Hamilton-Jacobi reachability constructs safety certificates for specified dynamics and safety constraints, tying each certificate to the deployment context for which it is synthesized. We ask whether a single certificate can instead represent a family of context-dependent safety problems and be queried across deploymen...
Ali Fuat Şahin, Yunus Yazoglu, John Talbot et al.· 0 citations
Hybrid dynamical systems provide a powerful modeling framework for robotic systems, particularly in contact-rich environments. However, ensuring safety and performance in such systems remains challenging due to the intricate coupling between continuous dynamics and discrete mode transitions. In this work, we extend cla...
Javier Borquez, Shuang Peng, Somil Bansal· The international journal of...· 0 citations
Reasoning-enabled VLA policies expose chain-of-thought (CoT) traces that appear to explain and guide their actions, creating a potential interface for runtime safety through reasoning monitoring and correction. In this work, we define and operationalize two evaluation axes for assessing when this interface can improve...
Sathwik Karnik, J. Lee, Aryaman Gupta et al.· 0 citations
World models offer a powerful substrate for safety reasoning in high-dimensional robotic systems, but they are also fallible: their predictions can be biased, miscalibrated, or confidently wrong. This creates a central challenge for latent-space safety filters, which often learn Hamilton-Jacobi safety value functions o...
This work proposes a discrete-time neural reachability framework for control-disturbance-affine systems that learns backward reachable tubes (BRTs) and backward reach-avoid tubes (BRATs) through Bellman-Isaacs value propagation, and exploits the bang-bang structure of optimal safety interventions to construct approxima...
Ze-Yuan Feng, Ali Fuat Şahin, Santiago Thorup et al.· 1 citation
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