End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks

21 March 2019

Papers citing "End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks"

50 / 115 papers shown

Title
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints Hongkai Dai Frank Permenter 26 36 0 02 Oct 2022
Guiding Safe Exploration with Weakest Preconditions Greg Anderson Swarat Chaudhuri Işıl Dillig 52 6 0 28 Sep 2022
FORESEE: Prediction with Expansion-Compression Unscented Transform for Online Policy Optimization Hardik Parwana Dimitra Panagou 28 2 0 26 Sep 2022
A Joint Imitation-Reinforcement Learning Framework for Reduced Baseline Regret Sheelabhadra Dey Sumedh Pendurkar Guni Sharon Josiah P. Hanna 24 10 0 20 Sep 2022
Trustworthy Reinforcement Learning Against Intrinsic Vulnerabilities: Robustness, Safety, and Generalizability Mengdi Xu Zuxin Liu Peide Huang Wenhao Ding Zhepeng Cen Bo Li Ding Zhao 79 45 0 16 Sep 2022
Constrained Update Projection Approach to Safe Policy Optimization Long Yang Jiaming Ji Juntao Dai Linrui Zhang Binbin Zhou Pengfei Li Yaodong Yang Gang Pan 41 43 0 15 Sep 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
Dynamic Shielding for Reinforcement Learning in Black-Box Environments Masaki Waga Ezequiel Castellano Sasinee Pruekprasert Stefan Klikovits Toru Takisaka I. Hasuo 31 8 0 27 Jul 2022
Compactly Restrictable Metric Policy Optimization Problems Victor D. Dorobantu Kamyar Azizzadenesheli Yisong Yue 11 0 0 12 Jul 2022
Barrier Certified Safety Learning Control: When Sum-of-Square Programming Meets Reinforcement Learning He-lu Huang Zerui Li Dongkun Han 40 2 0 16 Jun 2022
Provably Efficient Risk-Sensitive Reinforcement Learning: Iterated CVaR and Worst Path Yihan Du Siwei Wang Longbo Huang OOD 34 13 0 06 Jun 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam Koushil Sreenath 34 16 0 11 May 2022
Safe Reinforcement Learning Using Black-Box Reachability Analysis Mahmoud Selim Amr Alanwar Shreyas Kousik Grace Gao Marco Pavone Karl H. Johansson 31 32 0 15 Apr 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 46 232 0 23 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
Towards Safe Reinforcement Learning with a Safety Editor Policy Haonan Yu Wei Xu Haichao Zhang OffRL 71 31 0 28 Jan 2022
GoSafeOpt: Scalable Safe Exploration for Global Optimization of Dynamical Systems Bhavya Sukhija M. Turchetta David Lindner Andreas Krause Sebastian Trimpe Dominik Baumann 36 17 0 24 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
SABLAS: Learning Safe Control for Black-box Dynamical Systems Zengyi Qin Dawei Sun Chuchu Fan 31 43 0 06 Jan 2022
Safe Reinforcement Learning with Chance-constrained Model Predictive Control Samuel Pfrommer Tanmay Gautam Alec Zhou Somayeh Sojoudi 26 24 0 27 Dec 2021
Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach Luca Furieri C. Galimberti M. Zakwan Giancarlo Ferrari-Trecate 34 20 0 16 Dec 2021
Conservative and Adaptive Penalty for Model-Based Safe Reinforcement Learning Yecheng Jason Ma Andrew Shen Osbert Bastani Dinesh Jayaraman 18 25 0 14 Dec 2021
Safe Reinforcement Learning for Grid Voltage Control T. Vu Sayak Mukherjee Renke Huang Qiuhua Huang 23 3 0 02 Dec 2021
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations Lars Lindemann Alexander Robey Lejun Jiang Satyajeet Das Stephen Tu Nikolai Matni 47 42 0 18 Nov 2021
Safe Policy Optimization with Local Generalized Linear Function Approximations Akifumi Wachi Yunyue Wei Yanan Sui OffRL 35 10 0 09 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
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
Credit Assignment Safety Learning from Human Demonstrations A. Prabhakar A. Billard 33 2 0 09 Oct 2021
Learning from Demonstrations for Autonomous Soft-tissue Retraction Ameya Pore E. Tagliabue Marco Piccinelli Diego DallÁlba A. Casals Paolo Fiorini 31 34 0 01 Oct 2021
RMPs for Safe Impedance Control in Contact-Rich Manipulation S. Shaw Ben Abbatematteo George Konidaris 26 13 0 24 Sep 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
Decentralized Global Connectivity Maintenance for Multi-Robot Navigation: A Reinforcement Learning Approach Minghao Li Yingrui Jie Yang Kong Hui Cheng 43 9 0 17 Sep 2021
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson Zengyi Qin Sicun Gao Chuchu Fan 120 173 0 14 Sep 2021
Reactive and Safe Road User Simulations using Neural Barrier Certificates Yue Meng Zengyi Qin Chuchu Fan 40 20 0 14 Sep 2021
Safety-Critical Learning of Robot Control with Temporal Logic Specifications Mingyu Cai C. Vasile 37 4 0 07 Sep 2021
Model Free Barrier Functions via Implicit Evading Maneuvers Eric Squires Rohit Konda Samuel Coogan M. Egerstedt 35 6 0 27 Jul 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 37 66 0 26 Jul 2021
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics Ya-Chien Chang Sicun Gao 23 57 0 11 Jul 2021
Active Learning in Robotics: A Review of Control Principles Annalisa T. Taylor Thomas A. Berrueta Todd D. Murphey 32 71 0 25 Jun 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
Learning Policies with Zero or Bounded Constraint Violation for Constrained MDPs Tao-Wen Liu Ruida Zhou D. Kalathil P. R. Kumar Chao Tian 42 78 0 04 Jun 2021
Feasible Actor-Critic: Constrained Reinforcement Learning for Ensuring Statewise Safety Haitong Ma Yang Guan Shegnbo Eben Li Xiangteng Zhang Sifa Zheng Jianyu Chen 43 37 0 22 May 2021
Safe Navigation in Human Occupied Environments Using Sampling and Control Barrier Functions K. Majd Shakiba Yaghoubi Tomoya Yamaguchi Bardh Hoxha Danil Prokhorov Georgios Fainekos 101 27 0 03 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
Learning Deep Energy Shaping Policies for Stability-Guaranteed Manipulation S. A. Khader Hang Yin Pietro Falco Danica Kragic 21 12 0 30 Mar 2021
Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors Jonas C. Kiemel Torsten Kröger 19 8 0 05 Mar 2021
Provably Correct Training of Neural Network Controllers Using Reachability Analysis Xiaowu Sun Yasser Shoukry 22 7 0 22 Feb 2021
Tutoring Reinforcement Learning via Feedback Control F. D. Lellis G. Russo M. D. Bernardo 19 6 0 12 Dec 2020