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 accou …
Underactuated systems with nontrivial geometry are abundant in practical robotic problems. However, little is known about constructive safety-critical control design in the presence of underactuation. In this work, we provide a constructive framework for synthesizing safe control architectures and control barrier funct …
General purpose humanoids require locomotion controllers that are multi-skill, perceptive, dynamic, and robust enough to go anywhere humans can. In this work, we present a two layer locomotion architecture: (1) a perceptive flow matching motion generator plans whole body trajectories from raw depth images while a (2) p …
Safe whole-body control requires coordinating collision avoidance and balance under high-dimensional, nonlinear dynamics--making safety certificates difficult to design and reuse across behaviors. We present LIMBO, a framework for synthesizing a state-action control barrier function and distilling its safety structure …
Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned policies do not provide safety guarantees for collision avoidance---especially in environments outside of training distributions. This work presents Vision-Language-Poisson-Safe Actions (VLPSA), a safety filte …
Research in humanoid robotics has achieved rapid progress in locomotion, and recent results have pushed the boundary on autonomous navigation. We demonstrate that a standard single-stage RL navigation pipeline struggles to scale to multi-level and multi-story terrain, limited by the difficulty of complex humanoid terra …