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Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

16 April 2020

Papers citing "Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions"

50 / 51 papers shown

Title
Accelerated Learning with Linear Temporal Logic using Differentiable Simulation Alper Kamil Bozkurt Calin Belta Ming C. Lin 43 0 0 01 Jun 2025
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation Yishu Li Wen Hui Leng Yiming Fang Ben Eisner David Held AI4CE 138 1 0 31 Dec 2024
FOSP: Fine-tuning Offline Safe Policy through World Models Chenyang Cao Yucheng Xin Silang Wu Longxiang He Zichen Yan Junbo Tan Xueqian Wang OffRL 142 1 0 06 Jul 2024
Distributionally Safe Reinforcement Learning under Model Uncertainty: A Single-Level Approach by Differentiable Convex Programming A. Chriat Chuangchuang Sun 86 1 0 03 Oct 2023
A Survey on Physics Informed Reinforcement Learning: Review and Open Problems C. Banerjee Kien Nguyen Clinton Fookes M. Raissi PINN AI4CE 107 10 0 05 Sep 2023
On the Optimality, Stability, and Feasibility of Control Barrier Functions: An Adaptive Learning-Based Approach A. Chriat Chuangchuang Sun 81 4 0 05 May 2023
Deep Model Predictive Control Prabhat Kumar Mishra M. V. Gasparino A. E. B. Velasquez Girish Chowdhary 102 0 0 27 Feb 2023
Safe Inverse Reinforcement Learning via Control Barrier Function Yue Yang Letian Chen Matthew C. Gombolay OffRL 107 3 0 06 Dec 2022
Distributionally Robust Lyapunov Function Search Under Uncertainty Kehan Long Yinzhuang Yi Jorge Cortés Nikolay Atanasov 86 9 0 03 Dec 2022
Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators Stephen McIlvanna Minh-Nhat Nguyen Yuzhu Sun Mien Van W. Naeem 32 3 0 21 Nov 2022
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints Hongkai Dai Frank Permenter 135 38 0 02 Oct 2022
Enforcing Hard Constraints with Soft Barriers: Safe Reinforcement Learning in Unknown Stochastic Environments Yixuan Wang S. Zhan Ruochen Jiao Zhilu Wang Wanxin Jin Zhuoran Yang Zhaoran Wang Chao Huang Qi Zhu 91 52 0 29 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 81 6 0 23 Aug 2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functions Wenhao Luo Wen Sun Ashish Kapoor OffRL 82 9 0 29 Jul 2022
QuaDUE-CCM: Interpretable Distributional Reinforcement Learning using Uncertain Contraction Metrics for Precise Quadrotor Trajectory Tracking Yanran Wang James O’Keeffe Qiuchen Qian David E. Boyle 83 9 0 15 Jul 2022
Compactly Restrictable Metric Policy Optimization Problems Victor D. Dorobantu Kamyar Azizzadenesheli Yisong Yue 20 0 0 12 Jul 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 269 257 0 20 May 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 62 16 0 11 May 2022
Barrier Bayesian Linear Regression: Online Learning of Control Barrier Conditions for Safety-Critical Control of Uncertain Systems Lukas Brunke Siqi Zhou Angela P. Schoellig 66 20 0 08 Apr 2022
Safe Learning-Based Feedback Linearization Tracking Control for Nonlinear System with Event-Triggered Model Update Zhixuan Wu Ruicong Yang Lei Zheng Hui Cheng 78 12 0 07 Mar 2022
Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Driving Wei Xiao Tsun-Hsuan Wang Makram Chahine Alexander Amini Ramin Hasani Daniela Rus 94 26 0 04 Mar 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 78 243 0 23 Feb 2022
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments Hengbo Ma Bike Zhang Masayoshi Tomizuka Koushil Sreenath 114 24 0 04 Jan 2022
