{"id":"https://openalex.org/W4408711093","doi":"https://doi.org/10.1109/lra.2025.3553046","title":"Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards","display_name":"Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards","publication_year":2025,"publication_date":"2025-03-21","ids":{"openalex":"https://openalex.org/W4408711093","doi":"https://doi.org/10.1109/lra.2025.3553046"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3553046","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553046","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3553046","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011540585","display_name":"Lukas Brunke","orcid":"https://orcid.org/0000-0002-9893-9889"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lukas Brunke","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101585668","display_name":"Yanni Zhang","orcid":"https://orcid.org/0000-0001-7675-3947"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yanni Zhang","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029263852","display_name":"Ralf R\u00f6mer","orcid":"https://orcid.org/0000-0003-2283-3161"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ralf R\u00f6mer","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114534311","display_name":"Jack Naimer","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jack Naimer","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114534312","display_name":"Nikola Staykov","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nikola Staykov","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048199386","display_name":"Siqi Zhou","orcid":"https://orcid.org/0000-0001-7240-546X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Siqi Zhou","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Learning Systems and Robotics Lab and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5011540585"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":7.295,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96976453,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"10","issue":"5","first_page":"4810","last_page":"4817"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9520000219345093,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9520000219345093,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9262999892234802,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6019011735916138},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5833197236061096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5423553586006165},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5223192572593689},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4683524966239929},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4591699242591858}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6019011735916138},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5833197236061096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5423553586006165},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5223192572593689},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4683524966239929},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4591699242591858}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3553046","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553046","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3553046","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553046","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W2964040381","https://openalex.org/W2968945909","https://openalex.org/W2998859407","https://openalex.org/W3005807997","https://openalex.org/W3035154952","https://openalex.org/W3090386798","https://openalex.org/W3177198924","https://openalex.org/W3195968524","https://openalex.org/W3212832470","https://openalex.org/W4226166070","https://openalex.org/W4285102174","https://openalex.org/W4286375138","https://openalex.org/W4312649925","https://openalex.org/W4312674065","https://openalex.org/W4383066231","https://openalex.org/W4383108296","https://openalex.org/W4385403811","https://openalex.org/W4386065742","https://openalex.org/W4387123822","https://openalex.org/W4390719155","https://openalex.org/W4390874575","https://openalex.org/W4391741307","https://openalex.org/W4399469378","https://openalex.org/W4401414715","https://openalex.org/W4402716288","https://openalex.org/W6748202546","https://openalex.org/W6778883912","https://openalex.org/W6791353385","https://openalex.org/W6810211731","https://openalex.org/W6839928859","https://openalex.org/W6851592950","https://openalex.org/W6854061876","https://openalex.org/W6854164357","https://openalex.org/W6854929498","https://openalex.org/W6856465723","https://openalex.org/W6856840598","https://openalex.org/W6861646084","https://openalex.org/W6870056212","https://openalex.org/W6872771759","https://openalex.org/W6873585746","https://openalex.org/W6873915799","https://openalex.org/W6874037563","https://openalex.org/W6875817521","https://openalex.org/W6928181538"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Ensuring":[0],"safe":[1,83,170,225],"interactions":[2],"in":[3,58,185,195,205],"human-centric":[4],"environments":[5],"requires":[6],"robots":[7,66],"to":[8,12,52,67,105,111,157,169,218],"understand":[9],"and":[10,61,73,120,122,128,147,189],"adhere":[11],"constraints":[13,114,125],"recognized":[14],"by":[15],"humans":[16],"as":[17,33,48],"\u201ccommon":[18],"sense\u201d":[19],"(e.g.,":[20,115,126],"\u201c<italic":[21,39],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[22,40],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">moving":[23],"a":[24,29,42,69,100,140,173,196],"cup":[25,43],"of":[26,44,72,143,153],"water":[27,35,45],"above":[28],"laptop":[30],"is":[31,46,89],"unsafe":[32,47,116,160,164],"the":[34,144,149,180],"may":[36],"spill</i>\u201d":[37],"or":[38],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">rotating":[41],"it":[49],"can":[50],"lead":[51],"pouring":[53],"its":[54,203],"content</i>\u201d).":[55],"Recent":[56],"advances":[57],"computer":[59],"vision":[60],"machine":[62],"learning":[63],"have":[64],"enabled":[65],"acquire":[68],"semantic":[70,87,101,141,182,208],"understanding":[71,88],"reason":[74],"about":[75],"their":[76],"operating":[77],"environments.":[78],"While":[79],"extensive":[80],"literature":[81],"on":[82],"robot":[84,107,226],"decision-making":[85],"exists,":[86],"rarely":[90],"integrated":[91],"into":[92,221],"these":[93,212],"formulations.":[94],"In":[95,131],"this":[96],"work,":[97],"we":[98,138],"propose":[99],"safety":[102,183,209,222],"filter":[103,184],"framework":[104],"certify":[106],"inputs":[108],"with":[109,190],"respect":[110],"semantically":[112,159,163],"defined":[113,124],"spatial":[117],"relationships,":[118],"behaviors,":[119],"poses)":[121],"geometrically":[123],"environment-collision":[127],"self-collision":[129],"constraints).":[130],"our":[132,215],"proposed":[133,181],"approach,":[134],"given":[135],"perception":[136],"inputs,":[137],"build":[139],"map":[142],"3D":[145],"environment":[146,199],"leverage":[148],"contextual":[150],"reasoning":[151],"capabilities":[152],"large":[154],"language":[155],"models":[156],"infer":[158],"conditions.":[161],"These":[162],"conditions":[165],"are":[166],"then":[167],"mapped":[168],"actions":[171],"through":[172],"control":[174],"barrier":[175],"certification":[176],"formulation.":[177],"We":[178],"demonstrate":[179],"teleoperated":[186],"manipulation":[187],"tasks":[188],"learned":[191],"diffusion":[192],"policies":[193],"applied":[194],"real-world":[197],"kitchen":[198],"that":[200],"further":[201],"showcases":[202],"effectiveness":[204],"addressing":[206],"practical":[207],"constraints.":[210],"Together,":[211],"experiments":[213],"highlight":[214],"approach's":[216],"capability":[217],"integrate":[219],"semantics":[220],"certification,":[223],"enabling":[224],"operation":[227],"beyond":[228],"traditional":[229],"collision":[230],"avoidance.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}