{"id":"https://openalex.org/W7151047207","doi":"https://doi.org/10.48550/arxiv.2604.02687","title":"Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination","display_name":"Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination","publication_year":2026,"publication_date":"2026-04-03","ids":{"openalex":"https://openalex.org/W7151047207","doi":"https://doi.org/10.48550/arxiv.2604.02687"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.02687","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02687","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2604.02687","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133040643","display_name":"Minh H\u1ea3o H\u1edbn Nguy\u1ec5n","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nguyen, Minh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133021753","display_name":"Jingqi Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jingqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133020799","display_name":"Gechen Qu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qu, Gechen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133001850","display_name":"Claire J. Tomlin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tomlin, Claire J.","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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.350600004196167,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.350600004196167,"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":0.25429999828338623,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.0778999999165535,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/constraint","display_name":"Constraint (computer-aided design)","score":0.7217000126838684},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6460999846458435},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6410999894142151},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.3935000002384186},{"id":"https://openalex.org/keywords/budget-constraint","display_name":"Budget constraint","score":0.36970001459121704},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.3668999969959259}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7217000126838684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6746000051498413},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6460999846458435},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6410999894142151},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4154999852180481},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.3935000002384186},{"id":"https://openalex.org/C8505890","wikidata":"https://www.wikidata.org/wiki/Q605095","display_name":"Budget constraint","level":2,"score":0.36970001459121704},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3668999969959259},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.3628999888896942},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.3328000009059906},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.3260999917984009},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.29589998722076416},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2696000039577484},{"id":"https://openalex.org/C2775907273","wikidata":"https://www.wikidata.org/wiki/Q7805281","display_name":"Time constraint","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.02687","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02687","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.02687","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02687","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Safe":[0],"multi-agent":[1],"coordination":[2],"in":[3],"uncertain":[4],"environments":[5],"can":[6,81],"benefit":[7],"from":[8,11,44],"learning":[9],"constraints":[10,17,43,84],"other":[12,50],"agents.":[13,51],"Implicitly":[14],"communicating":[15],"safety":[16,30,58,63,105],"through":[18],"actions":[19,48],"is":[20,96,111],"a":[21,99],"promising":[22],"approach,":[23],"allowing":[24],"agents":[25],"to":[26,41,60,68],"coordinate":[27],"and":[28,64,71,85,124],"maintain":[29],"without":[31],"expensive":[32],"communication":[33],"channels.":[34],"This":[35,92],"paper":[36],"introduces":[37],"an":[38],"online":[39],"method":[40,90,102,119],"infer":[42,72,82],"observing":[45],"the":[46,54,107],"safety-filtered":[47],"of":[49],"We":[52,74,114],"approach":[53],"problem":[55],"by":[56],"using":[57],"filters":[59],"ensure":[61],"forward":[62],"exploit":[65],"their":[66],"structure":[67],"work":[69],"backwards":[70],"constraints.":[73],"provide":[75],"sufficient":[76],"conditions":[77],"under":[78],"which":[79],"we":[80],"these":[83],"prove":[86],"that":[87,103],"our":[88,118],"inference":[89,94],"converges.":[91],"constraint":[93,108],"procedure":[95],"coupled":[97],"with":[98,120,127],"decentralized":[100],"planning":[101],"ensures":[104],"when":[106],"activation":[109],"distance":[110],"sufficiently":[112],"large.":[113],"then":[115],"empirically":[116],"validate":[117],"Monte":[121],"Carlo":[122],"simulations":[123],"hardware":[125],"experiments":[126],"quadruped":[128],"robots.":[129]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-07T00:00:00"}