Abstract
Robot motion planning in everyday environments must satisfy hard geometric constraints while accounting for context-dependent semantic risk. We present a foundation-model-guided, topology-aware semantic risk field that extends manipulation safety beyond collision avoidance. For each manipulated-object/scene-object pair, a foundation model provides six directional risk weights and a pair-specific spatial decay scale. The method combines these priors with voxelized 3D scene geometry using topology-aware shielding and geodesic spatial decay. A GPU-parallel backend batches object-level distance and risk computations to construct a dense 3D field that serves as a modular cost for downstream motion planning. We evaluate the field's shielding behavior under full and partial barriers and compare its 3D workspace representation with a pixel-wise semantic-prior baseline. Across three household simulation scenarios, trajectories optimized with the proposed field have lower semantic exposure than collision-only trajectories under the same geometric constraints. We also evaluate the computational practicality and reliability of the supporting pipeline. Together, these results support the proposed field as a practical topology-aware semantic cost representation for manipulation planning beyond collision avoidance.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Lee, G., Guo, W., & Kavraki, L. E. (2026). Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation. https://omanscience.com/en/articles/foundation-model-guided-topology-aware-semantic-risk-fields-for-manipulation
MLA 9
Lee, Giung, et al. "Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation." https://omanscience.com/en/articles/foundation-model-guided-topology-aware-semantic-risk-fields-for-manipulation.
Chicago (author–date)
Lee, Giung, Weihang Guo, and Lydia E. Kavraki. 2026. "Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation." https://omanscience.com/en/articles/foundation-model-guided-topology-aware-semantic-risk-fields-for-manipulation.
Harvard
Lee, G., Guo, W. and Kavraki, L. E. (2026) 'Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation', Available at: https://omanscience.com/en/articles/foundation-model-guided-topology-aware-semantic-risk-fields-for-manipulation.
Vancouver
Lee G, Guo W, Kavraki LE. Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation. https://omanscience.com/en/articles/foundation-model-guided-topology-aware-semantic-risk-fields-for-manipulation
IEEE
G. Lee, W. Guo, and L. E. Kavraki, "Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation," https://omanscience.com/en/articles/foundation-model-guided-topology-aware-semantic-risk-fields-for-manipulation.