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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Permissive Safety Through Trusted Inference: Verifiable B...
Haimin Hu · 2026-06-02 · via cs.RO updates on arXiv.org

Autonomous robots that interact with people must make safe and efficient decisions under human-induced uncertainty, such as their preferences, goals, competency, and willingness to cooperate. Safety filters are a popular approach for ensuring safety in interactive robotics, since their modular design separates safety from performance, allowing robots to operate safely around people with minimal impact on task efficiency. While traditional safety filters typically operate only in the physical space, neglecting the robot's ability to learn and adapt online, the recently proposed belief-space safety filter (BeliefSF) reasons about robot safety in closed-loop with runtime inference that actively reduces the robot's uncertainty online, thereby reducing conservativeness in filtering. However, providing formal safety guarantees for robots deploying BeliefSF remains a significant challenge due to errors in runtime inference and neural approximation of safety filters required to handle the high dimensionality of belief spaces. In this paper, we propose an algorithmic approach to certify high-probability safety of BeliefSF using conformal prediction, while explicitly accounting for the reliability of the robot's runtime inference module. Our method leverages the structure of belief-space safety filtering by focusing verification on a region where inference is expected to be reliable. It preserves the simplicity and sample complexity of standard conformal prediction, yet can certify a substantially less conservative safety filter. Through a simulated human-vehicle interaction benchmark, we show that our approach verifies a significantly more permissive belief-space safety filter than a standard conformal prediction baseline.