TAIL-Safe learns a Lipschitz Q-function from visibility, recognizability, and graspability criteria in a Gaussian Splatting twin to define an empirical safe set for IL policies and recovers unsafe actions via Nagumo-inspired gradient ascent.
Lazydagger: Reducing context switching in interactive imitation learning
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TAIL-Safe: Task-Agnostic Safety Monitoring for Imitation Learning Policies
TAIL-Safe learns a Lipschitz Q-function from visibility, recognizability, and graspability criteria in a Gaussian Splatting twin to define an empirical safe set for IL policies and recovers unsafe actions via Nagumo-inspired gradient ascent.