Humanoid Safe Stop via Learned Stoppability Value

Source: arXiv cs.LG·2026-09-03 12:00Publish time unverified

arXiv:2609.02358v1 Announce Type: cross Abstract: Humanoid robots responding to emergency stop commands typically execute a fixed maneuver, without reasoning about whether a safe stop is actually feasible from the current state. We cast emergency stopping as a reach-avoid problem and propose Safe-Stop, a task-agnostic framework that pairs a learned stop policy with learned stoppability estimators.