Author

Joel W. Burdick

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Preprint Oct 2026

Filtering for Liveness: Recurrence via Backup Reachability Control Barrier Functions

Liveness requires a dynamical system to repeatedly accomplish a desired objective over time. In this work, we consider a particular form of liveness known as recurrence, which requires the closed-loop trajectory to regularly revisit a prescribed set, with no more than a specified amount of time between visits. Inspired...

D. van Wijk, Pio Ong, Aaron D. Ames et al. · 0 citations

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

Jul 2026

D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions

D-SafeMPC improves safety, task success rates, and planning efficiency over state-of-the-art baselines, and employs an iterative-projection scheme where an MPC refines the trajectory at each denoising step.

Erdi Sayar, Ersin Daş, Joel W. Burdick et al. · arXiv.org · 0 citations