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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
A Hybrid Partitioning Strategy for Backward Reachability ...
Nicholas Rober, Michael Everett, Songan Zhang, Jonathan P. How · 2022-10-15 · via cs.RO updates on arXiv.org

As neural networks become more integrated into the systems that we depend on for transportation, medicine, and security, it becomes increasingly important that we develop methods to analyze their behavior to ensure that they are safe to use within these contexts. The methods used in this paper seek to certify safety for closed-loop systems with neural network controllers, i.e., neural feedback loops, using backward reachability analysis. Namely, we calculate backprojection (BP) set over-approximations (BPOAs), i.e., sets of states that lead to a given target set that bounds dangerous regions of the state space. The system's safety can then be certified by checking its current state against the BPOAs. While over-approximating BPs is significantly faster than calculating exact BP sets, solving the relaxed problem leads to conservativeness. To combat conservativeness, partitioning strategies can be used to split the problem into a set of sub-problems, each less conservative than the unpartitioned problem. We introduce a hybrid partitioning method that uses both target set partitioning (TSP) and backreachable set partitioning (BRSP) to overcome a lower bound on estimation error that is present when using BRSP. Numerical results demonstrate a near order-of-magnitude reduction in estimation error compared to BRSP or TSP given the same computation time.