T. Lew

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Robotics & Embodied AI (1)Training Efficiency & Optimization (1)World Models & Planning (1)

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James Dallas (1)John Talbot (1)Jonathan DeCastro (1)Somil Bansal (1)John K. Subosits (1)

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Apr 14, 2026

Boundary Sampling to Learn Predictive Safety Filters via Pontryagin's Maximum Principle

Barely avoiding disaster is the secret sauce: sampling trajectories near safety boundaries, guided by Pontryagin's Maximum Principle, dramatically improves the efficiency of learning safety filters.

James Dallas, T. Lew, John Talbot +3

Robotics & Embodied AI Training Efficiency & Optimization World Models & Planning

T. Lew

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T. Lew

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Papers (1)