Turning Safety into Competence: Minimally Exploitable Robot Policies via Safety-Filtered Reinforcement Learning

arXiv:2609.27312 · cs.RO, cs.AI, cs.LG, cs.SY, eess.SY · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.AI, cs.LG, cs.SY, eess.SY

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://alliance-ai.cs.jhu.edu/s2c

Terminology

• Reinforcement Learning — 15× in this paper · explained in 4 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Action Space — 3× in this paper · explained in 1 episode
• Actor — 3× in this paper · explained in 3 episodes
• Constrained Policy Optimization — 3× in this paper
• Deep Reinforcement Learning — 3× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 3× in this paper · explained in 25 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Generalization — 1× in this paper · explained in 13 episodes

Sources

• Safe Exploration by Solving Early Terminated MDP
• Is Independent Learning All You Need in the StarCraft Multi-Agent Challenge?

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