Adaptive streaming of 360-degree video relies on viewport prediction to allocate bandwidth efficiently. Current approaches predominantly use visual saliency or historical gaze patterns, neglecting the role of spatial audio in guiding user attention. This paper presents a self-learning framework for detecting "surprising" auditory events, moments that deviate from learned temporal expectations, and demonstrates their utility for viewport prediction. The proposed architecture combines SE(3)-equivariant graph neural networks with recurrent temporal modeling, trained via a dual self-supervised objective. A key feature is the natural modeling of temporal attention decay: surprise is high at event onset but diminishes as the listener adapts. Experiments on the AVTrack360 dataset show that integrating audio surprise with visual cues reduces bitrate waste by up to 18% compared to visual-only methods.
Offline reinforcement learning (RL) offers a promising framework for deploying autonomous systems in safety-critical settings without the risks of online exploration. However, learning policies that simultaneously achieve high performance and strong safety guarantees from fixed datasets remains a fundamental challenge. Many existing safe offline RL approaches typically rely on soft constraint formulations, which may permit safety violations and are sensitive to distributional shift. In contrast, formal methods such as Hamilton--Jacobi (HJ) reachability and Control Barrier Functions (CBFs) provide rigorous safety guarantees, but often yield overly conservative solutions, often neglecting performance. In this work, we bridge this gap by formulating safe offline RL as a state-constrained optimal control problem, where safety is enforced through hard state constraints and performance is captured via a reward function. The resulting value function satisfies a Hamilton--Jacobi--Bellman (HJB) equation, which we approximate using offline RL on fixed datasets by learning an epigraph feasibility value function and extracting policies via flow matching. This formulation enables principled integration of safety guarantees with data-driven policy optimization. Empirically, across safety-critical benchmarks including boat navigation, Safety-Gymnasium, and Bullet-Safety-Gym tasks, our approach achieves competitive returns while exhibiting near-zero constraint violations, demonstrating a favorable balance between safety and performance in the offline setting.