{"id":"https://openalex.org/W7133211305","doi":"https://doi.org/10.48550/arxiv.2602.23478","title":"Refining Almost-Safe Value Functions on the Fly","display_name":"Refining Almost-Safe Value Functions on the Fly","publication_year":2026,"publication_date":"2026-02-26","ids":{"openalex":"https://openalex.org/W7133211305","doi":"https://doi.org/10.48550/arxiv.2602.23478"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.23478","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011942189","display_name":"Sander Tonkens","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Tonkens, Sander","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127859763","display_name":"Sosuke Kojima","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kojima, Sosuke","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127829201","display_name":"Chenhao Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Chenhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127821279","display_name":"Judy Masri","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Masri, Judy","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5071321544","display_name":"Sylvia Herbert","orcid":"https://orcid.org/0000-0002-3863-8945"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Herbert, Sylvia","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5011942189"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.4397999942302704,"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"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.4397999942302704,"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"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.13689999282360077,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.07150000333786011,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6801999807357788},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5701000094413757},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5281999707221985},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5194000005722046},{"id":"https://openalex.org/keywords/refining","display_name":"Refining (metallurgy)","score":0.46369999647140503},{"id":"https://openalex.org/keywords/monotonic-function","display_name":"Monotonic function","score":0.4341999888420105},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4307999908924103},{"id":"https://openalex.org/keywords/value","display_name":"Value (mathematics)","score":0.4300999939441681}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6801999807357788},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6216999888420105},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5701000094413757},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5281999707221985},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5194000005722046},{"id":"https://openalex.org/C60044698","wikidata":"https://www.wikidata.org/wiki/Q1283324","display_name":"Refining (metallurgy)","level":2,"score":0.46369999647140503},{"id":"https://openalex.org/C72169020","wikidata":"https://www.wikidata.org/wiki/Q194404","display_name":"Monotonic function","level":2,"score":0.4341999888420105},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4307999908924103},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.4300999939441681},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.385699987411499},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.34950000047683716},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.33390000462532043},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.313400000333786},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28200000524520874},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.27059999108314514},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2696000039577484},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2621999979019165},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.2540000081062317},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.2529999911785126}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.23478","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.23478","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.23478","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.23478","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Control":[0],"Barrier":[1],"Functions":[2],"(CBFs)":[3],"are":[4],"a":[5,22,29,104,164],"powerful":[6],"tool":[7],"for":[8,18,32,65],"ensuring":[9],"robotic":[10],"safety,":[11],"but":[12],"designing":[13],"or":[14,75],"learning":[15],"valid":[16],"CBFs":[17],"complex":[19],"systems":[20],"is":[21,41],"significant":[23],"challenge.":[24],"While":[25],"Hamilton-Jacobi":[26],"Reachability":[27],"provides":[28],"formal":[30],"method":[31],"synthesizing":[33],"safe":[34,105],"value":[35,106,130],"functions,":[36],"it":[37],"scales":[38],"poorly":[39],"and":[40,59,108,133,142,159],"typically":[42],"performed":[43],"offline,":[44],"limiting":[45],"its":[46,86],"applicability":[47],"in":[48,126,172],"dynamic":[49],"environments.":[50],"This":[51],"paper":[52],"bridges":[53],"the":[54,101],"gap":[55],"between":[56],"offline":[57],"synthesis":[58],"online":[60],"adaptation.":[61,115],"We":[62,83],"introduce":[63],"refineCBF":[64],"refining":[66],"an":[67],"approximate":[68],"CBF":[69],"-":[70,78],"whether":[71],"analytically":[72],"derived,":[73],"learned,":[74],"even":[76],"unsafe":[77],"via":[79],"warm-started":[80],"HJ":[81],"reachability.":[82],"then":[84],"present":[85],"computationally":[87],"efficient":[88],"successor,":[89],"HJ-Patch,":[90],"which":[91],"accelerates":[92],"this":[93],"process":[94],"through":[95],"localized":[96],"updates.":[97],"Both":[98],"methods":[99],"guarantee":[100],"recovery":[102],"of":[103],"function":[107,131],"can":[109,148],"ensure":[110],"monotonic":[111],"safety":[112,171],"improvements":[113],"during":[114],"Our":[116,137],"experiments":[117,138],"validate":[118],"our":[119,146],"framework's":[120],"primary":[121],"contribution:":[122],"in-the-loop,":[123],"real-time":[124],"adaptation,":[125],"simulation":[127],"(with":[128],"detailed":[129],"analysis)":[132],"on":[134,139],"physical":[135],"hardware.":[136],"ground":[140],"vehicles":[141],"quadcopters":[143],"show":[144],"that":[145],"framework":[147],"successfully":[149],"adapt":[150],"to":[151],"sudden":[152],"environmental":[153],"changes,":[154],"such":[155],"as":[156],"new":[157],"obstacles":[158],"unmodeled":[160],"wind":[161],"disturbances,":[162],"providing":[163],"practical":[165],"path":[166],"toward":[167],"deploying":[168],"formally":[169],"guaranteed":[170],"real-world":[173],"settings.":[174]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-03T00:00:00"}