A post-hoc predictive safety filter adjusts RL policy contact locations for quadruped robots via sampling-based optimization on a full-physics model, reducing safety violations in cluttered environments with minimal performance deviation.
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Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering
A post-hoc predictive safety filter adjusts RL policy contact locations for quadruped robots via sampling-based optimization on a full-physics model, reducing safety violations in cluttered environments with minimal performance deviation.