A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems

3 May 2017

Papers citing "A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems"

50 / 98 papers shown

Title
PCA-DDReach: Efficient Statistical Reachability Analysis of Stochastic Dynamical Systems via Principal Component Analysis Navid Hashemi Lars Lindemann Jyotirmoy Deshmukh 12 0 0 20 May 2025
Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety Jason J. Choi Jasmine Jerry Aloor Jingqi Li Maria G. Mendoza H. Balakrishnan Claire J. Tomlin 33 0 0 04 May 2025
Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures Junwon Seo Kensuke Nakamura Andrea V. Bajcsy 56 0 0 01 May 2025
Learning Isometric Embeddings of Road Networks using Multidimensional Scaling Juan Carlos Climent Pardo 50 0 0 24 Apr 2025
Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions Akua Dickson Juan C. Pacheco Garcia Meredith L. Anderson Ran Jing Sarah Alizadeh-Shabdiz Audrey X. Wang Charles DeLorey Zach J. Patterson Andrew P. Sabelhaus 48 1 0 20 Apr 2025
Stability Enhancement in Reinforcement Learning via Adaptive Control Lyapunov Function Donghe Chen Han Wang Lin Cheng Shengping Gong 230 0 0 18 Jan 2025
Bayesian meta learning for trustworthy uncertainty quantification Zhenyuan Yuan Thinh T. Doan UQCV 43 0 0 27 Jul 2024
Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey Milan Ganai Sicun Gao Sylvia Herbert 45 6 0 12 Jul 2024
GenSafe: A Generalizable Safety Enhancer for Safe Reinforcement Learning Algorithms Based on Reduced Order Markov Decision Process Model Zhehua Zhou Xuan Xie Jiayang Song Zhan Shu Lei Ma 49 1 0 06 Jun 2024
Future Aware Safe Active Learning of Time Varying Systems using Gaussian Processes Markus Lange-Hegermann Christoph Zimmer AI4TS 47 0 0 17 May 2024
Constrained Reinforcement Learning Under Model Mismatch Zhongchang Sun Sihong He Fei Miao Shaofeng Zou 51 4 0 02 May 2024
Skill Transfer and Discovery for Sim-to-Real Learning: A Representation-Based Viewpoint Haitong Ma Zhaolin Ren Bo Dai Na Li 45 1 0 07 Apr 2024
Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions Jasper Geldenbott Karen Leung 49 3 0 04 Apr 2024
A safe exploration approach to constrained Markov decision processes Tingting Ni Maryam Kamgarpour 54 3 0 01 Dec 2023
Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems Jason J. Choi F. Castañeda Wonsuhk Jung Bike Zhang Claire J. Tomlin Koushil Sreenath 42 3 0 23 Nov 2023
Reinforcement Learning Under Probabilistic Spatio-Temporal Constraints with Time Windows Xiaoshan Lin Abbasali Koochakzadeh Yasin Yazıcıoğlu Derya Aksaray 26 1 0 29 Jul 2023
Non-asymptotic System Identification for Linear Systems with Nonlinear Policies Yingying Li Tianpeng Zhang Subhro Das J. Shamma Na Li 28 7 0 17 Jun 2023
Optimality Principles in Spacecraft Neural Guidance and Control Dario Izzo E. Blazquez Robin Ferede Sebastien Origer Christophe De Wagter Guido C. H. E de Croon 31 8 0 22 May 2023
Physical Deep Reinforcement Learning Towards Safety Guarantee H. Cao Y. Mao L. Sha Marco Caccamo AI4CE 22 5 0 29 Mar 2023
A Multiplicative Value Function for Safe and Efficient Reinforcement Learning Nick Bührer Zhejun Zhang Alexander Liniger Feng Yu Luc Van Gool 29 1 0 07 Mar 2023
Online Nonstochastic Control with Adversarial and Static Constraints Xin Liu Zixi Yang Lei Ying 42 5 0 05 Feb 2023
Certified Robust Control under Adversarial Perturbations Jinghan Yang Hunmin Kim Wenbin Wan N. Hovakimyan Yevgeniy Vorobeychik AAML 19 1 0 04 Feb 2023
Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach Haimin Hu David Isele S. Bae J. F. Fisac 35 17 0 01 Feb 2023
Learning to Generate All Feasible Actions Mirco Theile Daniele Bernardini Raphael Trumpp C. Piazza Marco Caccamo Alberto L. Sangiovanni-Vincentelli 31 2 0 26 Jan 2023
Robust Control for Dynamical Systems With Non-Gaussian Noise via Formal Abstractions Thom S. Badings Licio Romao Alessandro Abate David Parker Hasan A. Poonawala Marielle Stoelinga N. Jansen 42 37 0 04 Jan 2023
