Donggeon David Oh Justin Lidard Haimin Hu Himani Sinhmar Elle Lazarski Deepak Edakkattil Gopinath Emily S. Sumner Jonathan A. DeCastro Guy Rosman Naomi Ehrich Leonard Jaime Fernández Fisac Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports. 2025 April abs/2504.11717 CoRR https://doi.org/10.48550/arXiv.2504.11717 db/journals/corr/corr2504.html#abs-2504-11717 streams/journals/corr