{"id":"https://openalex.org/W4413917859","doi":"https://doi.org/10.1109/icra55743.2025.11128298","title":"SAFE-GIL: SAFEty Guided Imitation Learning for Robotic Systems","display_name":"SAFE-GIL: SAFEty Guided Imitation Learning for Robotic Systems","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917859","doi":"https://doi.org/10.1109/icra55743.2025.11128298"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5095762269","display_name":"Yusuf Umut Ciftci","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yusuf Umut Ciftci","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I2800817003","https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113325574","display_name":"Darren Chiu","orcid":null},"institutions":[{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Darren Chiu","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I2800817003","https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101334164","display_name":"Zeyuan Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zeyuan Feng","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077367921","display_name":"Gaurav S. Sukhatme","orcid":"https://orcid.org/0000-0003-2408-474X"},"institutions":[{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gaurav S. Sukhatme","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I2800817003","https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5095762270","display_name":"Somil Bansal","orcid":null},"institutions":[{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Somil Bansal","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I2800817003","https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5095762269"],"corresponding_institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"],"apc_list":null,"apc_paid":null,"fwci":4.3772,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94890154,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3559","last_page":"3566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9675999879837036,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6838235259056091},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6408114433288574},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4754588007926941},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39434558153152466},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.22083812952041626},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.06543347239494324}],"concepts":[{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6838235259056091},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6408114433288574},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4754588007926941},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39434558153152466},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.22083812952041626},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.06543347239494324}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2116364955","https://openalex.org/W2129202194","https://openalex.org/W2560504659","https://openalex.org/W2806163172","https://openalex.org/W2905173465","https://openalex.org/W2962894046","https://openalex.org/W2964040381","https://openalex.org/W2966994213","https://openalex.org/W3003342008","https://openalex.org/W3011042361","https://openalex.org/W3115503695","https://openalex.org/W3115515976","https://openalex.org/W3206190169","https://openalex.org/W3206464427","https://openalex.org/W3207713159","https://openalex.org/W3214220452","https://openalex.org/W4313010279","https://openalex.org/W4315472357","https://openalex.org/W4386076088","https://openalex.org/W4386981938","https://openalex.org/W4387123822","https://openalex.org/W4390905082","https://openalex.org/W4391741307"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2899084033","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W2748952813","https://openalex.org/W1531601525"],"abstract_inverted_index":{"Behavior":[0],"cloning":[1,90,168],"(BC)":[2],"is":[3,213],"a":[4,12,15,50,83,154,186,192],"widely":[5],"used":[6],"approach":[7,139],"in":[8,40,97,135,141,174,195,199],"imitation":[9],"learning":[10,207],"where":[11,203],"robot":[13],"learns":[14],"control":[16],"policy":[17,26,52,115,145],"by":[18],"observing":[19],"an":[20],"expert":[21,106,133],"supervisor.":[22],"However":[23],"the":[24,72,98,105,118,123,148,204],"learned":[25],"can":[27],"make":[28],"errors":[29,116,146,208],"and":[30,170,182,209],"might":[31,120],"lead":[32],"to":[33,86,103,157],"safety":[34,75,196,211],"violations":[35,76,212],"which":[36],"limits":[37],"their":[38],"utility":[39],"safety-critical":[41,108,136],"robotics":[42],"applications.":[43],"While":[44],"prior":[45],"works":[46],"have":[47],"tried":[48],"improving":[49],"BC":[51,73],"via":[53],"additional":[54],"real":[55],"or":[56,62],"synthetic":[57],"action":[58],"labels":[59],"adversarial":[60,95,160],"training":[61,78,129],"runtime":[63],"filtering":[64],"none":[65],"of":[66,206],"them":[67],"explicitly":[68],"focus":[69],"on":[70,185],"reducing":[71],"policy's":[74],"during":[77,100,122,147],"time.":[79,125,150],"We":[80,151,162],"propose":[81],"SAFE-GIL":[82,92,164],"design-time":[84],"method":[85,156,190],"learn":[87],"safety-aware":[88],"behavior":[89,134,167],"policies.":[91],"deliberately":[93],"injects":[94],"disturbance":[96,111],"system":[99,119],"data":[101,201],"collection":[102],"guide":[104],"towards":[107],"states.":[109],"This":[110],"injection":[112],"simulates":[113],"potential":[114],"that":[117,128],"encounter":[121],"test":[124,149],"By":[126],"ensuring":[127],"more":[130],"closely":[131],"replicates":[132],"states":[137],"our":[138,216],"results":[140],"safer":[142],"policies":[143],"despite":[144],"further":[152],"develop":[153],"reachability-based":[155],"compute":[158],"this":[159],"disturbance.":[161],"compare":[163],"with":[165],"various":[166],"techniques":[169],"online":[171],"safety-filtering":[172],"methods":[173],"three":[175],"domains":[176],"autonomous":[177],"ground":[178],"navigation":[179,184],"aircraft":[180],"taxiing":[181],"aerial":[183],"quadrotor":[187],"testbed.":[188],"Our":[189],"demonstrates":[191],"significant":[193],"reduction":[194],"failures":[197],"particularly":[198],"low":[200],"regimes":[202],"likelihood":[205],"therefore":[210],"higher.":[214],"See":[215],"website":[217],"here:":[218],"https://y-u-c.github.io/safegil/.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}