Confidence-Modulated Safety Filtering for End-to-End Policies

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Article Summary

End-to-end policies, from task-specific controllers to robot foundation models, learn complex behavior from raw observations but are not guaranteed to remain safe, so they are often wrapped in a safety filter. The resulting system operates under two domains: the filter's operational design domain (ODD), where its assumptions hold and safety is certified, and the policy's competence domain, where it is reliable. Filters typically fix their conservativeness regardless of the policy's competence, trading performance inside the ODD against margin beyond it. We ask whether the policy's confidence should set that level, and propose a filter-agnostic pipeline that modulates it at runtime: inside the ODD, where every setting is safe, confidence buys performance; beyond it, low confidence adds margin, which helps when it flags where the filter's model fails. Preliminary F1TENTH simulations, where this holds, show the modulated filter combining the strengths of permissive and conservative filters.

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