Episodic Learning for Safe Bipedal Locomotion with Control Barrier
Functions and Projection-to-State Safety

Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

Conference on Learning for Dynamics & Control (L4DC), 2021

4 May 2021

Noel Csomay-Shanklin

Andrew J. Taylor

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Papers citing "Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety"

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Title
Gaussian Process Implicit Surfaces as Control Barrier Functions for Safe Robot Navigation Mouhyemen Khan Tatsuya Ibuki A. Chatterjee 69 0 0 14 Oct 2025
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Lizhi Yang Blake Werner Ryan K. Cosner David Fridovich-Keil Preston Culbertson Aaron D. Ames 211 0 0 16 May 2025
Multi-Constraint Safe Reinforcement Learning via Closed-form Solution for Log-Sum-Exp Approximation of Control Barrier FunctionsConference on Learning for Dynamics & Control (L4DC), 2025 Chenggang Wang Xinyi Wang Yutong Dong Lei Song Xinping Guan 199 2 0 01 May 2025
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward DestinationIEEE International Conference on Robotics and Automation (ICRA), 2024 Jaemin Lee Min Dai Jeeseop Kim Aaron D. Ames 194 0 0 16 Sep 2024
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms Jaemin Lee Jeeseop Kim Aaron D. Ames 142 2 0 16 Apr 2024
Learning Piecewise Residuals of Control Barrier Functions for Safety of Switching Systems using Multi-Output Gaussian Processes Mohammad Aali Jun Liu 149 0 0 26 Mar 2024
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped RobotsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Jaemin Lee Jeeseop Kim Aaron D. Ames 173 19 0 06 May 2023
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier FunctionsIEEE International Conference on Robotics and Automation (ICRA), 2022 Cameron J. Lerch Ethan Dong Ian Abraham 214 18 0 08 Nov 2022
Control Barrier Functions and Input-to-State Safety with Application to Automated VehiclesIEEE Transactions on Control Systems Technology (TCST), 2022 Anil Alan Andrew J. Taylor C. He Aaron D. Ames G. Orosz 170 110 0 07 Jun 2022
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics PoliciesConference on Learning for Dynamics & Control (L4DC), 2022 I. D. Rodriguez Noel Csomay-Shanklin Yisong Yue Aaron D. Ames 133 8 0 18 Apr 2022
Self-Supervised Online Learning for Safety-Critical Control using Stereo VisionIEEE International Conference on Robotics and Automation (ICRA), 2022 Ryan K. Cosner I. D. Rodriguez Tamás G. Molnár Wyatt Ubellacker Yisong Yue Aaron D. Ames Katherine Bouman 214 16 0 02 Mar 2022
BarrierNet: A Safety-Guaranteed Layer for Neural Networks Wei Xiao Ramin Hasani Xiao Li Daniela Rus 185 21 0 22 Nov 2021
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations Lars Lindemann Avi Schwarzschild Lejun Jiang Satyajeet Das Stephen Tu Nikolai Matni 216 58 0 18 Nov 2021
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM ControlIEEE International Conference on Robotics and Automation (ICRA), 2021 Min Dai Xiaobin Xiong Aaron D. Ames 152 21 0 21 Apr 2021