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Safe Model-based Reinforcement Learning with Stability Guarantees

23 May 2017

Papers citing "Safe Model-based Reinforcement Learning with Stability Guarantees"

50 / 471 papers shown

Title
Verification of Neural Network Control Policy Under Persistent Adversarial Perturbation Yuh-Shyang Wang Tsui-Wei Weng Luca Daniel AAML 89 17 0 18 Aug 2019
Neural Simplex Architecture Dung Phan Radu Grosu N. Jansen Nicola Paoletti S. Smolka Scott D. Stoller 158 63 0 01 Aug 2019
Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization Sumeet Singh Spencer M. Richards Vikas Sindhwani Jean-Jacques E. Slotine Marco Pavone 138 83 0 29 Jul 2019
An Inductive Synthesis Framework for Verifiable Reinforcement Learning He Zhu Zikang Xiong Stephen Magill Suresh Jagannathan 101 99 0 16 Jul 2019
Structured Variational Inference in Unstable Gaussian Process State Space Models Silvan Melchior Sebastian Curi Felix Berkenkamp Andreas Krause 151 4 0 16 Jul 2019
Imitation-Projected Programmatic Reinforcement Learning A. Verma Hoang Minh Le Yisong Yue Swarat Chaudhuri 114 2 0 11 Jul 2019
A Scheme for Dynamic Risk-Sensitive Sequential Decision Making Shuai Ma Jia Yuan Yu A. S. Satir 86 1 0 09 Jul 2019
Variance-Based Risk Estimations in Markov Processes via Transformation with State Lumping Shuai Ma Jia Yuan Yu OffRL 34 0 0 09 Jul 2019
Robust Guarantees for Perception-Based Control Sarah Dean Nikolai Matni Benjamin Recht Vickie Ye 139 83 0 08 Jul 2019
Learning-based Model Predictive Control for Safe Exploration and Reinforcement Learning Torsten Koller Felix Berkenkamp M. Turchetta Joschka Boedecker Andreas Krause 90 53 0 27 Jun 2019
Calibrated Model-Based Deep Reinforcement Learning Ali Malik Volodymyr Kuleshov Jiaming Song Danny Nemer Harlan Seymour Stefano Ermon 172 56 0 19 Jun 2019
Robust Regression for Safe Exploration in Control Anqi Liu Guanya Shi Soon-Jo Chung Anima Anandkumar Yisong Yue 185 61 0 13 Jun 2019
Efficient and Accurate Estimation of Lipschitz Constants for Deep Neural Networks Mahyar Fazlyab Avi Schwarzschild Hamed Hassani M. Morari George J. Pappas 263 487 0 12 Jun 2019
Robust exploration in linear quadratic reinforcement learning Jack Umenberger Mina Ferizbegovic Thomas B. Schon H. Hjalmarsson 99 40 0 04 Jun 2019
Posterior Variance Analysis of Gaussian Processes with Application to Average Learning Curves Armin Lederer Jonas Umlauft Sandra Hirche 99 25 0 04 Jun 2019
Uniform Error Bounds for Gaussian Process Regression with Application to Safe Control Armin Lederer Jonas Umlauft Sandra Hirche 158 160 0 04 Jun 2019
Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks Brijen Thananjeyan Ashwin Balakrishna Ugo Rosolia Felix Li R. McAllister Joseph E. Gonzalez Sergey Levine Francesco Borrelli Ken Goldberg OffRL 128 4 0 31 May 2019
Combating the Compounding-Error Problem with a Multi-step Model Kavosh Asadi Dipendra Kumar Misra Seungchan Kim Michel L. Littman LRM 127 58 0 30 May 2019
Safe Reinforcement Learning with Nonlinear Dynamics via Model Predictive Shielding Osbert Bastani 136 9 0 25 May 2019
Control Regularization for Reduced Variance Reinforcement Learning Richard Cheng Abhinav Verma G. Orosz Swarat Chaudhuri Yisong Yue J. W. Burdick OffRL 108 82 0 14 May 2019
Smoothing Policies and Safe Policy Gradients Matteo Papini Matteo Pirotta Marcello Restelli 153 33 0 08 May 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 125 96 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 133 663 0 21 Mar 2019
Safety-Guided Deep Reinforcement Learning via Online Gaussian Process Estimation Jiameng Fan Wenchao Li OffRL OnRL GP 107 18 0 06 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 246 81 0 04 Mar 2019
