Reachability-based Trajectory Safeguard (RTS): A Safe and Fast
Reinforcement Learning Safety Layer for Continuous Control

v1v2v3 (latest)

Reachability-based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control

17 November 2020

ArXiv (abs)PDF HTML

Papers citing "Reachability-based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control"

19 / 19 papers shown

Title
Geometry of Neural Reinforcement Learning in Continuous State and Action Spaces Saket Tiwari Omer Gottesman George Konidaris 90 1 0 28 Jul 2025
Towards Safe Robot Foundation Models Maximilian Tölle Theo Gruner Daniel Palenicek Jonas Günster Puze Liu Joe Watson Davide Tateo Jan Peters OffRL 188 0 0 10 Mar 2025
Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis Yuanfei Lin Zekun Xing Xuyuan Han Matthias Althoff 197 2 0 20 Dec 2024
Safe Reinforcement Learning on the Constraint Manifold: Theory and Applications Puze Liu Haitham Bou-Ammar Jan Peters Davide Tateo 119 12 0 13 Apr 2024
RAnGE: Reachability Analysis for Guaranteed Ergodicity Henry Berger Ian Abraham 93 0 0 04 Apr 2024
Learn With Imagination: Safe Set Guided State-wise Constrained Policy Optimization Weiye Zhao Yifan Sun Fei Li Rui Chen Tianhao Wei Changliu Liu 223 7 0 25 Aug 2023
Safe & Accurate at Speed with Tendons: A Robot Arm for Exploring Dynamic Motion Simon Guist Jan Schneider Hao Ma Tianyu Cui V. Berenz ... Felix Gruninger M. Muhlebach J. Fiene Bernhard Schölkopf Le Chen 184 6 0 05 Jul 2023
Safe Reinforcement Learning with Dead-Ends Avoidance and Recovery Xiao Zhang Hai Zhang Hongtu Zhou Chang Huang Di Zhang Chen Ye Junqiao Zhao OffRL 99 8 0 24 Jun 2023
Adaptive Policy Learning to Additional Tasks Wenjian Hao Zehui Lu Zihao Liang Tianyu Zhou Shaoshuai Mou 86 0 0 24 May 2023
Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces Hanna Krasowski Prithvi Akella Aaron D. Ames Matthias Althoff 129 3 0 12 Dec 2022
Safe Reinforcement Learning using Data-Driven Predictive Control Mahmoud Selim Amr Alanwar M. El-Kharashi Hazem Abbas Karl H. Johansson OffRL 149 7 0 20 Nov 2022
Provably Safe Reinforcement Learning via Action Projection using Reachability Analysis and Polynomial Zonotopes Niklas Kochdumper Hanna Krasowski Xiao Wang Stanley Bak Matthias Althoff 137 33 0 19 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 209 61 0 29 Sep 2022
Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interaction Puze Liu Kuo Zhang Davide Tateo Snehal Jauhri Zhiyuan Hu Jan Peters Georgia Chalvatzaki 141 20 0 27 Sep 2022
Provably Safe Deep Reinforcement Learning for Robotic Manipulation in Human Environments Jakob Thumm Matthias Althoff 157 40 0 12 May 2022
Safe Reinforcement Learning Using Black-Box Reachability Analysis Mahmoud Selim Amr Alanwar Shreyas Kousik Grace Gao Marco Pavone Karl H. Johansson 112 38 0 15 Apr 2022
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis T. Lew Lucas Janson Riccardo Bonalli Marco Pavone 143 21 0 10 Dec 2021
Risk Conditioned Neural Motion Planning Xin Huang Meng Feng A. Jasour Guy Rosman B. Williams 101 7 0 04 Aug 2021
Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach A. Hakobyan Insoon Yang 213 28 0 03 May 2021