发表机构
University of Michigan; King Abdullah University of Science and Technology (KAUST); Dalle Molle Institute for Artificial Intelligence Research (IDSIA); Università della Svizzera italiana (USI); Scuola universitaria professionale della Svizzera italiana (SUPSI)（密歇根大学; 阿卜杜拉国王科技大学; 达勒莫尔人工智能研究所; 瑞士意大利语区大学; 瑞士意大利语区应用科学与艺术大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
提出预测性语义安全框架，结合视觉语言模型与共形预测，将物理推理转化为安全控制约束，在MuJoCo实验中达到99.3%的安全率，远超仅用当前几何信息的基线。
AI 中文摘要
物理交互可能产生机器人当前几何环境无法显现的未来危险。我们提出了一种名为预测性语义安全（PSS）的框架，该框架将视觉物理推理与基于备份的安全过滤联系起来。视觉语言模型（VLM）预测物理事件及其发生时间，或直接预测物体位移。显式运动模型将事件假设转换为物体轨迹。分割共形预测联合校准指定物体、观测时间和未来时间的位置误差；几何形状边界将所得位置区域转换为预测的物体占用空间。PSS根据该占用空间评估规定的备份机动，并推导出输入仿射约束，以在机器人动力学和输入限制下最小程度地修改名义输入，同时保持备份可行性。使用Unitree Go1进行的MuJoCo实验考虑了坠落固定装置、冲击驱动的支撑丧失和接触传播。PSS实现了99.3%的安全事件率，而仅使用当前障碍物几何形状的备份控制屏障函数基线仅为43.3%。
英文摘要
Physical interactions can create future hazards that are not apparent from the robot's current geometric surroundings. We present a framework termed Predictive Semantic Safety (PSS), which connects visual physical reasoning to backup-based safety filtering. A vision-language model (VLM) predicts physical events and their timing or directly predicts object displacements. An explicit motion model converts event hypotheses into object trajectories. Split conformal prediction calibrates position errors jointly across specified objects, observation times, and future times; geometric shape bounds convert the resulting position regions into predicted object occupancy. PSS evaluates a prescribed backup maneuver against this occupancy and derives input-affine constraints for minimally modifying the nominal input while preserving backup feasibility under the robot dynamics and input limits. MuJoCo experiments with a Unitree Go1 consider falling fixtures, impact-driven support loss, and contact propagation. PSS achieves a safe episode rate of 99.3%, compared with 43.3% for a Backup Control Barrier Function baseline that only uses current obstacle geometry.
CommentsThe first two authors contributed equally to this work. Project page: https://www.taekyung.me/pss
