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"

48 / 98 papers shown

Title
Safe Autonomous Racing via Approximate Reachability on Ego-vision Bingqing Chen Jonathan M Francis Jean Oh Eric Nyberg Sylvia Herbert 59 14 0 14 Oct 2021
Safe Reinforcement Learning Using Robust Control Barrier Functions Y. Emam Gennaro Notomista Paul Glotfelter Z. Kira M. Egerstedt OffRL 24 39 0 11 Oct 2021
Continuous-Time Fitted Value Iteration for Robust Policies M. Lutter Boris Belousov Shie Mannor Dieter Fox Animesh Garg Jan Peters 15 9 0 05 Oct 2021
Risk-averse autonomous systems: A brief history and recent developments from the perspective of optimal control Yuheng Wang Margaret P. Chapman 43 34 0 18 Sep 2021
Data Generation Method for Learning a Low-dimensional Safe Region in Safe Reinforcement Learning Zhehua Zhou Ozgur S. Oguz Yi Ren M. Leibold M. Buss OffRL 22 0 0 10 Sep 2021
Safety-Critical Learning of Robot Control with Temporal Logic Specifications Mingyu Cai C. Vasile 40 4 0 07 Sep 2021
Learning to Synthesize Programs as Interpretable and Generalizable Policies Dweep Trivedi Jesse Zhang Shao-Hua Sun Joseph J. Lim NAI 24 72 0 31 Aug 2021
Safe Motion Planning against Multimodal Distributions based on a Scenario Approach Heejin Ahn Colin Chen Ian M. Mitchell Maryam Kamgarpour 27 12 0 05 Aug 2021
How to Certify Machine Learning Based Safety-critical Systems? A Systematic Literature Review Florian Tambon Gabriel Laberge Le An Amin Nikanjam Paulina Stevia Nouwou Mindom Y. Pequignot Foutse Khomh G. Antoniol E. Merlo François Laviolette 39 66 0 26 Jul 2021
Failing with Grace: Learning Neural Network Controllers that are Boundedly Unsafe Panagiotis Vlantis Leila J. Bridgeman Michael M. Zavlanos 40 0 0 22 Jun 2021
Safe Reinforcement Learning Using Advantage-Based Intervention Nolan Wagener Byron Boots Ching-An Cheng 39 52 0 16 Jun 2021
Hard Choices in Artificial Intelligence Roel Dobbe T. Gilbert Yonatan Dov Mintz 29 52 0 10 Jun 2021
A Provably-Efficient Model-Free Algorithm for Constrained Markov Decision Processes Honghao Wei Xin Liu Lei Ying 32 21 0 03 Jun 2021
Data-Driven Reachability Analysis from Noisy Data Amr Alanwar Anne Koch Frank Allgöwer Karl H. Johansson 38 56 0 15 May 2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety Noel Csomay-Shanklin Ryan K. Cosner Min Dai Andrew J. Taylor Aaron D. Ames 39 24 0 04 May 2021
Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach A. Hakobyan Insoon Yang 112 25 0 03 May 2021
Safe Exploration in Model-based Reinforcement Learning using Control Barrier Functions Max H. Cohen C. Belta OffRL 17 41 0 16 Apr 2021
Dual Online Stein Variational Inference for Control and Dynamics Lucas Barcelos Alexander Lambert Rafael Oliveira Paulo Borges Byron Boots F. Ramos 35 27 0 23 Mar 2021
Reinforcement Learning of the Prediction Horizon in Model Predictive Control Eivind Bøhn S. Gros Signe Moe T. Johansen 28 32 0 22 Feb 2021
Provably Correct Training of Neural Network Controllers Using Reachability Analysis Xiaowu Sun Yasser Shoukry 25 7 0 22 Feb 2021
Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions Simon Schaefer Karen Leung Boris Ivanovic Marco Pavone 27 25 0 02 Dec 2020
Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty Andrew J. Taylor Victor D. Dorobantu Sarah Dean Benjamin Recht Yisong Yue Aaron D. Ames 27 35 0 21 Nov 2020
CRPO: A New Approach for Safe Reinforcement Learning with Convergence Guarantee Tengyu Xu Yingbin Liang Guanghui Lan 52 122 0 11 Nov 2020
