Safety Filters

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11 papers in the last four weeks, up 267% on the four weeks before. 0.1% of all new papers.

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  1. Multi-Link Safety Filtering for VLA Policies Around Moving Hazards

    Sep 30, 2026Yatharth Agarwal, Vijay RaghunathanSafety FiltersHazard

    School of Electrical and Computer Engineering Purdue University, West Lafayette, IN, USA

  2. Distilling Privileged Control Barrier Functions into RGB-Only Safety Filters for Dynamic Visual Navigation

    Sep 29, 2026Seungyeon Yoo, Gawon Lee, Seungwoo Jung +2Obstacle AvoidanceControl Barrier Functions

    Department of Aerospace Engineering, Seoul National University, Seoul, Republic of Korea

  3. Adaptive Safety Filtering for Frozen ACC Policies via Conformal Residual Calibration

    Sep 28, 2026Zhiruo Zhou, Rigaudiere Z. Li, Chen Xiwen +3Safety FiltersResidual Policy

    Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China · Wuhan University of Technology, Wuhan, China · Shanghai Jiao Tong University, Shanghai, China

  4. When World Models Lie: Adaptive Safety Analysis Under Wrong Imaginations

    Sep 28, 2026John Cao, Somil BansalSafety FiltersLatent World Models

    Department of Aeronautics and Astronautics, Stanford University

  5. CrossSafe: Towards Cross-Embodiment Latent Safety Filters

    Sep 24, 2026Ihab Tabbara, Yuxuan Yang, Hussein SibaiCross-Embodiment TransferSafety Filters

    Department of Computer Science and Engineering, Washington University in St. Louis, St. Louis, MO, USA

  6. LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials

    Sep 23, 2026Oswin So, Eric Yu, Chuchu FanSafety FiltersUncertain

    Massachusetts Institute of Technology.

  7. Turning Safety into Competence: Minimally Exploitable Robot Policies via Safety-Filtered Reinforcement Learning

    Sep 23, 2026Ruihan Wu, Rui Yang, Donggeon David Oh +2Safety FiltersRobot Policies

    Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA · Department of Electrical and Computer Engineering, Princeton University, Princeton, NJ 08544, USA

  8. Runtime Safety Filtering for Two-Terminal Hazards in Robotic Battery Recycling

    Sep 17, 2026Yuxin Cao, Wei Song, Xianglin Yang +4Safety FiltersRuntime Safety Filtering

    National University of Singapore, Singapore · Griffith University, Australia · UNSW Canberra, Australia +2

  9. Timely Activation of Safety Filters via One-Step Reachability Expansion

    Sep 15, 2026Javier BorquezSafety FiltersHamilton-Jacobi Reachability

    Universidad de Santiago de Chile Santiago, Chile

  10. ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids

    Sep 14, 2026Gechen Qu, Tong Zhang, Bike Zhang +4Safety FiltersFull-Body Humanoid Control

    University of California, Berkeley · University of California, Los Angeles

  11. Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters

    Sep 14, 2026Chandan Kumar Sah, Jishnu KeshavanControl Barrier FunctionsSafety Filters

    Department of Mechanical Engineering, Indian Institute of Science, Bengaluru 560012, India

  12. Jailbreaking Text-to-Image Models Through Cracks: Navigating Heterogeneous Safety Filters via Multi-Agent Debate

    Sep 1, 2026Kaiyan Wen, Shijie Zhang, Lu Yu +1JailbreaksAttack-Success Rate

    College of Computer Science and Technology, National University of Defense Technology, Changsha 410073, China · Shenzhen MSU-BIT University, Shenzhen, China · City University of Hong Kong, Hong Kong, China

  13. Robust Safety Filtering for Input-Constrained Underactuated Linear Systems

    Aug 11, 2026Muhamad Rausyan FikriSafety FiltersControl Barrier Functions

    Faculty of Engineering and Natural Sciences, Tampere University, 33720 Tampere, Finland

  14. Predictive safety filter enhanced curriculum learning control for efficient vehicle dynamics controller

    Aug 10, 2026Baocong Zhang, Siliang Lu, Chenyang LiVehicle DynamicsSafety Filters

    1Shanghai Jiaotong University, Shanghai, China · 2Bosch Corporate Research, Shanghai, China

  15. Towards General Language-Conditioned Latent Safety Filters

    Jul 31, 2026Ihab Tabbara, Yuxuan Yang, Hussein SibaiSafety FiltersRobot Systems

    Department of Computer Science and Engineering, Washington University in St. Louis, MO 63130, USA

  16. MROPE: A Multi-Robot Safe Cooperative Strategy via combined Predictive Safety Filters and Ellipse-based Constraint Compression

    Jul 31, 2026Alice Rosetti, Lorenzo Pichierri, Domenico Cappello +2Unmanned Aerial Vehicle SwarmsMulti-Robot Systems

    are with the Department of Electrical, Electronic and Information Engineering, Alma Mater Studiorum - Università di Bologna, Bologna, Italy. · are with Leonardo S.p.a., Leonardo Innovation Labs, Rome, Italy.

