潜在バリア誘導：生成計画のための階層的安全機構
Latent Barrier Steering: Hierarchical Safety for Generative Planning
流れマッチング生成計画において、行動潜在を安全余裕の大きい方向へ誘導した上で経路空間のCBF補正を残差のみに適用する階層的安全フレームワークを提案し、安全性を保ちつつ目標到達性と補正負担の改善を示した。
著者: Renhao Zhang, Mingzhe Li, Bruno Castro da Silva
分類: cs.RO, cs.CR
原文アブストラクト
We introduce Latent Barrier Steering (LBS), a hierarchical semantic-to-path framework for safe flow-matching-based generative planning. Existing control-barrier-function (CBF) safety filters for diffusion and flow-matching planners act locally on generated samples, either during sampling or after prediction. Such repair is effective for small violations, but can struggle when a new constraint blocks the whole selected behavior mode rather than merely perturbing it locally. LBS decouples behavior selection from path certification through two coordinated interventions: it first steers the generator's behavior latent toward rollouts with larger safety margin, then decodes the steered latent and applies a path-space CBF quadratic program (QP) only for residual violations. We show that latent steering increases the margin available to the path-space corrector, yielding finite-time recovery guarantees and reduced correction burden. Experiments across navigation and robot end-effector planning tasks show that LBS preserves safety while improving goal reaching and reducing correction burden compared with path-level safety filters.