PAC Confidence Predictions for Deep Neural Network Classifiers Sangdon Park Shuo Li Insup Lee Osbert Bastani UQCV 24 25 0 02 Nov 2020
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers James Ferlez Mahmoud M. Elnaggar Yasser Shoukry C. Fleming AAML 62 33 0 16 Jun 2020
How Training Data Impacts Performance in Learning-based Control Armin Lederer A. Capone Jonas Umlauft Sandra Hirche 20 17 0 25 May 2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning Michelle A. Lee Carlos Florensa Jonathan Tremblay Nathan D. Ratliff Animesh Garg Fabio Ramos Dieter Fox 23 60 0 21 May 2020
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties Richard Cheng M. J. Khojasteh Aaron D. Ames J. W. Burdick 27 87 0 11 Apr 2020
Provably Efficient Safe Exploration via Primal-Dual Policy Optimization Dongsheng Ding Xiaohan Wei Zhuoran Yang Zhaoran Wang M. Jovanović 32 159 0 01 Mar 2020
Learning in Markov Decision Processes under Constraints Rahul Singh Abhishek Gupta Ness B. Shroff 51 27 0 27 Feb 2020
Learning to Walk in the Real World with Minimal Human Effort Sehoon Ha P. Xu Zhenyu Tan Sergey Levine Jie Tan 31 169 0 20 Feb 2020
Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics M. J. Khojasteh Vikas Dhiman M. Franceschetti Nikolay Atanasov 41 73 0 20 Dec 2019
Learning for Safety-Critical Control with Control Barrier Functions Andrew J. Taylor Andrew W. Singletary Yisong Yue Aaron D. Ames 28 237 0 20 Dec 2019
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning Somil Bansal Andrea V. Bajcsy Ellis Ratner Anca Dragan Claire Tomlin 10 29 0 29 Oct 2019
Convergent Policy Optimization for Safe Reinforcement Learning Ming Yu Zhuoran Yang Mladen Kolar Zhaoran Wang 21 91 0 26 Oct 2019
Integrals over Gaussians under Linear Domain Constraints A. Gessner Oindrila Kanjilal Philipp Hennig 27 28 0 21 Oct 2019
Online monitoring for safe pedestrian-vehicle interactions Peter Du Zhe Huang Tianqi Liu Ke Xu Qichao Gao Hussein Sibai Katherine Driggs-Campbell Sayan Mitra 18 26 0 12 Oct 2019
Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization Sumeet Singh Spencer M. Richards Vikas Sindhwani Jean-Jacques E. Slotine Marco Pavone 40 74 0 29 Jul 2019
Robust Regression for Safe Exploration in Control Anqi Liu Guanya Shi Soon-Jo Chung Anima Anandkumar Yisong Yue 24 59 0 13 Jun 2019
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments Andrea V. Bajcsy Somil Bansal Eli Bronstein Varun Tolani Claire Tomlin 20 88 0 01 May 2019
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks Richard Cheng G. Orosz R. Murray J. W. Burdick 31 607 0 21 Mar 2019
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 117 78 0 04 Mar 2019
A predictive safety filter for learning-based control of constrained nonlinear dynamical systems K. P. Wabersich Melanie Zeilinger AI4CE 28 155 0 13 Dec 2018
Stability-certified reinforcement learning: A control-theoretic perspective Ming Jin Javad Lavaei 33 85 0 26 Oct 2018
Using Machine Learning Safely in Automotive Software: An Assessment and Adaption of Software Process Requirements in ISO 26262 Rick Salay Krzysztof Czarnecki 25 69 0 05 Aug 2018
Modeling Supervisor Safe Sets for Improving Collaboration in Human-Robot Teams D. L. McPherson D. Scobee Joseph Menke An Yang S. Shankar Sastry 17 10 0 09 May 2018
Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations Jonathan Lee Michael Laskey Roy Fox Ken Goldberg 13 4 0 31 Jan 2018
Safe Exploration in Markov Decision Processes T. Moldovan Pieter Abbeel 83 308 0 22 May 2012