Robot Safety

Follow this topic Ask about this topic

Momentum

40 papers in the last four weeks, up 400% on the four weeks before. 0.4% of all new papers.

Jul 13Week of Sep 28

Latest papers 161

All topics

CSF: Contextual Safety Filtering for Motion Generators
Oct 8, 2026Lizhi Yang, Yiling Hou, Yao Tang +4Safety Filtering Robot Safety
California Institute of Technology, CA 91125, USA · New York University, NY 10012, USA
FAITH: Feasibility-Aware Safety-Filtered RL for High-Dimensional Systems
Oct 8, 2026Songyuan Zhang, Baljeet Singh, Sarthak Ranjeet Kaingade +2Safe RL Constrained RL
Massachusetts Institute of Technology · Amazon
A Scoping Review and Experimental Study on Reinforcement Learning from Human Feedback for Human-Robot Collaboration
Oct 7, 2026Alexandra Coroiu, Andrea Vogt, Viktor Werbilo +3RL from Human Feedback Human-Robot Collaboration
DLR Institute for AI Safety and Security, Wilhelm-Runge-Straße 10, 89081, Ulm, Germany · DLR Institute for AI Safety and Security, Rathausallee 12, 53757, Sankt Augustin, Germany
Micro Neural Policies for Safe Real-Time Robotic Control
Oct 6, 2026Hongpeng Cao, Riccardo Curcio, Daniele Ottaviano +1Robotic Control Robot Safety
School of Engineering and Design, Technical University of Munich, Boltzmannstraße 15, 85748 Garching b. München, Germany · Department of Computer Science, Sapienza University of Rome, Via Salaria 113, 00198 Rome, Italy
Safe Multi-Robot Collaborative Transport Using Density Functions
Oct 6, 2026Jagannath Prasad Sahoo, Sriram S. K. S. Narayanan, Umesh VaidyaMulti-Robot Systems Whole-Body Robotic Manipulation
Center for Artificial Intelligence and Robotics, Indian Institute of Technology Mandi, India · Department of Mechanical Engineering, Clemson University, Clemson, SC 29630, USA
SC3BF: Shifted Collision Cone Control Barrier Function for Dynamic Obstacle Avoidance
Oct 6, 2026Amin Kashiri, Yasin YazıcıoğluControl Barrier Functions Robot Safety
Department of Electrical and Computer Engineering at Northeastern University, Boston, MA · Departments of Mechanical and Industrial Engineering and Electrical and Computer Engineering at Northeastern University, Boston, MA
CUSP: CUSUM-Governed Survival Hazard Alarms at the Perception Onset for Off-Road Navigation
Oct 6, 2026Inuk Kang, Seung-Woo SeoOff-Road Robot Navigation Robot Safety
Seoul National University
Seeing the Invisible: Physics-Guided Visual Prompting for Temperature- and Radiation-Aware VLA Navigation
Oct 6, 2026Hojoon Son, Fan ZhangSafe Robot Navigation Vision-Language Navigation
George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405 USA
Toward Trustworthy Physical AI for Human Interaction
Oct 5, 2026Niccolò Pagliarani, Maximilian Stölzle, Cosima du Pasquier +6Robotics Robot Safety
The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy. · CSAIL, Massachusetts Institute of Technology, Cambridge, MA, USA. · CHARM Lab, Stanford University, Stanford, CA, USA. +3
Inspect Robots: Evaluating the Capabilities and Safety of Embodied AI
Oct 5, 2026Christopher Leet, Achu Menon, Sravanthi Machcha +12AI Agent Evaluation Robotic Policy Evaluation
Robocurve · University of Southern California · San Jose State University +7
Benchmarking Jailbreak Guardrails for Embodied Agents
Oct 5, 2026Xunguang Wang, Qingyue Wang, Yuguang Zhou +3LLM Guardrails AI Agent Safety
Department of Computer Science and Engineering The Hong Kong University of Science and Technology Clear Water Bay, Kowloon, Hong Kong · School of Information Renmin University of China Beijing, China
What the Guard Misses, the Robot Executes: Implied Harm in VLA Instructions
Oct 5, 2026Sripad Karne, Arjun BalajiLanguage Model Safety Evaluation Robot Safety
Columbia University
End-to-End Safe Social Navigation via Multi-Task Reinforcement Learning and Probabilistic Perception
Oct 5, 2026Tommaso Van Der Meer, Andrea Garulli, Antonio Giannitrapani +3Robotic RL Safe Robot Navigation
Dipartimento di Ingegneria dell’Informazione e Scienze Matematiche, Universit`a di Siena, Siena, Italy · Uninettuno University, Rome, Italy · Visual Intelligence for Transportation (VITA) Lab, ´Ecole Polytechnique F´ed´erale de Lausanne (EPFL), Lausanne, Switzerland
Safe Ergodic Control for Multi-Robot Systems via Quadratic Programming
Oct 4, 2026Yo Toyomoto, Mohamed Elobaid, Bryce L. Ferguson +2Multi-Robot Systems Control Barrier Functions
Electrical and Computer Engineering, King Abdullah University of Science and Technology (KAUST), Thuwal 23955, Saudi Arabia · Thayer School of Engineering at Dartmouth College, Hanover, NH, USA · Department of Computer Science, Dartmouth College, Hanover, NH, USA
Continue, Abort, or Fall: Viability-Aware Policy Selection (VAPS) for Safe Humanoid Acrobatics
Oct 1, 2026Siwei Ju, Lu Liu, Jan Peters +1Robotic Control Humanoid Robot Control
Department of Computer Science, Technical University of Darmstadt, Germany. · Robotics Institute Germany (RIG). · LimX Dynamics. +1
WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation
Oct 1, 2026Samuel Zhen, Siwon Jo, Yanze Zhang +1Control Barrier Functions Robot Safety
Department of Computer Science and Engineering, Texas A&M University, College Station, TX 77843, USA. · GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA. · Department of Computer Science, University of Illinois Chicago, Chicago, IL 60607, USA.
Social-WM: Safety-Aware Latent World Models for Robot Social Navigation
Sep 30, 2026Zhihao Zheng, Mooi Choo ChuahWorld Models for Robotics World Model-Based Planning
Computer Science and Engineering department, P.C. Rossin College of Engineering and Applied Science, Lehigh University, Bethlehem, PA 18015, USA.
Multi-Link Safety Filtering for VLA Policies Around Moving Hazards
Sep 30, 2026Yatharth Agarwal, Vijay RaghunathanRobot Safety Safety Filtering
School of Electrical and Computer Engineering Purdue University, West Lafayette, IN, USA
Neuro-Symbolic Predicate Learning for Semantic Safe Robot Control
Sep 30, 2026Zihan Ye, Jiayi Liu, Puze Liu +4Robotic Control Robotics
TU Darmstadt · AIML group · Hessian AI +5
RoboAssist: Interactive Human-Humanoid Planning for Long-Horizon Surgical Assistance
Sep 30, 2026Jingwei Jia, Keyu Zhou, Jiewei Wang +7Robot Safety Human-Robot Collaboration
Hangzhou Dianzi University, China. · Zhejiang University, China. · New York University, USA. +1
Refusals That Bend: Measuring and Predicting Task Malleability in Embodied VLM Planners
Sep 30, 2026Leo Y. Lin, Mikhail Kuznetsov, Muslum Ozgur Ozmen +1Robot Safety LLM Safety Evaluation
Purdue University · Amazon · Arizona State University
DODGER: Safety-Guided Reinforcement Learning for Robot Navigation Among Dynamic Obstacles
Sep 30, 2026Sanghyuk Park, Kwanwoo Lee, Taekyung Kim +2RL for Robotics Control Barrier Functions
Department of Intelligence and Information, Seoul National University, Republic of Korea · Department of Robotics, University of Michigan, Ann Arbor, MI, USA · Department of Mechanical Engineering, Yonsei University, Republic of Korea +1
Adversarially Robust Geometric Safety Certificates for Nonholonomic Robots Against Maneuvering Obstacles
Sep 29, 2026Chandan Kumar Sah, Bazeela Banday, Jishnu KeshavanControl Barrier Functions Safe Robot Navigation
Department of Mechanical Engineering, Indian Institute of Science, Bangalore, Karnataka 560012, India
Predictive Safety Curricula for Robust Legged Locomotion
Sep 29, 2026Ivan Ovinnikov, Pascal Sutter, Christian Gehring +1Curriculum RL Robot Safety
ANYbotics AG Zürich, Switzerland
Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation
Sep 29, 2026Giung Lee, Weihang Guo, Lydia E. KavrakiRobot Safety Robotic Manipulation
Department of Computer Science, Rice University, Houston, TX, USA
Distilling Privileged Control Barrier Functions into RGB-Only Safety Filters for Dynamic Visual Navigation
Sep 29, 2026Seungyeon Yoo, Gawon Lee, Seungwoo Jung +2Control Barrier Functions Robotics
Department of Aerospace Engineering, Seoul National University, Seoul, Republic of Korea
Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction
Sep 28, 2026Victor Paredes, Ayonga HereidHumanoid Robot Locomotion Control Barrier Functions
Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA.
Trajectory-Safe Orienteering for Human-Robot Shared Environments
Sep 28, 2026Songqun Gao, Elena Basei, Marco Roveri +2Trajectory Generation Robot Safety
Department of Industrial Engineering, Universit`a di Trento, Trento, Italy. · Interdepartmental Robotics Labs (IDRA), University of Trento, Trento, Italy · Department of Information Engineering and Computer Science, Universit`a di Trento, Trento, Italy.
Predictive Semantic Safety: From Visual Physical Reasoning to Safety-Critical Control
Sep 28, 2026Taekyung Kim, Salem Fradi, Yanning Dai +2Robotic Control Safety-Critical Control
Department of Robotics, University of Michigan, Ann Arbor, MI 48109, USA · Center of Excellence in Generative AI, King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia. · Dalle Molle Institute for Artificial Intelligence Research (IDSIA), Switzerland. +2
CrossSafe: Towards Cross-Embodiment Latent Safety Filters
Sep 24, 2026Ihab Tabbara, Yuxuan Yang, Hussein SibaiReachability Analysis Cross-Embodiment Robot Learning
Department of Computer Science and Engineering, Washington University in St. Louis, St. Louis, MO, USA

