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This work proposes embodiment-conditioned safety filtering, in which a Hamilton-Jacobi reachability-based value function and its corresponding safety-maximizing policy are shared across robots, and performs Hamilton-Jacobi reachability analysis directly in latent space so that the learned safety concepts can generalize...
This paper investigates language-conditioned safety filtering, in which a Hamilton-Jacobi safety actor and critic are conditioned on language-specified constraints, and provides evidence that language-conditioned safety filters reduce constraint violations and exhibit partial transfer to unseen constraint instances.
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