  17. Old Tricks, New Models: How Simple Image Transformations Break Modern AI-based Content Moderation

    Jul 30, 2026Marco Alecci, Francesco Marchiori, Iyiola Emmanuel Olatunji +2Content ModerationLarge Language Model Safety

    Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg · Department of Mathematics, University of Padua, Padua, Italy

  18. End-to-End Learning of Safe Optimal Feedback Control in High Dimensions with Control Barrier Function Layers

    Jul 22, 2026Xingjian Li, Kelvin Kan, Deepanshu Verma +3Control Barrier FunctionsSafety Filters

    UT Austin · UCLA · Clemson University +1

  19. Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradation

    Jul 10, 2026Alex Zongo, Peng WeiMulti-UavSafety Filters

    Department of Mechanical and Aerospace Engineering · George Washington University · Washington, D.C., USA

  20. FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight

    Jul 1, 2026Tscholl Dario, Nakka Yashwanth Kumar, Gunter BrianQuadrotorSafety Filters

  21. TRACE: Trajectory-Based Safety Patch Learning for LLM Post-Training Realignment

    Jun 26, 2026Changyue Li, Jiaming He, Youliang Yuan +4Safety AlignmentSupervised Finetuning

    The Chinese University of Hong Kong, Shenzhen · Ant Group · Lero the Research Ireland Centre for Software, University of Limerick

  22. Stop Early, Spend Less: Hidden-State Probes as a Practical Recipe for Streaming Moderation of LLM Outputs

    Jun 9, 2026Huizhen Shu, Xuying Li, Piao XueLarge Language Model SafetyToken-Level Uncertainty

    ModelOneAI · yunshanai

  23. Who Earns the Safety? Intervention-Aware Quantum Predictive Control with Safety Attribution

    Jun 8, 2026Yifan WangSafety FiltersModel Predictive Control

    Department of Mechanical Engineering, McGill University Montréal, QC H3A 2T7, Canada

  24. Your Model Already Knows: Attention-Guided Safety Filter for Vision-Language-Action Models

    Jun 8, 2026Seongbin Park, Fan Zhang, Baharan Mirzasoleiman +2Safety FiltersCollision Avoidance

    University of California Los Angeles United States

  25. Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering

    Jun 5, 2026Aditya Shirwatkar, Sebastian Sanokowski, Shishir Kolathaya +2Safety FiltersAgile Locomotion

    Robert Bosch Center for Cyber Physical Systems, Indian Institute of Science, Bangalore, India · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany · Department of Computer Science & Automation, Indian Institute of Science, Bangalore, India +2

  26. VLESA: Vision-Language Embodied Safety Agent for Human Activity Monitoring

    Jun 2, 2026Hanjiang Hu, Yiyuan Pan, Jiaxing Li +5Action PredictionSafety Filters

    Carnegie Mellon University · Harvard University · Mitsubishi Electric Research Laboratories

  27. Permissive Safety Through Trusted Inference: Verifiable Belief-Space Neural Safety Filters for Assured Interactive Robotics

    Jun 1, 2026Haimin HuSafety FiltersAI Trustworthiness

    Department of Computer Science, Johns Hopkins University, USA

  28. Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control

    Jun 1, 2026Dawei Zhang, Nuo Chen, Shuo Liu +2Control Barrier FunctionsObstacle Avoidance

    Division of Systems Engineering, Boston University, United States · Department of Electrical and Computer Engineering at Texas A&M University, United States · Department of Mechanical Engineering, Boston University, United States

  29. Autopilot-Preserving Residual Q-Learning with HJB-Inspired Finite-Action Risk Filtering for Fixed-Wing UAV Command Supervision

    May 31, 2026Mehmet Iscan, Batuhan TemizResidual PolicyUnmanned Aerial Vehicles

    PythaLab, Yildiz Technical University, Istanbul, Turkey · Autopilot Systems Chief Engineer, Turkish Aerospace (TUSAŞ), Ankara, Turkey

  30. Time-To-Reach Separation and Safety Filtering for Safe, Fair, and Efficient Multi-Agent Coordination

    May 20, 2026Matthew Low, Jasmine Jerry Aloor, Victoria Marie Tuck +2Air Traffic ControlIntelligent Transportation

    Department of Electrical Engineering and Computer Sciences, University of California, Berkeley · Department of Aeronautics and Astronautics, Massachusetts Institute of Technology · GRASP Laboratory, University of Pennsylvania +1

  31. Adversarial Stress Testing of SPARK Humanoid Safety Filters

    May 18, 2026Saurav Ghosh, Abdou Sow, Luke ZhangSafety FiltersStress Testing

    aDepartment of Computer Science and Engineering, Washington University in St. Louis, Missouri, United States

  32. Beyond Safety Filtering: Control Barrier Function-Informed Reinforcement Learning for Connected and Automated Vehicles

    May 16, 2026Jianye Xu, Bassam AlrifaeeControl Barrier FunctionsAutomated Vehicles

    Department of Computer Science, RWTH Aachen University, Germany · Department of Aerospace Engineering, University of the Bundeswehr Munich, Germany

