Robust OSCTC framework using ESO for disturbance estimation in task space, robust CBF for safety, and sliding-window conformal prediction for online disturbance bound estimation, demonstrated on 7-DoF Franka arm with mm tracking at 1 kHz.
A tutorial on conformal prediction
3 Pith papers cite this work. Polarity classification is still indexing.
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cs.RO 3years
2026 3verdicts
UNVERDICTED 3representative citing papers
HJ-SafeDMP learns a control barrier value function offline from demonstrations via finite-difference HJ recursion and uses it as a closed-form safety filter on DMP outputs, with conformal prediction for coverage guarantees.
A modular belief-space controller using learned Belief Control Lyapunov Functions for information gathering and conformal-prediction Belief Control Barrier Functions for safety reduces reach-avoid POMDP synthesis to fast quadratic programs.
citing papers explorer
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Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation
Robust OSCTC framework using ESO for disturbance estimation in task space, robust CBF for safety, and sliding-window conformal prediction for online disturbance bound estimation, demonstrated on 7-DoF Franka arm with mm tracking at 1 kHz.
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HJ-SafeDMP: Hamilton-Jacobi Reachability-Guided Dynamic Movement Primitives for Provably Safe Robot Motion
HJ-SafeDMP learns a control barrier value function offline from demonstrations via finite-difference HJ recursion and uses it as a closed-form safety filter on DMP outputs, with conformal prediction for coverage guarantees.
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Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control
A modular belief-space controller using learned Belief Control Lyapunov Functions for information gathering and conformal-prediction Belief Control Barrier Functions for safety reduces reach-avoid POMDP synthesis to fast quadratic programs.