Set-based safety verification with latent zonotopes achieves 5/5 collision-free passages in a 16D quadrotor task versus 1/5 for point evaluation by detecting blind spots and adapting per-head margins up to 12x.
Data-driven nonconvex reachability analysis using exact multiplication,
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From Points to Sets: Set-Based Safety Verification in the Latent Space
Set-based safety verification with latent zonotopes achieves 5/5 collision-free passages in a 16D quadrotor task versus 1/5 for point evaluation by detecting blind spots and adapting per-head margins up to 12x.