  33. Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts

    May 15, 2026Taekyung Kim, Hideki Okamoto, Bardh Hoxha +2Safety FiltersControl Barrier Functions

    Department of Robotics, 3Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, 48109, USA · Toyota Motor North America, Research & Development, Ann Arbor, MI, 48105, USA

  34. Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach

    May 13, 2026Daniel M. Cherenson, Haejoon Lee, Taekyung Kim +1Probabilistic SafetySafety Filters

    Department of Robotics, University of Michigan, Ann Arbor, MI, USA

  35. Certified Robustness under Heterogeneous Perturbations via Hybrid Randomized Smoothing

    May 13, 2026Blaise Delattre, Hengyu Wu, Paul Caillon +2SmoothingRobustness Verification

    Department of Computer Science, School of Computing, Institute of Science Tokyo, Tokyo, Japan · PSL University, Paris, France · College of Computing and Data Science, Nanyang Technological University, Singapore

  36. Support-Safe Variational Hybrid Filtering for Contact-Mode and Sparse-Law Recovery

    May 12, 2026Marios Papamichalis, Regina RuaneExtended Kalman FilterSafety Filters

    Human Nature Lab, Yale University, New Haven, CT 06511 · Department of Statistics and Data Science, The Wharton School, University of Pennsylvania, 3733 Spruce Street, Philadelphia, PA 19104-6340

  37. A Closed-Form Dual-Barrier CBF Safety Filter for Holonomic Robots on Incrementally Built Occupancy Grid Maps

    May 6, 2026Himanshu Paudel, Basanta Joshi, Dhirendra Raj Madai +3Control Barrier FunctionsSafety Filters

  38. Disciplined Diffusion: Text-to-Image Diffusion Model against NSFW Generation

    May 1, 2026Chi Zhang, Changjia Zhu, Xiaowen Li +2Text-To-Image Diffusion ModelsSafety Filters

    Bellini College of Artificial Intelligence, Cybersecurity and Computing, University of South Florida, Tampa, FL, USA · Department of Electrical and Computer Engineering, College of Engineering, University of South Florida, Tampa, FL, USA

  39. Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators

    May 1, 2026Jiaxing Li, Hanjiang Hu, Zhuoyuan Wang +2Safety FiltersSafety Constraints

    Carnegie Mellon University, Pittsburgh, PA, USA

  40. Value Functions for Temporal Logic: Optimal Policies and Safety Filters

    May 1, 2026Oswin So, William Sharpless, Sylvia Herbert +1Value FunctionsSignal Temporal Logic

    Massachusetts Institute of Technology, Cambridge, MA 02139, USA · University of California, San Diego, CA 92093, USA

  41. Uncertainty-Aware Predictive Safety Filters for Probabilistic Neural Network Dynamics

    Apr 29, 2026Bernd Frauenknecht, Lukas Kesper, Daniel Mayfrank +2Safety FiltersModel Predictive Control

    Institute for Data Science in Mechanical Engineering (DSME), RWTH Aachen University · Institute of Climate and Energy Systems (ICE), Energy Systems Engineering (ICE-1), Forschungszentrum Jülich GmbH

  42. Dyna-Style Safety Augmented Reinforcement Learning: Staying Safe in the Face of Uncertainty

    Apr 28, 2026Artur Eisele, Bernd Frauenknecht, Friedrich Solowjow +1Safety FiltersUncertainty

    Institute for Data Science in Mechanical Engineering, RWTH Aachen University, Aachen, Germany

  43. Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters

    Apr 23, 2026Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3Control Barrier FunctionsSafety Filters

    Computing and Mathematical Sciences, California Institute of Technology. · Mechanical and Civil Engineering, California Institute of Technology.

  44. Safe Control using Learned Safety Filters and Adaptive Conformal Inference

    Apr 20, 2026Sacha Huriot, Ihab Tabbara, Hussein SibaiSafety FiltersHamilton-Jacobi Reachability

    Computer Science & Engineering Washington University in St. Louis

  45. Safe Deep Reinforcement Learning for Building Heating Control and Demand-side Flexibility

    Apr 17, 2026Colin Jüni, Mina Montazeri, Yi Guo +3Hvac ControlDemand Response

    Urban Energy Systems Laboratory, Swiss Federal Laboratories for Materials Science and Technology, Dubendorf, Switzerland. · School of Automation, Beijing Institute of Technology, Haidian District, Beijing, China · Reliability and Risk Engineering Laboratory, ETH Zürich, CH-8092, Switzerland.

  46. PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner

    Mar 11, 2026Eugene Ku, Yiwei LyuDiffusion PlanningAutonomous Driving

    Department of Computer Science and Engineering, Texas A&M University, College Station, TX, USA

  47. CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions

    Oct 16, 2025Lizhi Yang, Blake Werner, Massimiliano de Sa +1Control Barrier FunctionsSafety Filters

    Caltech MCE

  48. Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters

    Date pendingErina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1Collision AvoidanceSafety Filters

    Department of Mechanical and Civil Engineering and the Department of Aerospace, Caltech, Pasadena, CA 91125, USA