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This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation.
Real-time obstacle avoidance for manipulators and mobile robots
Oussama Khatib · 1986
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Collision detection in interactive 3D environments
Gino Van Den Bergen · 2003
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Real-time collision detection
Christer Ericson · 2004
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Reactive sliding-mode algorithm for collision avoidance in robotic systems
Luis Gracia, Fabricio Garelli, and Antonio Sala · 2013
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Teleoperation and beyond for assistive humanoid robots
Michael A. Goodrich, Jacob W. Crandall, and Emilia Barakova · 2013
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Control in a safe set: Addressing safety in human-robot interactions
Changliu Liu and Masayoshi Tomizuka · 2014
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Safety-critical control for dynamical bipedal walking with precise footstep placement
Quan Nguyen and Koushil Sreenath · 2015
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Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation
Ayush Agrawal and Koushil Sreenath · 2017
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Constrained policy optimization
Joshua Achiam, David Held, Aviv Tamar, and Pieter Abbeel · 2017
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Safe model-based reinforcement learning with stability guarantees
Felix Berkenkamp, Matteo Turchetta, Angela Schoellig, and Andreas Krause · 2017
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Safe reinforcement learning via formal methods: Toward safe control through proof and learning
Nathan Fulton and André Platzer · 2018
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Safe control algorithms using energy functions: A unified framework, benchmark, and new directions
Tianhao Wei and Changliu Liu · 2019
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Control barrier functions: Theory and applications
Aaron D Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, and Paulo Tabuada · 2019
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Learning-based model predictive control: Toward safe learning in control
Lukas Hewing, Kim P Wabersich, Marcel Menner, and Melanie N Zeilinger · 2020
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Model-free safe control for zero-violation reinforcement learning
Weiye Zhao, Tairan He, and Changliu Liu · 2021
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Automatic tuning of hyperparameters using bayesian optimization
A Helen Victoria and Ganesh Maragatham · 2021
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Humanoid self-collision avoidance using whole-body control with control barrier functions
Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding, and Sangbae Kim · 2022
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Safe-control-gym: A unified benchmark suite for safe learning-based control and reinforcement learning in robotics
Zhaocong Yuan, Adam W Hall, Siqi Zhou, Lukas Brunke, Melissa Greeff, Jacopo Panerati, and Angela P Schoellig · 2022
Cited alongside, same era.
Safe learning in robotics: From learning-based control to safe reinforcement learning
Lukas Brunke, Melissa Greeff, Adam W Hall, Zhaocong Yuan, Siqi Zhou, Jacopo Panerati, and Angela P Schoellig · 2022
Cited alongside, same era.
Safety gymnasium: A unified safe reinforcement learning benchmark
Jiaming Ji, Borong Zhang, Jiayi Zhou, Xuehai Pan, Weidong Huang, Ruiyang Sun, Yiran Geng, Yifan Zhong, Josef Dai, and Yaodong Yang · 2023
Cited alongside, same era.
Model-free safe reinforcement learning through neural barrier certificate
Yujie Yang, Yuxuan Jiang, Yichen Liu, Jianyu Chen, and Shengbo Eben Li · 2023
Cited alongside, same era.
Safe control with learned certificates: A survey of neural lyapunov, barrier, and contraction methods for robotics and control
Charles Dawson, Sicun Gao, and Chuchu Fan · 2023
Bigym: A demo-driven mobile bi-manual manipulation benchmark
Nikita Chernyadev, Nicholas Backshall, Xiao Ma, Yunfan Lu, Younggyo Seo, and Stephen James · 2024
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Humanplus: Humanoid shadowing and imitation from humans
Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, and Chelsea Finn · 2024
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Expressive whole-body control for humanoid robots
Xuxin Cheng, Yandong Ji, Junming Chen, Ruihan Yang, Ge Yang, and Xiaolong Wang · 2024
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Exbody2: Advanced expressive humanoid whole-body control
Mazeyu Ji, Xuanbin Peng, Fangchen Liu, Jialong Li, Ge Yang, Xuxin Cheng, and Xiaolong Wang · 2024
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Cited alongside, same era.
Teleoperation of humanoid robots: A survey
Kourosh Darvish, Luigi Penco, Joao Ramos, Rafael Cisneros, Jerry Pratt, Eiichi Yoshida, Serena Ivaldi, and Daniele Pucci · 2023
Cited alongside, same era.
Text2motion: From natural language instructions to feasible plans
Kevin Lin, Christopher Agia, Toki Migimatsu, Marco Pavone, and Jeannette Bohg · 2023
Cited alongside, same era.
Control barrier function toolbox: An extensible framework for provable safety
Andrew Schoer, Helena Teixeira-Dasilva, Christian So, Makai Mann, and Roberto Tron · 2024
Cited alongside, same era.
Real-time safe bipedal robot navigation using linear discrete control barrier functions
Chengyang Peng, Victor Paredes, Guillermo A Castillo, and Ayonga Hereid · 2024
Cited alongside, same era.
Whole-body dynamic collision avoidance with time-varying control barrier functions
Jihao Huang, Xuemin Chi, Zhitao Liu, and Hongye Su · 2024
Cited alongside, same era.
Safe whole-body task space control for humanoid robots
Victor C. Paredes and Ayonga Hereid · 2024
Cited alongside, same era.
Armor: Egocentric perception for humanoid robot collision avoidance and motion planning
Daehwa Kim, Mario Srouji, Chen Chen, and Jian Zhang · 2024
Cited alongside, same era.
Ziwen Zhuang, Shenzhe Yao, and Hang Zhao · 2024
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Wococo: Learning whole-body humanoid control with sequential contacts
Chong Zhang, Wenli Xiao, Tairan He, and Guanya Shi · 2024
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Safe control of quadruped in varying dynamics via safety index adaptation
Kai S Yun, Rui Chen, Chase Dunaway, John M Dolan, and Changliu Liu · 2024
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A robotic teleoperation system enhanced by augmented reality for natural human–robot interaction
Xingchao Wang, Shuqi Guo, Zijian Xu, Zheyuan Zhang, Zhenglong Sun, and Yangsheng Xu · 2024
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Armada: Augmented reality for robot manipulation and robot-free data acquisition
Nataliya Nechyporenko, Ryan Hoque, Christopher Webb, Mouli Sivapurapu, and Jian Zhang · 2024
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Sirui Chen, Chen Wang, Kaden Nguyen, Li Fei-Fei, and C. Karen Liu · 2024
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Constraint-conditioned policy optimization for versatile safe reinforcement learning
Yihang Yao, Zuxin Liu, Zhepeng Cen, Jiacheng Zhu, Wenhao Yu, Tingnan Zhang, and Ding Zhao · 2024
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A framework for formal verification of robot kinematics
Guojun Xie, Huanhuan Yang, and Gang Chen · 2024
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Dexhub and dart: Towards internet scale robot data collection
Younghyo Park, Jagdeep Singh Bhatia, Lars Ankile, and Pulkit Agrawal · 2024
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Meta-control: Automatic model-based control synthesis for heterogeneous robot skills
Tianhao Wei, Liqian Ma, Rui Chen, Weiye Zhao, and Changliu Liu · 2024
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Zhaoyuan Gu, Junheng Li, Wenlan Shen, Wenhao Yu, Zhaoming Xie, Stephen McCrory, Xianyi Cheng, Abdulaziz Shamsah, Robert Griffin, C Karen Liu, et al · 2025
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Dexterous safe control for humanoids in cluttered environments via projected safe set algorithm
Rui Chen, Yifan Sun, and Changliu Liu · 2025
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