Learning Safe, Generalizable Perception-based Hybrid Control with Certificates Charles Dawson Bethany Lowenkamp D. Goff Chuchu Fan 99 54 0 04 Jan 2022
ProBF: Learning Probabilistic Safety Certificates with Barrier Functions Athindran Ramesh Kumar Sulin Liu J. F. Fisac Ryan P. Adams Peter J. Ramadge 44 4 0 22 Dec 2021
Safety-Critical Control with Input Delay in Dynamic Environment Tamás G. Molnár A. Kiss Aaron D. Ames G. Orosz 59 45 0 15 Dec 2021
Learning Contraction Policies from Offline Data Navid Rezazadeh Maxwell Kolarich Solmaz S. Kia Negar Mehr OffRL 70 7 0 11 Dec 2021
Safe Reinforcement Learning for Grid Voltage Control T. Vu Sayak Mukherjee Renke Huang Qiuhua Huang 45 3 0 02 Dec 2021
BarrierNet: A Safety-Guaranteed Layer for Neural Networks Wei Xiao Ramin Hasani Xiao Li Daniela Rus 81 20 0 22 Nov 2021
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson Zengyi Qin Sicun Gao Chuchu Fan 159 176 0 14 Sep 2021
Recurrent Neural Network Controllers Synthesis with Stability Guarantees for Partially Observed Systems Fangda Gu He Yin L. Ghaoui Murat Arcak Peter M. Seiler Ming Jin 77 26 0 08 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 68 636 0 13 Aug 2021
Model Free Barrier Functions via Implicit Evading Maneuvers Eric Squires Rohit Konda Samuel Coogan M. Egerstedt 67 7 0 27 Jul 2021
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking Jenna Reher Aaron D. Ames 79 12 0 09 Jul 2021
Active Learning in Robotics: A Review of Control Principles Annalisa T. Taylor Thomas A. Berrueta Todd Murphey 98 76 0 25 Jun 2021
Comparison between safety methods control barrier function vs. reachability analysis Zhichao Li 63 29 0 24 Jun 2021
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty F. Castañeda Jason J. Choi Bike Zhang Claire Tomlin Koushil Sreenath 94 53 0 13 Jun 2021
Safe Pontryagin Differentiable Programming Wanxin Jin Shaoshuai Mou George J. Pappas 92 41 0 31 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 74 24 0 04 May 2021
Learning Deep Energy Shaping Policies for Stability-Guaranteed Manipulation S. A. Khader Hang Yin Pietro Falco Danica Kragic 55 13 0 30 Mar 2021
Toward Safety-Aware Informative Motion Planning for Legged Robots Sangli Teng Yukai Gong J. Grizzle Maani Ghaffari 72 37 0 26 Mar 2021
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability Sylvia Herbert Jason J. Choi Suvansh Qazi Marsalis T. Gibson Koushil Sreenath Claire Tomlin 108 37 0 15 Jan 2021
Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates Zengyi Qin Kai Zhang Yuxiao Chen Jingkai Chen Chuchu Fan 98 133 0 14 Jan 2021
Learning Certified Control using Contraction Metric Dawei Sun Susmit Jha Chuchu Fan 71 77 0 25 Nov 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 104 35 0 21 Nov 2020
Constrained Model-Free Reinforcement Learning for Process Optimization Elton Pan Panagiotis Petsagkourakis M. Mowbray Dongda Zhang Antonio del Rio-Chanona 45 35 0 16 Nov 2020
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics F. Castañeda Jason J. Choi Bike Zhang Claire Tomlin Koushil Sreenath 92 40 0 14 Nov 2020
Reinforcement Learning Control of Constrained Dynamic Systems with Uniformly Ultimate Boundedness Stability Guarantee Minghao Han Yuan Tian Lixian Zhang Jun Wang Wei Pan 68 49 0 13 Nov 2020
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control R. Grandia Andrew J. Taylor Aaron D. Ames Marco Hutter 78 123 0 30 Oct 2020
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions Sarah Dean Andrew J. Taylor Ryan K. Cosner Benjamin Recht Aaron D. Ames 83 86 0 30 Oct 2020