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fix(approver): reject non-finite values in DeltaLimitApprover to prevent reference state corruption #376

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fix(approver): reject non-finite values in DeltaLimitApprover to prevent reference state corruption #376

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10 changes: 7 additions & 3 deletions src/inspect_robots/approver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -252,14 +252,18 @@ def rewind_reference(store: dict[str, Any], pose: npt.NDArray[np.float64]) -> No
the limiter measures subsequent deltas from the pose that actually ran.
If the limiter has not established a reference, this is a no-op.
"""
if _LAST_APPROVED_KEY in store:
if _LAST_APPROVED_KEY in store and bool(np.all(np.isfinite(pose))):
store[_LAST_APPROVED_KEY] = pose.copy()

def review(self, action: Action, store: dict[str, Any]) -> Action:
"""Limit per-step change, retaining absolute-mode history in trial state."""
data = np.asarray(action.data, dtype=np.float64)
if bool(np.isnan(data).any()):
raise SafetyAbort("DeltaLimitApprover: action contains NaN; refusing to pass it on")
if not bool(np.all(np.isfinite(data))):
raise SafetyAbort(
"DeltaLimitApprover: action contains NaN or non-finite values; "
"refusing to pass it on"
)

if self._absolute:
reference = store.get(_LAST_APPROVED_KEY)
if reference is None:
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10 changes: 10 additions & 0 deletions tests/test_approvers.py
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Expand Up @@ -208,6 +208,16 @@ def test_rewind_reference_uses_the_limiter_store_key() -> None:
assert np.array_equal(reference, np.array([0.3, 0.4]))


def test_delta_limit_approver_rejects_inf() -> None:
approver = DeltaLimitApprover(_abs_space(), max_delta=0.1)
store: dict[str, object] = {}
with pytest.raises(SafetyAbort, match="non-finite"):
approver.review(Action(data=np.array([float("inf"), 0.0])), store)

with pytest.raises(SafetyAbort, match="non-finite"):
approver.review(Action(data=np.array([0.0, float("-inf")])), store)


def test_substitution_rewinds_the_next_delta_reference() -> None:
held = Action(data=np.array([0.0, 0.0]))

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