Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis

• URL: http://arxiv.org/abs/2502.00935v2
• Date: Mon, 10 Feb 2025 05:37:06 GMT
• Title: Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis
• Authors: Kensuke Nakamura, Lasse Peters, Andrea Bajcsy,
• Abstract summary: Hamilton-Jacobi (J) reachability is a rigorous framework that enables robots to simultaneously detect unsafe states and generate actions. We propose La-space Safety Filters, a generalization of Hamilton-Jacobi reachability that operates directly on raw observation data.
• Score: 6.267574471145217
• License:
• Abstract: Hamilton-Jacobi (HJ) reachability is a rigorous mathematical framework that enables robots to simultaneously detect unsafe states and generate actions that prevent future failures. While in theory, HJ reachability can synthesize safe controllers for nonlinear systems and nonconvex constraints, in practice, it has been limited to hand-engineered collision-avoidance constraints modeled via low-dimensional state-space representations and first-principles dynamics. In this work, our goal is to generalize safe robot controllers to prevent failures that are hard -- if not impossible -- to write down by hand, but can be intuitively identified from high-dimensional observations: for example, spilling the contents of a bag. We propose Latent Safety Filters, a latent-space generalization of HJ reachability that tractably operates directly on raw observation data (e.g., RGB images) by performing safety analysis in the latent embedding space of a generative world model. This transforms nuanced constraint specification to a classification problem in latent space and enables reasoning about dynamical consequences that are hard to simulate. In simulation and hardware experiments, we use Latent Safety Filters to safeguard arbitrary policies (from generative policies to direct teleoperation) from complex safety hazards, like preventing a Franka Research 3 manipulator from spilling the contents of a bag or toppling cluttered objects.

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