A single Hamilton-Jacobi safety filter conditioned on language constraints reduces violations in simulated pick-and-place, wiping, and stacking, with partial transfer to unseen constraint instances.
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Towards General Language-Conditioned Latent Safety Filters
A single Hamilton-Jacobi safety filter conditioned on language constraints reduces violations in simulated pick-and-place, wiping, and stacking, with partial transfer to unseen constraint instances.