AA
Aaron D. Ames
cs.ROcs.SYeess.SYmath.OCcs.LGmath.DScs.AIcs.MAcs.FLCOVID-19
On Valency
published · living versionsW_3uc5cwen·v1 · currentpublished
Safety of layered control systems via control barrier morphisms
with Joe Moeller, Massimiliano de Sa, Paulo Tabuada
1 version
Preprints & journals
284 papers in the corpus · 2007–2026CSF: Contextual Safety Filtering for Motion Generators2610.12467v1 · Lizhi Yang, Yiling Hou, Yao Tang et al.2026 · 0 citationsarXiv
Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach2610.10987v1 · Massimiliano de Sa, Aaron D. Ames2026 · 0 citationsarXiv
HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids2610.08970v1 · An Dang, Arturo Flores Alvarez, Yu-Ming Chen et al.2026 · 0 citationsarXiv
RACER: Residual-Adaptive Closed-Loop Estimation for Sampling-Based Planning in Wheeled-Quadruped Racing2610.07409v1 · Yuxiang Liu, Marla Eisman, Lizhi Yang et al.2026 · 0 citationsarXiv
The Layer Mystery of VLA: An Information-Theoretical Analysis of VLA Latent Interface2609.36118v1 · Yuxiang Liu, Lizhi Yang, Fengze Xie et al.2026 · 0 citationsarXiv
Generate, Track, Improve: Perceptive Multi-Skill Humanoid Locomotion with RL-Fine-Tuned Motion Generators2609.31577v1 · Zachary Olkin, William D. Compton, Aaron D. Ames2026 · 0 citationsarXiv
LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control2609.22075v2 · Jake Gonzales, Arturo Flores Alvarez, Yu-Ming Chen et al.2026 · 0 citationsarXiv
VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies2609.22462v1 · Meg Wilkinson, Emily Fourney, Joel W. Burdick et al.2026 · 0 citationsarXiv
A Recursive CBF Framework for Safety under State Uncertainty2609.18268v1 · Rahal Nanayakkara, Aaron D. Ames, Paulo Tabuada2026 · 0 citationsarXiv
Learning Safe Humanoid Navigation from Reduced Order Models2609.19272v1 · William D. Compton, Zachary Olkin, Ryan Bena et al.2026 · 0 citationsarXiv
Functional Observers for Output-Feedback Safety with High-Order Control Barrier Functions2609.14104v1 · Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames2026 · 0 citationsarXiv
Backup Control Barrier Function Synthesis using Sum-of-Squares Reachability2608.27916v1 · Jungbae Chun, Shima Sadat Mousavi, David E. J. van Wijk et al.2026 · 0 citationsarXiv
Evolution of humanoid locomotion control.42616832 · Gu, Yan, Shi, Guanya, Shi, Fan et al.2026 · 0 citationsScience robotics. 2026;11(117):eaed3973
Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting2608.03116v2 · Sergio A. Esteban, Jason H. K. Siu, Derrick Mach et al.2026 · 0 citationsarXiv
PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball2607.28623v2 · Lizhi Yang, Junheng Li, Aaron D. Ames2026 · 0 citationsarXiv
Robust Adaptive Backup Control Barrier Functions2607.20842v1 · Ersin Das, David E. J. van Wijk, Tamas G. Molnar et al.2026 · 0 citationsarXiv
Safe Stabilizing Linear Feedback: Necessary and Sufficient Conditions, Optimality, and Margins2607.21794v1 · Pol Mestres, Shima Sadat Mousavi, Pio Ong et al.2026 · 0 citationsarXiv
TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes2606.26215v1 · Blake Werner, Ilona Demler, Pietro Perona et al.2026 · 0 citationsarXiv
Stability Analysis in Multi-Constraint Safety Filters for Linear Systems2606.15942v2 · Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames2026 · 0 citationsarXiv
Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation2606.05687v1 · Junheng Li, Liang Wu, Sergio A. Esteban et al.2026 · 0 citationsarXiv
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers2606.06493v4 · Lizhi Yang, Junheng Li, Nehar Poddar et al.2026 · 0 citationsarXiv
Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy2605.15517v1 · William D. Compton, Zachary Olkin, Aaron D. Ames2026 · 0 citationsarXiv
On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control2605.03290v1 · Sergio A. Esteban, Junheng Li, Vince Kurtz et al.2026 · 0 citationsarXiv
Stability of Control Lyapunov Function Guided Reinforcement Learning2605.01978v2 · Zachary Olkin, William D. Compton, Aaron D. Ames2026 · 0 citationsarXiv
Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters2604.21189v1 · Meg Wilkinson, Gilbert Bahati, Ryan M. Bena et al.2026 · 0 citationsarXiv
Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error2604.19893v1 · David E. J. van Wijk, Tamas G. Molnar, Samuel Coogan et al.2026 · 0 citationsarXiv
HALO: Hybrid Auto-encoded Locomotion with Learned Latent Dynamics, Poincaré Maps, and Regions of Attraction2604.18887v1 · Blake Werner, Sergio A. Esteban, Massimiliano De Sa et al.2026 · 0 citationsarXiv
Safety Filtering with an Infinite Number of Constraints2604.15477v1 · Max H. Cohen, Pio Ong, Pol Mestres et al.2026 · 0 citationsarXiv
Probabilistic Control Barrier Functions for Systems with State Estimation Uncertainty using Sub-Gaussian Concentration2604.08831v1 · Kazuya Echigo, David E. J. van Wijk, Pol Mestres et al.2026 · 0 citationsarXiv
Collaborative Altruistic Safety in Coupled Multi-Agent Systems2604.04772v1 · Brooks A. Butler, Xiao Tan, Aaron D. Ames et al.2026 · 0 citationsarXiv
Hybrid Systems as Coalgebras: Lyapunov Morphisms for Zeno Stability2604.05255v1 · Joe Moeller, Aaron D. Ames2026 · 0 citationsarXiv
Stability Margins of CBF-QP Safety Filters: Analysis and Synthesis2604.04234v1 · Shima Sadat Mousavi, Pol Mestres, Aaron D. Ames2026 · 0 citationsarXiv
Feasibility and Explicit Safety Filters for Control Barrier Functions in Linear Systems2604.04235v2 · Shima Sadat Mousavi, Max H. Cohen, Pol Mestres et al.2026 · 0 citationsarXiv
SafeSpace: Aggregating Safe Sets from Backup Control Barrier Functions under Input Constraints2604.03536v1 · Pio Ong, David E. J. van Wijk, Massimiliano de Sa et al.2026 · 0 citationsarXiv
Steering with Contingencies: Combinatorial Stabilization and Reach-Avoid Filters2604.03405v1 · Yana Lishkova, Pio Ong, Sander Tonkens et al.2026 · 0 citationsarXiv
High-Order Matrix Control Barrier Functions: Well-Posedness and Feasibility via Matrix Relative Degree2604.03450v2 · Samuel G. Gessow, Pio Ong, Aaron D. Ames et al.2026 · 0 citationsarXiv
Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet2603.27912v1 · Andrew W. Singletary, Max H. Cohen, Tamas G. Molnar et al.2026 · 0 citationsarXiv
A Duality-Based Optimization Formulation of Safe Control Design with State Uncertainties2603.26999v2 · Xiao Tan, Rahal Nanayakkara, Paulo Tabuada et al.2026 · 0 citationsIEEE Control Systems Letters. 2026 Jun 24
Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running2603.25902v1 · Zachary Olkin, William D. Compton, Ryan M. Bena et al.2026 · 0 citationsarXiv
MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics2603.23995v1 · Junheng Li, Lizhi Yang, Aaron D. Ames2026 · 0 citationsarXiv
Integral Control Barrier Functions with Input Delay: Prediction, Feasibility, and Robustness2603.24566v1 · Adam K. Kiss, Ersin Das, Tamas G. Molnar et al.2026 · 0 citationsarXiv
Topological Obstructions to the Existence of Control Barrier Functions2603.18422v1 · Massimiliano de Sa, Aaron D. Ames2026 · 0 citationsarXiv
Generalizations of Backup Control Barrier Functions: Expansion and Adaptation for Input-Bounded Safety-Critical Control2603.18450v1 · David E. J. van Wijk, Dohyun Lee, Ersin Das et al.2026 · 0 citationsarXiv
Dynamical Properties of Safety Filters for Linear Systems and Affine Control Barrier Functions2603.17401v2 · Pol Mestres, Shima Sadat Mousavi, Aaron D. Ames2026 · 0 citationsarXiv
Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions2603.05497v3 · Lizhi Yang, Ryan M. Bena, Meg Wilkinson et al.2026 · 0 citationsarXiv
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters2603.00338v2 · Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati et al.2026 · 0 citationsarXiv
Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties2602.03691v1 · Max H. Cohen, Pio Ong, Aaron D. Ames2026 · 0 citationsarXiv
MPC: A Parallel-in-horizon and Construction-free NMPC Solver2601.14414v2 · Liang Wu, Bo Yang, Junheng Li et al.2026 · 0 citationsarXiv
From Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints2601.12885v1 · Shima Sadat Mousavi, Xiao Tan, Aaron D. Ames2026 · 2 citationsarXiv
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds2601.06286v1 · Min Dai, William D. Compton, Junheng Li et al.2026 · 0 citationsarXiv
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