Conservative Agency via Attainable Utility Preservation Alexander Matt Turner Dylan Hadfield-Menell Prasad Tadepalli 217 51 0 26 Feb 2019
Active Area Coverage from EquilibriumWorkshop on the Algorithmic Foundations of Robotics (WAFR), 2022 Ian Abraham A. Prabhakar Todd Murphey 77 5 0 08 Feb 2019
Lyapunov-based Safe Policy Optimization for Continuous Control Yinlam Chow Ofir Nachum Aleksandra Faust Edgar A. Duénez-Guzmán Mohammad Ghavamzadeh 184 262 0 28 Jan 2019
Sample Complexity of Estimating the Policy Gradient for Nearly Deterministic Dynamical Systems Osbert Bastani 170 4 0 24 Jan 2019
Learning Nonlinear State Space Models with Hamiltonian Sequential Monte Carlo Sampler Duo Xu 106 2 0 03 Jan 2019
Rigorous Agent Evaluation: An Adversarial Approach to Uncover Catastrophic Failures Junhui Yin Jiayan Qiu Csaba Szepesvári Siqing Zhang Avraham Ruderman Jiyang Xie Krishnamurthy Dvijotham Zhanyu Ma N. Heess Pushmeet Kohli AAML 123 87 0 04 Dec 2018
TorchProteinLibrary: A computationally efficient, differentiable representation of protein structure Georgy Derevyanko G. Lamoureux AI4CE 20 3 0 23 Nov 2018
Neural Lander: Stable Drone Landing Control using Learned Dynamics Guanya Shi Xichen Shi Michael O'Connell Rose Yu Kamyar Azizzadenesheli Anima Anandkumar Yisong Yue Soon-Jo Chung 204 292 0 19 Nov 2018
Safely Probabilistically Complete Real-Time Planning and Exploration in Unknown Environments David Fridovich-Keil J. F. Fisac Claire Tomlin 85 4 0 19 Nov 2018
Stability-certified reinforcement learning: A control-theoretic perspective Ming Jin Javad Lavaei 87 92 0 26 Oct 2018
Deep Reinforcement Learning Yuxi Li VLM OffRL 243 144 0 15 Oct 2018
Verification for Machine Learning, Autonomy, and Neural Networks Survey Weiming Xiang Patrick Musau A. Wild Diego Manzanas Lopez Nathaniel P. Hamilton Xiaodong Yang Joel A. Rosenfeld Taylor T. Johnson 124 102 0 03 Oct 2018
Safely Learning to Control the Constrained Linear Quadratic Regulator Sarah Dean Stephen Tu Nikolai Matni Benjamin Recht 106 138 0 26 Sep 2018
Adding Neural Network Controllers to Behavior Trees without Destroying Performance Guarantees Christopher Iliffe Sprague Petter Ögren 143 26 0 26 Sep 2018
Safe Exploration in Markov Decision Processes with Time-Variant Safety using Spatio-Temporal Gaussian Process Akifumi Wachi Hiroshi Kajino Asim Munawar 33 4 0 12 Sep 2018
Can a Compact Neuronal Circuit Policy be Re-purposed to Learn Simple Robotic Control? Ramin Hasani Mathias Lechner Alexander Amini Daniela Rus Radu Grosu 31 4 0 11 Sep 2018
The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems Spencer M. Richards Felix Berkenkamp Andreas Krause 116 239 0 02 Aug 2018
Learning Stabilizable Dynamical Systems via Control Contraction Metrics Sumeet Singh Vikas Sindhwani Jean-Jacques E. Slotine Marco Pavone 127 19 0 31 Jul 2018
Meta-Learning Priors for Efficient Online Bayesian Regression James Harrison Apoorva Sharma Marco Pavone BDL 124 107 0 24 Jul 2018
EnsembleDAgger: A Bayesian Approach to Safe Imitation Learning Kunal Menda Katherine Driggs-Campbell Mykel J. Kochenderfer 257 127 0 22 Jul 2018
Safe Reinforcement Learning via Probabilistic Shields N. Jansen Bettina Könighofer Sebastian Junges A. Serban Roderick Bloem 99 11 0 16 Jul 2018
A Tour of Reinforcement Learning: The View from Continuous Control Benjamin Recht 184 660 0 25 Jun 2018
Uncertainty in Multitask Transfer Learning Alexandre Lacoste Boris N. Oreshkin Wonchang Chung Thomas Boquet Negar Rostamzadeh David M. Krueger BDL UQCV SSL 177 21 0 20 Jun 2018
Learning convex bounds for linear quadratic control policy synthesis Jack Umenberger Thomas B. Schon 95 12 0 01 Jun 2018
Importance Weighted Transfer of Samples in Reinforcement Learning Andrea Tirinzoni Andrea Sessa Matteo Pirotta Marcello Restelli OffRL 58 49 0 28 May 2018