SafePBDS uses pullback control barrier functions and a task manifold action interface to generate certifiably safe, steerable motions on high-DOF robots from objectives defined on arbitrary geometric spaces.
For each yaw, a top-down pose (palm facing downward) is computed above the object’s bounding-box center
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Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
SafePBDS uses pullback control barrier functions and a task manifold action interface to generate certifiably safe, steerable motions on high-DOF robots from objectives defined on arbitrary geometric spaces.