An observation-conditioned reachability network predicts safety value functions online, enabling a controller-agnostic safety filter that adapts to new obstacles and dynamics uncertainty for quadruped navigation.
Autonomous social distancing in urban environ- ments using a quadruped robot,
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One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments
An observation-conditioned reachability network predicts safety value functions online, enabling a controller-agnostic safety filter that adapts to new obstacles and dynamics uncertainty for quadruped navigation.