Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning

23 December 2021

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Papers citing "Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning"

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Title
Manifold-constrained Hamilton-Jacobi Reachability Learning for Decentralized Multi-Agent Motion Planning Qingyi Chen Ruiqi Ni Jun Kim A. H. Qureshi 100 0 0 05 Nov 2025
From Refusal to Recovery: A Control-Theoretic Approach to Generative AI Guardrails Ravi Pandya Madison Bland D. Nguyen Changliu Liu J. F. Fisac Andrea V. Bajcsy 114 1 0 15 Oct 2025
Automaton Constrained Q-Learning Anastasios Manganaris Vittorio Giammarino A. H. Qureshi 159 0 0 06 Oct 2025
AnySafe: Adapting Latent Safety Filters at Runtime via Safety Constraint Parameterization in the Latent Space Sankalp Agrawal Junwon Seo Kensuke Nakamura Ran Tian Andrea V. Bajcsy 92 0 0 23 Sep 2025
From Space to Time: Enabling Adaptive Safety with Learned Value Functions via Disturbance Recasting S. Tonkens Nikhil Shinde Azra Begzadić Michael C. Yip Jorge Cortés Sylvia Herbert OffRL 72 1 0 23 Sep 2025
Parallel-Constraint Model Predictive Control: Exploiting Parallel Computation for Improving SafetyIEEE International Conference on Robotics and Automation (ICRA), 2025 Elias Fontanari Gianni Lunardi Matteo Saveriano Andrea Del Prete 72 1 0 03 Sep 2025
Dual-Objective Reinforcement Learning with Novel Hamilton-Jacobi-Bellman Formulations William Sharpless Dylan Hirsch S. Tonkens Nikhil Shinde Sylvia Herbert 130 1 0 19 Jun 2025
Accelerated Learning with Linear Temporal Logic using Differentiable Simulation Alper Kamil Bozkurt Calin Belta Ming C. Lin 219 0 0 01 Jun 2025
Prompting Decision Transformers for Zero-Shot Reach-Avoid Policies Kevin Li Marinka Zitnik OffRL 171 0 0 25 May 2025
Solving Reach- and Stabilize-Avoid Problems Using Discounted Reachability Boyang Li Zheng Gong Sylvia Herbert 139 0 0 14 May 2025
Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis Zeyuan Feng Le Qiu Somil Bansal 146 4 0 04 May 2025
Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety Jason J. Choi Jasmine Jerry Aloor Jingqi Li Maria G. Mendoza H. Balakrishnan Claire J. Tomlin 253 6 0 04 May 2025
Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures Junwon Seo Kensuke Nakamura Andrea V. Bajcsy 370 8 0 01 May 2025
Neural Fidelity Calibration for Informative Sim-to-Real Adaptation Youwei Yu Lantao Liu 220 1 0 11 Apr 2025
Gameplay Filters: Robust Zero-Shot Safety through Adversarial ImaginationConference on Robot Learning (CoRL), 2024 D. Nguyen Kai-Chieh Hsu Wenhao Yu Jie Tan J. F. Fisac 204 1 0 17 Jan 2025
A learning-based approach to stochastic optimal control under reach-avoid constraintInternational Conference on Hybrid Systems: Computation and Control (HSCC), 2024 Tingting Ni Maryam Kamgarpour 374 1 0 21 Dec 2024
RPCBF: Constructing Safety Filters Robust to Model Error and Disturbances via Policy Control Barrier Functions Luzia Knoedler Oswin So Ji Yin Mitchell Black Zachary Serlin Panagiotis Tsiotras Javier Alonso-Mora Chuchu Fan 223 1 0 15 Oct 2024
Solving Reach-Avoid-Stay Problems Using Deep Deterministic Policy Gradients Gabriel Chenevert Jingqi Li Achyuta kannan S. Bae Donggun Lee 248 3 0 03 Oct 2024
Robots that Suggest Safe Alternatives Hyun Joe Jeong Andrea V. Bajcsy Andrea Bajcsy OffRL 317 2 0 15 Sep 2024
