Author

Aaron D. Ames

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Preprint Sep 2026

VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies

This work presents Vision-Language-Poisson-Safe Actions (VLPSA), a safety filtering framework that provides full-body safety for VLA policies in cluttered and dynamic environments without retraining, and deploys VLPSA on a Franka FR3 in cluttered scenes with dynamic obstacles and human interference.

Meg Wilkinson, E. Fourney, Joel W. Burdick et al. · 0 citations

Review Aug 2026

Evolution of humanoid locomotion control.

This survey positions humanoid control at a turning point, converging toward a unified paradigm of physics-guided generative intelligence that integrates optimization, learning, and predictive reasoning.

Yan Gu, Guan-Ya Shi, Fan Shi et al. · Science Robotics · 8 citations