Safe Robot Navigation

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14 papers in the last four weeks, up 367% on the four weeks before. 0.1% of all new papers.

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RT-Safe: Benchmarking Agent Safety in Real-Time Embodied Environment
Oct 7, 2026Tianruo Rose Xu, Jiawei Ren, Yichi Yang +2AI Agent Safety Safe Robot Navigation
Cornell University · University of California, San Diego
No Need to Stop the Fleet: Localized Anomaly Isolation via Dead Zones in AGV Fleets
Oct 6, 2026Natalia Ogorelysheva, Falk Howar, Jian-Jia ChenMulti-Robot Systems Safe Robot Navigation
TU Dortmund University Dortmund, Germany · Fraunhofer Institute for Software and Systems Engineering ISST Dortmund, Germany · RWTH Aachen University Aachen, Germany
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
What the Elevation Map Cannot See: Semantic-Aware Locomotion and Execution-Aware Navigation for Humanoid Robot
Oct 5, 2026Shunyu Yao, Songyang Liu, Dinghao Chen +2Humanoid Robot Locomotion Robot Navigation
Engineering School of Sustainable Infrastructure & Environment, University of Florida, Gainesville, FL 32611, USA · Independent researcher · Department of Computer & Information Science & Engineering, University of Florida, Gainesville, FL 32611, USA
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
Social Navigation for Tour-guide Robot
Oct 4, 2026Vikram Shree, Jose NinoSafe Robot Navigation Social Robot Navigation
Work done at the department of Mechanical and Aerospace Engineering, Cornell University, Ithaca NY (USA). · SiLC Technologies, Monrovia CA (USA). · Draper, Cambridge MA (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.
RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments
Sep 30, 2026Adam Polevoy, Dillon Capalongo, Katherine Tang +3RL for Robotics Nonlinear MPC
Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA. · Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.
Experience-Driven Continual Learning of Terrain Traversability for Quadruped Robots
Sep 30, 2026Luca Bricarello, João Carlos Virgolino Soares, Alberto Sanchez-Delgado +2Continual Robot Learning Safe Robot Navigation
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia, Genoa, Italy. · Universit`a degli Studi di Genova, Genoa, Italy.
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
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
Learning to Drive on Mars: Visual Multimodal Traversability Estimation for Off-World Navigation
Sep 21, 2026Darren Chiu, Cole Wilson, Andrei Tumbar +2Off-Road Robot Navigation Space Robotics
University of Southern California, Los Angeles, CA 90089, USA. · Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA. · Washington State University, Pullman, WA 99164, USA.
Time-Efficient Iterative Learning Planning for Safety-Critical Dynamic Obstacle Avoidance
Sep 17, 2026Zhiyi Chen, Shuli Lv, Chen Min +3Control Barrier Functions Safe Robot Navigation
National Key Laboratory of Autonomous Intelligent Unmanned Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China · School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
SemSafe-3DGS: Semantic Risk-Aware Active Navigation in Uncertain 3D Gaussian Splatting Maps
Sep 16, 2026Amirhossein Mollaei Khass, Athanasios Cosse, Nader Motee3D Gaussian Splatting Robot Navigation
Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, 18015, USA
Learning Safe Humanoid Navigation from Reduced Order Models
Sep 16, 2026William D. Compton, Zachary Olkin, Ryan Bena +1Robot Policy Learning Robot Navigation
Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA · Amazon Safe Autonomy Frontiers (SAF) Lab
TRACER: Adaptive Multi-Robot Social Navigation via Joint Human-Response Prediction and Interaction-Aware Replanning
Sep 16, 2026Lan Hu, Minghui Liwang, Wenbo Zhu +4Multi-Robot Motion Planning Multi-Robot Systems
Guohao School, Tongji University, Shanghai, China · Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Autonomous Intelligent Unmanned Systems, Department of Control Science and Engineering, Tongji University, Shanghai, China
WAVE-Go: World-Model Navigation with Adaptive Execution for Wheel-Legged Robots
Sep 16, 2026Mingyi Li, Ji Li, Zhihao Ouyang +2Visual Navigation World Models for Robotics
Beijing Institute of Technology · The University of Hong Kong · GAC R&D Center +2
VertexCBF: Improving Neural Control Barrier Functions via Vertex-Restricted Control Search
Sep 11, 2026Bojan Derajić, Sebastian Bernhard, Wolfgang HönigControl Barrier Functions Safe Robot Navigation
Technical University of Berlin, Germany · AUMOVIO, Germany · Technical University of Applied Sciences Augsburg, Germany +1
RoughSense: Lightweight Terrain-Induced Rover Vibration Prediction Using Point Clouds and IMU Feedback
Sep 3, 2026Gabriel Manuel Garcia, Stephanie Aravecchia, Miguel Angel Olivares-MendezMobile Robotics Safe Robot Navigation
University of Luxembourg, Luxembourg · IRL Georgia Tech-CNRS, Metz, France
GAFT: Geo-Anchored Fine-Tuning for Hazard Identification from Rare Failures
Aug 31, 2026Yanran Xu, Chuanhang Qiu, Yue Wang +2Robot Navigation Vision Foundation Model Adaptation
University of Southampton, Southampton, United Kingdom
CanonNav: Disentangling Navigation Behavior from Camera Geometry in Cross-Platform Visual Navigation
Aug 31, 2026Dong-Wook Kim, Ji-Hoon Hwang, E-In Son +2Visual Navigation Safe Robot Navigation
Seoul National University, Republic of Korea
CoCoNav: Conformal Control for Safe Robot Navigation in Crowds
Aug 7, 2026Cheng Guo, Mingzhe Ni, Zheng Liang +5Constrained Motion Planning Conformal Prediction
Department of Computer Science, The University of Manchester, Manchester, UK. · Human-Robot Interfaces and Interaction Laboratory, Italian Institute of Technology, Genoa, Italy. · Genisom AI, Shanghai, China. +3
SCOPE: Field-of-View-Aware Path Planning in Unknown 3D Environments via Safety-Volume Certification
Aug 5, 2026Junbin Yuan, Muqing Cao, Yunwoo Lee +2Constrained Motion Planning Safe Robot Navigation
Department of Mechanical Engineering at Carnegie Mellon University, Pittsburgh, PA 15213 USA · Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213 USA · Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602 USA
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
Aug 3, 2026Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2Signed Distance Functions Control Barrier Functions
Department of Aerospace Engineering, University of Maryland, College Park, MD 20742, USA · Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA · School of Electrical and Electronic Engineering, Nanyang Technological University, and with M3S, SMART, Singapore +1
Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study
Aug 3, 2026Elizabeth Dietrich, Hanna Krasowski, Emir Cem Gezer +3Reachability Analysis Safe Robot Navigation
University of California, Berkeley · Norwegian University of Science and Technology
BioVLN: A Simulation Platform for Visual Language Navigation in Biomedical Laboratories
Jul 29, 2026Zhe Liu, Quan Lu, Zhaohui Du +7Robotics Simulation Robot Navigation
Key Laboratory of Smart Manufacturing in Energy Chemical Process, MoE, East China University of Science and Technology, Shanghai, China · Department of Computer Science and Engineering, East China University of Science and Technology, Shanghai, China · Department of Laboratory Medicine, Ruijin Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China +1
Safe Learning Predictive Control for Ego-World Robotic Systems
Jul 24, 2026Davide Valenti, Giuseppe NotarstefanoMulti-Agent Control Safe Robot Navigation
Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy
Unified Prediction and Planning via Conflict-Aware Disjoint Parameter Training
Jul 22, 2026Taewon Seo, Seonae Jeon, Giwon Lee +2Multi-Agent Trajectory Prediction Multi-Task Learning
DGIST, Republic of Korea · KAIST, Republic of Korea
EA-Nav: Learning Safe Visual Navigation Policies with Embodiment Awareness
Jul 22, 2026Jialu Zhang, Yong Du, Xianda Guo +6Embodied Navigation Cross-Embodiment Robot Learning
Zhejiang University · Hangzhou, Zhejiang, China · Wuhan University +4

