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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
Robust Conformal CBF and CLF Controllers via Iterative Po...
Omid Mirzaeedodangeh, Eliot Shekhtman, Nikolai Matni, Lars Linde · 2026-06-14 · via cs.RO updates on arXiv.org

Conformal prediction (CP) has been used to obtain probabilistic bounds on the error between a learned dynamics model and the true but unknown system. Such CP bounds can then be embedded into robust control Lyapunov function (CLF) and control barrier function (CBF) frameworks. However, such an approach does not retain stability/safety guarantees because of the distribution shift between the closed-loop trajectory distribution under the deployed CLF/CBF policy and the trajectory distribution from which the CP bound and its guarantees were derived. To address this issue, we propose an episodic framework that iteratively updates the robust conformal CLF/CBF policy while maintaining stability/safety guarantees across episodes. We achieve this by (1) using adversarially robust conformal prediction, and (2) quantifying a distribution shift budget that allows us to control how much the model error can increase across policy updates. This distribution shift budget is derived via a closed-loop trajectory sensitivity analysis, yielding an implicit and an explicit update rule for the CP bound. We analyze convergence of our algorithm, which we demonstrate on three case studies. To the best of our knowledge, these are the first results that provide stability/safety guarantees for robust conformal CBF/CLF policies.