Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions

30 October 2020

Benjamin Recht

Papers citing "Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions"

43 / 43 papers shown

Title
Multi-Robot Coordination with Adversarial Perception Rayan Bahrami H. Jafarnejadsani AAML 224 0 0 12 Apr 2025
Risk-Aware Robot Control in Dynamic Environments Using Belief Control Barrier Functions Shaohang Han Matti Vahs Jana Tumova 129 0 0 05 Apr 2025
Anytime Probabilistically Constrained Provably Convergent Online Belief Space Planning A. Zhitnikov Vadim Indelman 75 0 0 11 Nov 2024
Pre-Trained Vision Models as Perception Backbones for Safety Filters in Autonomous Driving Yuxuan Yang Hussein Sibai 104 2 0 29 Oct 2024
Formal Verification and Control with Conformal Prediction Lars Lindemann Yiqi Zhao Xinyi Yu George J. Pappas Jyotirmoy Deshmukh 729 17 0 31 Aug 2024
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments Jingxing Qian Siqi Zhou Nicholas Jianrui Ren Veronica Chatrath Angela P. Schoellig 77 1 0 22 Apr 2024
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception Anushri Dixit Zhiting Mei Meghan Booker Mariko Storey-Matsutani Mariko Storey-Matsutani Allen Z. Ren Ola Shorinwa Anirudha Majumdar 225 7 0 13 Mar 2024
Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments Siqi Zhou Sotiris Papatheodorou Stefan Leutenegger Angela P. Schoellig 73 2 0 07 Mar 2024
Real-Time Adaptive Safety-Critical Control with Gaussian Processes in High-Order Uncertain Models Yu Zhang Long Wen Xiangtong Yao Zhenshan Bing Linghuan Kong Wei He Alois Knoll 79 1 0 29 Feb 2024
Online and Certifiably Correct Visual Odometry and Mapping Devansh R. Agrawal Rajiv G. Govindjee Jiangbo Yu Anurekha Ravikumar Dimitra Panagou 61 2 0 07 Feb 2024
Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots Ersin Daş J. W. Burdick 142 8 0 03 Jan 2024
System-level Safety Guard: Safe Tracking Control through Uncertain Neural Network Dynamics Models Xiao Li Yutong Li Anouck Girard Ilya Kolmanovsky 93 5 0 11 Dec 2023
Refining Perception Contracts: Case Studies in Vision-based Safe Auto-landing Yangge Li Benjamin C Yang Yixuan Jia Daniel Zhuang Sayan Mitra 108 4 0 15 Nov 2023
Learning-based Inverse Perception Contracts and Applications Dawei Sun B. C. Yang Sayan Mitra 91 4 0 24 Sep 2023
Risk-aware Control for Robots with Non-Gaussian Belief Spaces Matti Vahs Jana Tumova 97 7 0 22 Sep 2023
Belief Control Barrier Functions for Risk-aware Control Matti Vahs Christian Pek Jana Tumova 38 13 0 12 Sep 2023
The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systems Kai-Chieh Hsu Haimin Hu J. F. Fisac 74 79 0 11 Sep 2023
How Safe Am I Given What I See? Calibrated Prediction of Safety Chances for Image-Controlled Autonomy Zhenjiang Mao Carson Sobolewski I. Ruchkin 129 9 0 23 Aug 2023
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization Glen Chou Russ Tedrake 74 2 0 24 Apr 2023
Safe Perception-Based Control under Stochastic Sensor Uncertainty using Conformal Prediction Shuo Yang George J. Pappas Rahul Mangharam Lars Lindemann 198 23 0 01 Apr 2023
Collaborative Multi-Object Tracking with Conformal Uncertainty Propagation Sanbao Su Songyang Han Yiming Li Zhili Zhang Chen Feng Caiwen Ding Fei Miao VOT 110 26 0 25 Mar 2023
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States F. Castañeda Haruki Nishimura R. McAllister Koushil Sreenath Adrien Gaidon OffRL 115 16 0 27 Jan 2023
Certifying Safety in Reinforcement Learning under Adversarial Perturbation Attacks Junlin Wu Hussein Sibai Yevgeniy Vorobeychik AAML 56 0 0 28 Dec 2022
Towards Explainability in Modular Autonomous Vehicle Software Hongrui Zheng Zirui Zang Shuo Yang Rahul Mangharam 88 0 0 01 Dec 2022
Safe and Robust Observer-Controller Synthesis using Control Barrier Functions Devansh R. Agrawal Dimitra Panagou 63 53 0 25 Nov 2022
Enforcing safety for vision-based controllers via Control Barrier Functions and Neural Radiance Fields Mukun Tong Charles Dawson Chuchu Fan 99 29 0 25 Sep 2022
Learning Certifiably Robust Controllers Using Fragile Perception Dawei Sun N. Musavi Geir Dullerud Sanjay Shakkottai Sayan Mitra 62 1 0 22 Sep 2022
Vision-Based Uncertainty-Aware Motion Planning based on Probabilistic Semantic Segmentation Ralf Römer Armin Lederer Samuel Tesfazgi Sandra Hirche 45 2 0 14 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
Lyapunov Density Models: Constraining Distribution Shift in Learning-Based Control Katie Kang Paula Gradu Jason J. Choi Michael Janner Claire Tomlin Sergey Levine 74 24 0 21 Jun 2022
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory Glen Chou N. Ozay Dmitry Berenson 90 22 0 14 Jun 2022
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles Anil Alan Andrew J. Taylor C. He Aaron D. Ames G. Orosz 65 69 0 07 Jun 2022
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision Ryan K. Cosner I. D. Rodriguez Tamás G. Molnár Wyatt Ubellacker Yisong Yue Aaron D. Ames Katherine Bouman 85 14 0 02 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
SABLAS: Learning Safe Control for Black-box Dynamical Systems Zengyi Qin Dawei Sun Chuchu Fan 87 43 0 06 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
Safety-Aware Preference-Based Learning for Safety-Critical Control Ryan K. Cosner Maegan Tucker Andrew J. Taylor Kejun Li Tamás G. Molnár Wyatt Ubellacker Anil Alan G. Orosz Yisong Yue Aaron D. Ames 63 24 0 15 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 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
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson Zengyi Qin Sicun Gao Chuchu Fan 159 176 0 14 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 68 637 0 13 Aug 2021
Comparison between safety methods control barrier function vs. reachability analysis Zhichao Li 65 29 0 24 Jun 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