Learning Safe Neural Network Controllers with Barrier Certificates

Learning Safe Neural Network Controllers with Barrier Certificates

18 September 2020

ArXiv (abs)PDF HTML

Papers citing "Learning Safe Neural Network Controllers with Barrier Certificates"

19 / 19 papers shown

Title
Safe Human Robot Navigation in Warehouse Scenario Seth Farrell Chenghao Li Hongzhan Yu Ryo Yoshimitsu Sicun Gao Henrik I. Christensen 72 0 0 27 Mar 2025
Estimating Control Barriers from Offline Data Hongzhan Yu Seth Farrell Ryo Yoshimitsu Zhizhen Qin Henrik I. Christensen Sicun Gao OffRL 88 3 0 21 Feb 2025
Certified Training with Branch-and-Bound: A Case Study on Lyapunov-stable Neural Control Zhouxing Shi Cho-Jui Hsieh Huan Zhang 144 2 0 27 Nov 2024
SEEV: Synthesis with Efficient Exact Verification for ReLU Neural Barrier Functions Hongchao Zhang Zhizhen Qin Sicun Gao Andrew Clark 68 1 0 27 Oct 2024
ABNet: Attention BarrierNet for Safe and Scalable Robot Learning Wei Xiao Tsun-Hsuan Wang Daniela Rus OffRL 85 1 0 18 Jun 2024
Safe Reach Set Computation via Neural Barrier Certificates Alessandro Abate Sergiy Bogomolov Alec Edwards Kostiantyn Potomkin Sadegh Soudjani Paolo Zuliani 40 2 0 29 Apr 2024
Myopically Verifiable Probabilistic Certificates for Safe Control and Learning Zhuoyuan Wang Haoming Jing Christian Kurniawan Albert Chern Yorie Nakahira 74 1 0 23 Apr 2024
Barrier Functions Inspired Reward Shaping for Reinforcement Learning Nilaksh Nilaksh Abhishek Ranjan Shreenabh Agrawal Aayush Jain Pushpak Jagtap Shishir Kolathaya OffRL 81 5 0 03 Mar 2024
How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems Oswin So Zachary Serlin Makai Mann Jake Gonzales Kwesi J. Rutledge Nicholas Roy Chuchu Fan 111 33 0 24 Oct 2023
SafeDiffuser: Safe Planning with Diffusion Probabilistic Models Wei Xiao Tsun-Hsuan Wang Chuang Gan Daniela Rus DiffM 63 32 0 31 May 2023
Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation Shucheng Kang Yuxiao Chen Heng Yang Marco Pavone 51 17 0 17 Mar 2023
Neural Abstractions Alessandro Abate Alec Edwards Mirco Giacobbe 92 17 0 27 Jan 2023
On the Forward Invariance of Neural ODEs Wei Xiao Tsun-Hsuan Wang Ramin Hasani Mathias Lechner Yutong Ban Chuang Gan Daniela Rus 81 11 0 10 Oct 2022
Quantifying Safety of Learning-based Self-Driving Control Using Almost-Barrier Functions Zhizhen Qin Tsui-Wei Weng Sicun Gao 47 14 0 28 Jul 2022
Ablation Study of How Run Time Assurance Impacts the Training and Performance of Reinforcement Learning Agents Nathaniel P. Hamilton Kyle Dunlap Taylor T. Johnson Kerianne L. Hobbs OffRL 76 8 0 08 Jul 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
BarrierNet: A Safety-Guaranteed Layer for Neural Networks Wei Xiao Ramin Hasani Xiao Li Daniela Rus 81 20 0 22 Nov 2021
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations Lars Lindemann Alexander Robey Lejun Jiang Satyajeet Das Stephen Tu Nikolai Matni 129 43 0 18 Nov 2021
Toward Neural-Network-Guided Program Synthesis and Verification N. Kobayashi Taro Sekiyama Issei Sato Hiroshi Unno NAI 106 3 0 17 Mar 2021