发表机构
National University of Singapore; Griffith University; UNSW Canberra; Southern Cross University; Macquarie University（新加坡国立大学; 格里菲斯大学; 新南威尔士大学堪培拉分校; 南十字星大学; 麦考瑞大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究针对机器人电池回收中的双端子短路危险，比较了运行时安全过滤器的谓词结构、几何裕度和备用策略，发现裕度选择与备用策略比谓词结构更显著影响安全-效用权衡。
AI 中文摘要
针对学习型操作策略的运行时安全过滤器通常将不安全状态定义为基于对象的禁区并集。这种表示对于依赖于联合空间关系的危险（如电池回收）可能过于严格，因为导电负载只有在同时接近带电电池的两个端子时才能使其短路。我们使用冻结的OpenVLA策略研究LIBERO中这种双端子危险的运行时过滤。我们将运行时过滤器分解为三个设计选择：谓词结构、几何裕度以及当指令动作被拒绝时应用的备用动作。我们比较了合取谓词、传统的双位置禁区和两者的组合。对于每个谓词，我们改变其裕度以获得任务成功与残余危险之间的前沿。然后，我们在匹配的工作点上比较四种备用策略：保持、撤退、采样搜索和连续动作屏障投影。在三个工作单元中，三个谓词族在各自裕度上评估后，绘制出几乎相同的安全-效用前沿。相比之下，备用策略的影响要大得多：相对于撤退，保持使任务成功率降低高达0.302，且未减少危险，而两种最小侵入性备用策略则留下明显更多的残余危险。这种排序可迁移到第二个策略和任务套件，而基于撤退的过滤在过滤器可用的间隙存在站立误差时仍然有效，尽管估计负载尺寸中的相关误差比端子位置的较大独立误差更具破坏性。这些结果表明，对于由接近度定义的操作危险，裕度选择和备用策略可能比谓词结构在决定运行时过滤器的安全-效用权衡方面更重要。
英文摘要
Runtime safety filters for learned manipulation policies typically define unsafe states as unions of object-wise keep-out regions. This representation can be unnecessarily restrictive for hazards that depend on a joint spatial relation, such as battery recycling, where a conductive payload can short a charged cell only when it approaches both terminals simultaneously. We study runtime filtering for this two-terminal hazard in LIBERO using frozen OpenVLA policies. We factor a runtime filter into three design choices: the predicate structure, its geometric margin, and the fallback action applied when a commanded action is rejected. We compare a conjunctive predicate, a conventional two-site keep-out, and a composite of the two. For each predicate, we vary its margin to obtain a frontier between task success and residual hazard. We then compare four fallback strategies at matched operating points: holding, retreat, sampled search, and a continuous-action barrier projection. Across three workcells, the three predicate families trace nearly identical safety--utility frontiers once each is evaluated over its own margin. In contrast, the fallback strategy has a substantially larger effect: holding reduces task success by up to 0.302 relative to retreat without reducing hazard, while both minimally invasive fallbacks leave substantially more residual hazard. This ordering transfers to a second policy and task suite, while retreat-based filtering remains effective under standing errors in the clearances available to the filter, although correlated error in the estimated payload size is more damaging than larger independent errors in terminal position. These results show that, for proximity-defined manipulation hazards, margin selection and fallback strategy can matter more than predicate structure in determining the safety--utility trade-off of a runtime filter.
