{"paper":{"title":"Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Bardh Hoxha, Dimitra Panagou, Georgios Fainekos, Hideki Okamoto, Taekyung Kim","submitted_at":"2026-05-15T19:45:52Z","abstract_excerpt":"Safety-critical autonomy in unstructured environments poses significant challenges for online safety certification under evolving constraints. We propose Policy Library Control Barrier Function~(PL-CBF), a runtime safety filter that evaluates a library of fallback policies via parallel finite-horizon rollouts, selects the least invasive safe mode, and enforces safety by solving a quadratic program that minimally modifies a nominal policy. We provide a theoretical analysis based on a finite-horizon language metric over closed-loop behaviors, characterizing policy-library coverage requirements f"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16588","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.16588/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T19:21:56.838057Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T18:33:26.609010Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"0ff8c317b9a40763b9f81f10924ae922514919c34b7ad8b2904cce2f5ae12355"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}