Oct 8, 2026, cs.ROJ/K move · Enter open · S save

CSF: Contextual Safety Filtering for Motion Generators

Lizhi Yang, Yiling Hou, Yao Tang, Junheng Li+3

California Institute of Technology, CA 91125, USA · New York University, NY 10012, USA

Safety Filtering Robot Safety Safe Motion Planning Human Motion Generation

Open paper AskPDF arXiv

Text-conditioned motion generators produce trackable whole-body motion, but they have no notion of scene-dependent safety: the same action may target an object or a person. Existing safeguards either inspect the prompt, require labeled motion data, or enforce geometric constraints; therefore, they do not directly account for how scene context changes a motion's meaning. We introduce contextual safety filtering (CSF), a training-free filter that grounds natural-language safety rules in safe and unsafe reference trajectories produced by the generator. For each active rule, safe and unsafe reference trajectories define an affine safety value that a safe reference tracking CBF-QP enforces. Across four pretrained generators with different architectures, CSF activates the intended rules in all explicit and scene-triggered unsafe cases and reduces the danger-event rate by up to 90%, while preserving 88-100% of benign motions. We demonstrate the complete system on a real-world Unitree G1, where it successfully prevents unsafe motions in a variety of scenarios, including interactions with humans and objects.

Momentum

Related topics

Latest papers 161