Data-Driven Safety Filter: An Input-Output Perspective
Bibliographic record
Abstract
Implementation of learning-based control remains challenging due to the absence of safety guarantees. Safe control methods have turned to model-based safety filters to address these challenges, but this is paradoxical when the ultimate goal is a model-free, data-driven control solution. Addressing the core question of “Can we ensure the safety of any learning-based algorithm without explicit prediction models and state estimation?” this paper proposes a Data-Driven Safety Filter (DDSF) grounded in Behavioral System Theory (BST). The proposed method needs only a single system trajectory available in an offline dataset to modify unsafe learning inputs to safe inputs. This contribution addresses safe control in the input-output framework and therefore does not require full state measurements or explicit state estimation. Since no explicit model is required, the proposed safe control solution is not affected by unmodeled dynamics and unstructured uncertainty and can provide a safe solution for deterministic Linear Time-Invariant (LTI) systems with unknown time delays. The effectiveness of the proposed DDSF is illustrated in simulation for a high-order six-degree-of-freedom aerial robot and a time-delay adaptive cruise control system.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.006 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".