liu Yuwei Wu Sipu Ruan Gregory Chirikjian 3DPC 32 39 0 29 Nov 2021
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning Lukas Brunke Melissa Greeff Adam W. Hall Zhaocong Yuan Siqi Zhou Jacopo Panerati Angela P. Schoellig OffRL 63 630 0 13 Aug 2021
HybVIO: Pushing the Limits of Real-time Visual-inertial Odometry Otto Seiskari Pekka Rantalankila Arno Solin Jerry Ylilammi Esa Rahtu Arno Solin 87 21 0 22 Jun 2021
Learning Transferable Visual Models From Natural Language Supervision Alec Radford Jong Wook Kim Chris Hallacy Aditya A. Ramesh Gabriel Goh ... Amanda Askell Pamela Mishkin Jack Clark Gretchen Krueger Ilya Sutskever CLIP VLM 972 29,810 0 26 Feb 2021
Language Models are Few-Shot Learners Tom B. Brown Benjamin Mann Nick Ryder Melanie Subbiah Jared Kaplan ... Christopher Berner Sam McCandlish Alec Radford Ilya Sutskever Dario Amodei BDL 880 42,379 0 28 May 2020
Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions Johanna Wald Helisa Dhamo Nassir Navab Federico Tombari 3DV 3DPC 71 219 0 08 Apr 2020
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping Antoni Rosinol Marcus Abate Yun Chang Luca Carlone 63 452 0 06 Oct 2019
Riemannian Motion Policies Nathan D. Ratliff J. Issac Daniel Kappler Stan Birchfield Dieter Fox 81 147 0 09 Jan 2018