Is this page helpful?

Known Limitations#

This section summarizes current behavioral constraints in the HOISA Safety Core.

ATL Use Case#

Single-forklift control model#

  • The Automated Trailer Loading (ATL) reference application is designed and validated for controlling a single forklift operating within the monitored loading dock and trailer region.

  • If multiple forklifts enter the same Region of Interest (ROI) or trailer area concurrently, the Safety Event Integrator and Decision Maker may not be able to reliably associate safety control commands with the intended forklift under control, which can disrupt safe operation.

Event Type Coverage#

Supported safety event types#

  • The HOISA Safety Core, as released, supports a limited set of safety events from the perception pipeline for decision making: - Region of Interest (ROI) occupancy - Tripwire crossings - SafetyAreaViolation events generated by person presence in restricted zones

  • These events are sufficient to drive the ATL reference application, but they do not yet exploit the full richness of available perception metadata.

SIL — 3D Perception#

VFR RTSP patch required for Isaac Sim#

  • The 3D perception pipeline (Sparse4D) requires unique timestamps per frame for temporal fusion. The default Isaac Sim RTSP writer uses constant frame rate (CFR) with -vsync cfr, which duplicates frames to maintain 30 FPS — producing duplicate timestamps that break Sparse4D multi-view fusion.

  • A manual patch to patch_rtsp.py is required to switch from CFR to VFR (-vsync vfr). This is a workaround for the current RTSP writer implementation in Isaac Sim, not an official configuration option.

  • This limitation affects SIL testing only (production deployments use real cameras with native timestamps). It is expected to be addressed in the GA release.

Halos V1.2#

VST UI visualization#

  • Visualization of Halos on the VST UI is not supported with Halos V1.2 and VSS 3.1.0. Validate deployment health through VST sensor status, RTSP playback, SAIM / Safety Core logs, and Kafka events instead of the VST halo overlay.

Safety AI Monitor#

  • In Halos V1.2, Safety AI Monitor is supported on the GPU path only. PVA-based execution or acceleration for Safety AI Monitor is not supported on IGX platforms.

  • IGX deployments that enable Safety AI Monitor must provision GPU resources for Out-of-Distribution (OOD) and camera blockage validation. If GPU resources are not available, run HOISA Safety Core with Safety AI Monitor disabled.