{"id":"https://openalex.org/W7134071232","doi":"https://doi.org/10.48550/arxiv.2603.05497","title":"Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions","display_name":"Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions","publication_year":2026,"publication_date":"2026-03-05","ids":{"openalex":"https://openalex.org/W7134071232","doi":"https://doi.org/10.48550/arxiv.2603.05497"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.05497","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05497","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.05497","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128249005","display_name":"Lizhi Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Lizhi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003148757","display_name":"Ryan M. Bena","orcid":"https://orcid.org/0000-0003-2088-5769"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bena, Ryan M.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106547097","display_name":"Meg Wilkinson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wilkinson, Meg","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004130490","display_name":"Gilbert Bahati","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bahati, Gilbert","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128271815","display_name":"Andy Navarro Brenes","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Brenes, Andy Navarro","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034165188","display_name":"Ryan K. Cosner","orcid":"https://orcid.org/0000-0002-4035-1425"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cosner, Ryan K.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ames, Aaron D.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2770000100135803,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2770000100135803,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.17960000038146973,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.10270000249147415,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5149999856948853},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4810999929904938},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.45820000767707825},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.447299987077713},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4092000126838684},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.3993000090122223},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.35899999737739563},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.33629998564720154}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5465999841690063},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5149999856948853},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4810999929904938},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.447299987077713},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4092000126838684},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3993000090122223},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.35899999737739563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3490000069141388},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.33629998564720154},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.3361000120639801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3343999981880188},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3095000088214874},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.289900004863739},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2849000096321106},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.26089999079704285},{"id":"https://openalex.org/C29825287","wikidata":"https://www.wikidata.org/wiki/Q1427940","display_name":"Warning system","level":2,"score":0.2542000114917755},{"id":"https://openalex.org/C116822448","wikidata":"https://www.wikidata.org/wiki/Q1879301","display_name":"Noise control","level":3,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.05497","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05497","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.05497","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05497","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"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":{"Traditional":[0],"safety-critical":[1,60],"control":[2,6,61,133,137],"methods,":[3],"such":[4],"as":[5],"barrier":[7,138],"functions,":[8],"suffer":[9],"from":[10],"semantic":[11,36,56,119],"blindness,":[12],"exhibiting":[13],"the":[14,27,52,77,97,122,144,150,167],"same":[15],"behavior":[16],"around":[17],"obstacles":[18,165],"regardless":[19],"of":[20,30,100,121,128,149,157],"contextual":[21],"significance.":[22],"This":[23,124],"limitation":[24],"leads":[25],"to":[26,92,109,113,153,174],"uniform":[28],"treatment":[29],"all":[31],"obstacles,":[32],"despite":[33],"their":[34],"differing":[35],"meanings.":[37],"We":[38],"present":[39],"Safe-SAGE":[40],"(Social-Semantic":[41],"Adaptive":[42],"Guidance":[43],"for":[44,163],"Safe":[45],"Engagement),":[46],"a":[47,63,70,130,136],"unified":[48],"framework":[49,170],"that":[50],"bridges":[51],"gap":[53],"between":[54],"high-level":[55],"understanding":[57,120],"and":[58,88,135,146,159],"low-level":[59],"through":[62],"Poisson":[64],"safety":[65,104,125,183],"function":[66,139],"(PSF)":[67],"modulated":[68],"using":[69,117],"Laplace":[71],"guidance":[72,151],"field.":[73],"Our":[74,169],"approach":[75],"perceives":[76],"environment":[78],"by":[79],"fusing":[80],"multi-sensor":[81],"point":[82],"clouds":[83],"with":[84,181],"vision-based":[85],"instance":[86],"segmentation":[87],"persistent":[89],"object":[90],"tracking":[91],"maintain":[93],"up-to-date":[94],"semantics":[95],"beyond":[96],"camera's":[98],"field":[99,152],"view.":[101],"A":[102],"multi-layer":[103],"filter":[105,126],"is":[106],"then":[107],"used":[108],"modulate":[110],"system":[111],"inputs":[112],"achieve":[114],"safe":[115],"navigation":[116],"this":[118],"environment.":[123,168],"consists":[127],"both":[129],"model":[131],"predictive":[132],"layer":[134],"layer.":[140],"Both":[141],"layers":[142],"utilize":[143],"PSF":[145],"flux":[147],"modulation":[148],"introduce":[154],"varying":[155],"levels":[156],"conservatism":[158],"multi-agent":[160],"passing":[161],"norms":[162],"different":[164],"in":[166],"enables":[171],"legged":[172],"robots":[173],"safely":[175],"navigate":[176],"semantically":[177],"rich,":[178],"dynamic":[179],"environments":[180],"context-dependent":[182],"margins.":[184]},"counts_by_year":[],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2026-03-07T00:00:00"}
