Filter-Aware Fine-Tuning for Safe Humanoid Whole-Body Tracking
cs.RO
Submitted: 2026-10-01
Updated: 2026-10-01
Terminology
Sources
- TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
- SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
- OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
- PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
- Control Barrier Function Based Quadratic Programs for Safety Critical Systems
- A predictive safety filter for learning-based control of constrained nonlinear dynamical systems
- Constrained Whole-Body Tracking for Humanoid Robots
- End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks
- CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions
- Safety Filtering While Training: Improving the Performance and Sample Efficiency of Reinforcement Learning Agents
- Differentiable Safe Controller Design through Control Barrier Functions
- Learning Safety-Guaranteed, Non-Greedy Control Barrier Functions Using Reinforcement Learning
- Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
- SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
- Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
- Safe Whole-Body Task Space Control for Humanoid Robots
- Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions
- Control Barrier Functions for Systems with High Relative Degree
- Control Barrier Function-Based Safety Filters: Characterization of Undesired Equilibria, Unbounded Trajectories, and Limit Cycles
- When are safety filters safe? On minimum phase conditions of control barrier functions
Related papers
- FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
- MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
- RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
- ARC: A Reasoning Recipe for Robot Foundation Models
- HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
- APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies