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Runtime Safety Filtering for Two-Terminal Hazards in Robotic Battery Recycling

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Runtime safety filters for learned manipulation policies typically define unsafe states as unions of object-wise keep-out regions. This representation can be unnecessarily restrictive for hazards that depend on a joint spatial relation, such as battery recycling, where a conductive payload can short a charged cell only when it approaches both terminals simultaneously. We study runtime filtering for this two-terminal hazard in LIBERO using frozen OpenVLA policies. We factor a runtime filter into three design choices: the predicate structure, its geometric margin, and the fallback action applied

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