A System-Level View on Out-of-Distribution Data in Robotics Rohan Sinha Apoorva Sharma Somrita Banerjee T. Lew Rachel Luo Spencer M. Richards Yixiao Sun Edward Schmerling Marco Pavone UQCV 50 23 0 28 Dec 2022
ISAACS: Iterative Soft Adversarial Actor-Critic for Safety Kai Hsu D. Nguyen J. F. Fisac 28 30 0 06 Dec 2022
Safe and Efficient Reinforcement Learning Using Disturbance-Observer-Based Control Barrier Functions Yikun Cheng Pan Zhao N. Hovakimyan OffRL 30 11 0 30 Nov 2022
Near-Optimal Multi-Agent Learning for Safe Coverage Control Manish Prajapat M. Turchetta Melanie Zeilinger Andreas Krause 35 14 0 12 Oct 2022
Neurosymbolic Motion and Task Planning for Linear Temporal Logic Tasks Xiaowu Sun Yasser Shoukry 53 11 0 11 Oct 2022
Learning of Dynamical Systems under Adversarial Attacks -- Null Space Property Perspective Han Feng Baturalp Yalcin Javad Lavaei AAML 28 5 0 04 Oct 2022
Guiding Safe Exploration with Weakest Preconditions Greg Anderson Swarat Chaudhuri Işıl Dillig 52 6 0 28 Sep 2022
Mean-Field Approximation of Cooperative Constrained Multi-Agent Reinforcement Learning (CMARL) Washim Uddin Mondal Vaneet Aggarwal S. Ukkusuri 42 4 0 15 Sep 2022
Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functions F. Castañeda Jason J. Choi Wonsuhk Jung Bike Zhang Claire Tomlin Koushil Sreenath 48 6 0 23 Aug 2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functions Wenhao Luo Wen Sun Ashish Kapoor OffRL 48 9 0 29 Jul 2022
Safe Reinforcement Learning via Confidence-Based Filters Sebastian Curi Armin Lederer Sandra Hirche Andreas Krause OffRL 24 4 0 04 Jul 2022
Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse James Queeney I. Paschalidis Christos G. Cassandras OffRL 32 2 0 28 Jun 2022
Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation Sever Topan Karen Leung Yuxiao Chen Pritish Tupekar Edward Schmerling Jonas Nilsson Michael Cox Marco Pavone 46 20 0 24 Jun 2022
Algorithm for Constrained Markov Decision Process with Linear Convergence E. Gladin Maksim Lavrik-Karmazin K. Zainullina Varvara Rudenko Alexander V. Gasnikov Martin Takáč 38 6 0 03 Jun 2022
A Review of Safe Reinforcement Learning: Methods, Theory and Applications Shangding Gu Longyu Yang Yali Du Guang Chen Florian Walter Jun Wang Alois C. Knoll OffRL AI4TS 117 241 0 20 May 2022
Verification of safety critical control policies using kernel methods Nikolaus Vertovec Sina Ober-Blobaum Kostas Margellos 26 2 0 23 Mar 2022
Safe Reinforcement Learning for Legged Locomotion Tsung-Yen Yang Tingnan Zhang Linda Luu Sehoon Ha Jie Tan Wenhao Yu 34 40 0 05 Mar 2022
System Safety and Artificial Intelligence Roel Dobbe 33 34 0 18 Feb 2022
Saute RL: Almost Surely Safe Reinforcement Learning Using State Augmentation Aivar Sootla Alexander I. Cowen-Rivers Taher Jafferjee Ziyan Wang D. Mguni Jun Wang Haitham Bou-Ammar 37 54 0 14 Feb 2022
SafeAPT: Safe Simulation-to-Real Robot Learning using Diverse Policies Learned in Simulation Rituraj Kaushik Karol Arndt Ville Kyrki 29 8 0 27 Jan 2022
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees Kai Hsu Allen Z. Ren D. Nguyen Anirudha Majumdar J. F. Fisac OffRL 26 41 0 20 Jan 2022
Reachability Analysis for FollowerStopper: Safety Analysis and Experimental Results Fang-Chieh Chou Marsalis T. Gibson R. Bhadani Alexandre M. Bayen Jonathan Sprinkle 11 5 0 29 Dec 2021
Optimization of the Model Predictive Control Meta-Parameters Through Reinforcement Learning Eivind Bøhn S. Gros Signe Moe T. Johansen 33 19 0 07 Nov 2021
Safe Adaptive Learning-based Control for Constrained Linear Quadratic Regulators with Regret Guarantees Yingying Li Subhro Das J. Shamma Na Li 22 25 0 31 Oct 2021
Sampling-Based Robust Control of Autonomous Systems with Non-Gaussian Noise Heinke Hihn Alessandro Abate Nils Jansen David Parker Hasan A. Poonawala Marielle Stoelinga 27 27 0 25 Oct 2021