{"id":"https://openalex.org/W7160305831","doi":"https://doi.org/10.48550/arxiv.2605.01069","title":"Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators","display_name":"Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators","publication_year":2026,"publication_date":"2026-05-01","ids":{"openalex":"https://openalex.org/W7160305831","doi":"https://doi.org/10.48550/arxiv.2605.01069"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.01069","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01069","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":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.2605.01069","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135297147","display_name":"Jiaxing Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jiaxing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039258932","display_name":"Hanjiang Hu","orcid":"https://orcid.org/0000-0002-5698-5887"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Hanjiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101633421","display_name":"Zhuoyuan Wang","orcid":"https://orcid.org/0000-0002-1360-6218"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhuoyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084147009","display_name":"Yorie Nakahira","orcid":"https://orcid.org/0000-0003-3324-4602"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nakahira, Yorie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135400582","display_name":"Changliu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Changliu","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/T10653","display_name":"Robot Manipulation and Learning","score":0.920799970626831,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.920799970626831,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.029600000008940697,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.01679999940097332,"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/constraint","display_name":"Constraint (computer-aided design)","score":0.5914000272750854},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5734999775886536},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.545799970626831},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5356000065803528},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.48089998960494995},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.461899995803833},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.42730000615119934},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41769999265670776},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.3619000017642975}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6169000267982483},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5914000272750854},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5734999775886536},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.545799970626831},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5356000065803528},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.48089998960494995},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.461899995803833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4343000054359436},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.42730000615119934},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41769999265670776},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39500001072883606},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.3619000017642975},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35839998722076416},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.35280001163482666},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.3296000063419342},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3206999897956848},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28760001063346863},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.2840999960899353},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2831000089645386},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2655999958515167},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.26170000433921814},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.2531000077724457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.01069","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01069","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":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.2605.01069","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01069","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5901950597763062,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Safety":[0],"critical":[1],"control":[2,66,102],"of":[3,34,86,166],"robotic":[4],"manipulation":[5,50,142],"tasks":[6,143],"involving":[7],"deformable":[8,48],"media":[9],"such":[10],"as":[11],"fluids,":[12],"cloth,":[13],"and":[14,91,99,184],"soft":[15],"objects":[16],"remains":[17],"challenging":[18],"because":[19],"existing":[20],"learning":[21],"based":[22],"approaches":[23],"encode":[24],"safety":[25,45,56,107,121,178],"indirectly":[26],"through":[27],"reward":[28,188],"shaping,":[29],"which":[30],"provides":[31],"no":[32],"guarantee":[33],"constraint":[35,42,122,176],"satisfaction":[36],"at":[37,108],"deployment.":[38],"We":[39,135],"present":[40],"a":[41,74,100,115],"driven":[43,177],"online":[44,133],"filter":[46,148],"for":[47],"object":[49],"that":[51,79,105,175],"enforces":[52],"explicit":[53],"task":[54,110],"level":[55,113],"constraints":[57],"in":[58,125,144],"real":[59,131],"time":[60,132],"by":[61,153],"minimally":[62],"modifying":[63],"any":[64],"nominal":[65],"policy.":[67],"Our":[68],"approach":[69],"combines":[70],"two":[71],"key":[72],"components:":[73],"horizon":[75],"agnostic":[76],"neural":[77],"operator":[78],"learns":[80],"the":[81,87,109,126,137,147,164,171],"boundary":[82,101,127],"input":[83,128],"output":[84,112],"mapping":[85],"underlying":[88],"PDE":[89],"dynamics":[90],"generalizes":[92],"across":[93],"variable":[94],"rollout":[95],"lengths":[96],"without":[97],"retraining,":[98],"barrier":[103],"function":[104],"certifies":[106],"relevant":[111],"via":[114],"lightweight":[116],"quadratic":[117],"program.":[118],"The":[119],"resulting":[120],"is":[123,180],"affine":[124],"rate,":[129],"enabling":[130],"filtering.":[134],"evaluate":[136],"proposed":[138],"method":[139],"on":[140],"fluid":[141],"FluidLab,":[145],"where":[146],"improves":[149],"safe":[150,172],"trajectory":[151],"rates":[152],"up":[154],"to":[155,169],"22%":[156],"over":[157],"unfiltered":[158],"base":[159],"policies":[160],"while":[161],"also":[162],"reducing":[163],"number":[165],"steps":[167],"required":[168],"reach":[170],"set,":[173],"demonstrating":[174],"enforcement":[179],"both":[181],"more":[182,185],"reliable":[183],"efficient":[186],"than":[187],"shaping":[189],"approaches.":[190]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-06T00:00:00"}