safety security
A Safety Filter Watched the Whole Robot Arm
Five ellipsoids guarded the gripper, wrist and forearm while optical flow tracked a moving hazard.
Summary
Five ellipsoids guarded the gripper, wrist and forearm while optical flow tracked a moving hazard.
The training-free shield wraps five ellipsoids around a robot arm and filters commanded motion through one barrier program. A keep-out ellipsoid is fitted from RGB-D at reset and moved with sparse optical flow, avoiding repeated detection. Across simulation, collision fell from 65.62% to 27.27%; on a physical SO-101 arm, hazards were touched in 3 of 16 shielded episodes versus 11 of 16 unshielded ones. The remaining contacts show risk reduction, not complete protection.
Why it matters
Five ellipsoids guarded the gripper, wrist and forearm while optical flow tracked a moving hazard.
Limits and context
- The remaining contacts show risk reduction, not complete protection.
Key claims
Five ellipsoids guarded the gripper, wrist and forearm while optical flow tracked a moving hazard.
Qualification: The remaining contacts show risk reduction, not complete protection.
Evidence: source-2026-10-01-011
Sources
- arXiv preprint 2609.40007arXiv · primary research
Corrections
No corrections have been recorded for this story.