Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports. - 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 (CoRR, 2025)