Latent safety filters extend Hamilton-Jacobi (HJ) reachability to operate on latent state representations and dynamics learned directly from high-dimensional observations, enabling safe visuo-motor control under hard-to-model constraints. However, existing methods implement "least-restrictive" filtering that discretely switch between nominal and safety policies, potentially undermining the task performance that makes modern visuomotor policies valuable. While reach-ability value functions can, in principle, be adapted to be control barrier functions (CBFs) for smooth optimization-based filtering, we theoretically and empirically show that current latent-space learning methods produce fundamentally incompatible value functions. We identify two sources of incompatibility: First, in HJ reachability, failures are encoded via a "margin function" in latent space, whose sign indicates whether or not a latent is in the constraint set. However, representing the margin function as a classifier yields saturated value functions that exhibit discontinuous jumps. We prove that the value function's Lipschitz constant scales linearly with the margin function's Lipschitz constant, revealing that smooth CBFs require smooth margins. Second, reinforcement learning (RL) approximations trained solely on safety policy data yield inaccurate value estimates for nominal policy actions, precisely where CBF filtering needs them. We propose the LatentCBF, which addresses both challenges through gradient penalties that lead to smooth margin functions without additional labeling, and a value-training procedure that mixes data from both nominal and safety policy distributions. Experiments on simulated benchmarks and hardware with a vision-based manipulation policy demonstrate that LatentCBF enables smooth safety filtering while doubling the task-completion rate over prior switching methods.

Despite the advances in the field of Face Recognition (FR), the precision of these methods is not yet sufficient. To improve the FR performance, this paper proposes a technique to aggregate the outputs of two state-of-the-art (SOTA) deep FR models, namely ArcFace and AdaFace. In our approach, we leverage the transformer attention mechanism to exploit the relationship between different parts of two feature maps. By doing so, we aim to enhance the overall discriminative power of the FR system. One of the challenges in feature aggregation is the effective modeling of both local and global dependencies. Conventional transformers are known for their ability to capture long-range dependencies, but they often struggle with modeling local dependencies accurately. To address this limitation, we augment the self-attention mechanism to capture both local and global dependencies effectively. This allows our model to take advantage of the overlapping receptive fields present in corresponding locations of the feature maps. However, fusing two feature maps from different FR models might introduce redundancies to the face embedding. Since these models often share identical backbone architectures, the resulting feature maps may contain overlapping information, which can mislead the training process. To overcome this problem, we leverage the principle of Information Bottleneck to obtain a maximally informative facial representation. This ensures that the aggregated features retain the most relevant and discriminative information while minimizing redundant or misleading details. To evaluate the effectiveness of our proposed method, we conducted experiments on popular benchmarks and compared our results with state-of-the-art algorithms. The consistent improvement we observed in these benchmarks demonstrates the efficacy of our approach in enhancing FR performance.

We consider the problem of learning a classifier from observed functional data. Here, each data-point takes the form of a single time-series and contains numerous features. Assuming that each such series comes with a binary label, the problem of learning to predict the label of a new coming time-series is considered. Hereto, the notion of {\em margin} underlying the classical support vector machine is extended to the continuous version for such data. The longitudinal support vector machine is also a convex optimization problem and its dual form is derived as well. Empirical results for specified cases with significance tests indicate the efficacy of this innovative algorithm for analyzing such long-term multivariate data.