Oct 7, 2026, cs.AIJ/K move · Enter open · S save

RT-Safe: Benchmarking Agent Safety in Real-Time Embodied Environment

Tianruo Rose Xu, Jiawei Ren, Yichi Yang, Zhaoxu Zheng+1

Cornell University · University of California, San Diego

AI Agent Safety Safe Robot Navigation AI Agent Safety Benchmarks Robot Collision Avoidance

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Rapid progress in AI agents has brought growing attention to agent safety, with extensive evaluation focused on digital environments. As agents move into the physical world, embodied safety becomes increasingly important: failures can cause human injury and costly hardware damage. Beyond selecting safe actions, embodied agents must also operate under real-time constraints: the physical world does not pause while an agent reasons. As pedestrians move and vehicles approach during inference, an action that appears safe at observation time may become unsafe before execution. Real-time embodied safety therefore depends on both decision quality and decision latency. We introduce RT-SAFE, a simulated urban benchmark for evaluating embodied-agent safety under real-time constraints. RT-SAFE combines navigation tasks with moving actors, environmental hazards, and traffic rules, while allowing the world to evolve throughout inference and action execution. Across eight VLMs, agents achieve high task completion yet almost never complete safely: in the hardest setting, only 0.7% of episodes finish without a safety event. More strikingly, matched static and real-time evaluations yield task completion rates of 91.3% and 94.1%, respectively, while real-time execution increases collisions by

12.3\times

. These results reveal that standard task success can mask substantial safety failures, and that decision latency itself can become a source of physical risk. Finally, we show that RT-SAFE can support offline RL training and substantially reduce collision rates while achieving strong task completion.

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