SafeMind: A Risk-Aware Differentiable Control Framework for Adaptive and Safe Quadruped Locomotion

arXiv:2604.09474v1 Announce Type: cross Abstract: Learning-based quadruped controllers achieve impressive agility but typically lack formal safety guarantees under model uncertainty, perception noise, and unstructured contact conditions. We introduce SafeMind, a differentiable stochastic safety-control framework that unifies probabilistic Control Barrier Functions with semantic context understanding and meta-adaptive risk calibration. SafeMind explicitly models epistemic and aleatoric uncertaint