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Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics

Conference on Learning for Dynamics & Control (L4DC), 2019

20 December 2019

Papers citing "Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics"

25 / 25 papers shown

Title
Safely Learning Controlled Stochastic Dynamics Luc Brogat-Motte Alessandro Rudi Riccardo Bonalli 100 0 0 03 Jun 2025
$Robust Model Based Reinforcement Learning Using $\mathcal{L}_1$ Adaptive Control$ Robust Model Based Reinforcement Learning Using $\mathcal{L}_1$ Adaptive Control Minjun Sung Sambhu H. Karumanchi Aditya Gahlawat N. Hovakimyan 135 1 0 21 Mar 2024
Safe Reinforcement Learning with Probabilistic Control Barrier Functions for Ramp Merging Soumith Udatha Yiwei Lyu John M. Dolan 126 1 0 01 Dec 2022
Safe Exploration Method for Reinforcement Learning under Existence of Disturbance Y. Okawa Tomotake Sasaki H. Yanami T. Namerikawa 117 5 0 30 Sep 2022
Deep Model Predictive Variable Impedance Control Akhil S. Anand Fares J. Abu-Dakka J. Gravdahl 97 19 0 20 Sep 2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier FunctionsWorkshop on the Algorithmic Foundations of Robotics (WAFR), 2022 Wenhao Luo Wen Sun Ashish Kapoor OffRL 134 10 0 29 Jul 2022
Barrier Bayesian Linear Regression: Online Learning of Control Barrier Conditions for Safety-Critical Control of Uncertain SystemsConference on Learning for Dynamics & Control (L4DC), 2022 Lukas Brunke Siqi Zhou Angela P. Schoellig 140 20 0 08 Apr 2022
Data-Driven Chance Constrained Control using Kernel Distribution EmbeddingsConference on Learning for Dynamics & Control (L4DC), 2022 Adam J. Thorpe T. Lew Meeko Oishi Marco Pavone 143 23 0 08 Feb 2022
ProBF: Learning Probabilistic Safety Certificates with Barrier Functions Athindran Ramesh Kumar Sulin Liu J. F. Fisac Ryan P. Adams Peter J. Ramadge 119 4 0 22 Dec 2021
$Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control$ Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control Y. Cheng Penghui Zhao F. Wang D. Block N. Hovakimyan 280 10 0 03 Dec 2021
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation T. Lew Apoorva Sharma James Harrison Edward Schmerling Marco Pavone 157 6 0 11 Nov 2021
Risk-perception-aware control design under dynamic spatial risksIEEE Control Systems Letters (L-CSS), 2021 A. Suresh Sonia Martínez 85 12 0 09 Sep 2021
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning Lukas Brunke Melissa Greeff Adam W. Hall Zhaocong Yuan Siqi Zhou Jacopo Panerati Angela P. Schoellig OffRL 165 740 0 13 Aug 2021
Robustifying Reinforcement Learning Policies with $\mathcal{L}_1$ Adaptive Control Yikun Cheng Pan Zhao Manan S. Gandhi Yue Liu Evangelos Theodorou N. Hovakimyan OffRL 165 0 0 04 Jun 2021
Uncertainty-aware Safe Exploratory Planning using Gaussian Process and Neural Control Contraction Metric Dawei Sun M. J. Khojasteh S. Shekhar Chuchu Fan 123 2 0 13 May 2021
Probabilistic Safety-Assured Adaptive Merging Control for Autonomous VehiclesIEEE International Conference on Robotics and Automation (ICRA), 2021 Yiwei Lyu Wenhao Luo John M. Dolan 110 43 0 29 Apr 2021
Control Barriers in Bayesian Learning of System DynamicsIEEE Transactions on Automatic Control (TAC), 2020 Vikas Dhiman M. J. Khojasteh M. Franceschetti Nikolay Atanasov 226 75 0 29 Dec 2020
Learning-based attacks in Cyber-Physical Systems: Exploration, Detection, and Control Cost trade-offsConference on Learning for Dynamics & Control (L4DC), 2020 A. Rangi M. J. Khojasteh M. Franceschetti AAML 197 10 0 21 Nov 2020
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and DynamicsAmerican Control Conference (ACC), 2020 F. Castañeda Jason J. Choi Bike Zhang Claire Tomlin Koushil Sreenath 151 43 0 14 Nov 2020
Learning Hybrid Control Barrier Functions from Data Lars Lindemann Haimin Hu Avi Schwarzschild Hanwen Zhang Dimos V. Dimarogonas Stephen Tu Nikolai Matni 131 54 0 08 Nov 2020
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation FrameworkIEEE Transactions on robotics (IEEE Trans. Robot.), 2020 T. Lew Apoorva Sharma James Harrison Andrew Bylard Marco Pavone 181 50 0 26 Aug 2020
Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions Özer Özkahraman Petter Ögren 97 25 0 21 Aug 2020
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned UncertaintiesIEEE Conference on Decision and Control (CDC), 2020 Richard Cheng M. J. Khojasteh Aaron D. Ames J. W. Burdick 157 94 0 11 Apr 2020
Multi-Robot Collision Avoidance under Uncertainty with Probabilistic Safety Barrier CertificatesNeural Information Processing Systems (NeurIPS), 2019 Wenhao Luo Wen Sun Ashish Kapoor 122 86 0 20 Dec 2019
Learning-based attacks in cyber-physical systems M. J. Khojasteh Anatoly Khina M. Franceschetti T. Javidi AAML 277 12 0 17 Sep 2018