A Safe Exploration Strategy for Model-free Task Adaptation in Safety-constrained Grid EnvironmentsInternational Conference on the Digital Society (ICDS), 2024 Erfan Entezami Mahsa Sahebdel Dhawal Gupta 187 0 0 02 Aug 2024
Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey Milan Ganai Sicun Gao Sylvia Herbert 317 15 0 12 Jul 2024
Safe and Reliable Training of Learning-Based Aerospace Controllers Udayan Mandal Guy Amir Haoze Wu Ieva Daukantas Fletcher Lee Newell ... Kerianne Hobbs Milan Ganai Tobey Shim Guy Katz Clark Barrett 189 7 0 09 Jul 2024
Formally Verifying Deep Reinforcement Learning Controllers with Lyapunov Barrier CertificatesFormal Methods in Computer-Aided Design (FMCAD), 2024 Udayan Mandal Guy Amir Haoze Wu Ieva Daukantas Fletcher Lee Newell ... Michael Durling Milan Ganai Tobey Shim Guy Katz Clark W. Barrett 146 13 0 22 May 2024
Tackling Decision Processes with Non-Cumulative Objectives using Reinforcement Learning Maximilian Nägele Jan Olle Thomas Fösel Remmy Zen Florian Marquardt 300 2 0 22 May 2024
Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation Long Kiu Chung Wonsuhk Jung Chuizheng Kong Shreyas Kousik 329 3 0 23 Feb 2024
To the Max: Reinventing Reward in Reinforcement Learning Grigorii Veviurko Wendelin Bohmer Mathijs de Weerdt 182 10 0 02 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 376 113 0 31 Jan 2024
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent ControlIEEE Transactions on robotics (IEEE Trans. Robot.), 2024 Songyuan Zhang Oswin So Kunal Garg Chuchu Fan AI4CE 601 41 0 25 Jan 2024
Learning safety critics via a non-contractive binary bellman operatorAsilomar Conference on Signals, Systems and Computers (ACSSC), 2023 Agustin Castellano Hancheng Min J. Bazerque Enrique Mallada 190 3 0 23 Jan 2024
Learning Predictive Safety Filter via Decomposition of Robust Invariant Set Zeyang Li Chuxiong Hu Weiye Zhao Changliu Liu 200 7 0 12 Nov 2023
State-Wise Safe Reinforcement Learning With Pixel ObservationsConference on Learning for Dynamics & Control (L4DC), 2023 S. Zhan Yixuan Wang Qingyuan Wu Ruochen Jiao Chao Huang Qi Zhu 306 12 0 03 Nov 2023
How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained SystemsIEEE International Conference on Robotics and Automation (ICRA), 2023 Oswin So Zachary Serlin Makai Mann Jake Gonzales Kwesi J. Rutledge Nicholas Roy Chuchu Fan 225 53 0 24 Oct 2023
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant SetIEEE International Conference on Robotics and Automation (ICRA), 2023 Gianni Lunardi Asia La Rocca Matteo Saveriano Andrea Del Prete 193 2 0 20 Sep 2023
The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systems Kai-Chieh Hsu Haimin Hu J. F. Fisac 254 125 0 11 Sep 2023
Deception Game: Closing the Safety-Learning Loop in Interactive Robot AutonomyConference on Robot Learning (CoRL), 2023 Haimin Hu Zixu Zhang Kensuke Nakamura Andrea V. Bajcsy J. F. Fisac 268 13 0 03 Sep 2023
Fast, Smooth, and Safe: Implicit Control Barrier Functions through Reach-Avoid Differential Dynamic ProgrammingIEEE Control Systems Letters (L-CSS), 2023 Athindran Ramesh Kumar Kai Hsu Peter J. Ramadge J. F. Fisac 128 10 0 01 Jul 2023
Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning Oswin So Chuchu Fan 150 30 0 23 May 2023
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal ControlIEEE Robotics and Automation Letters (RA-L), 2023 Asia La Rocca Matteo Saveriano Andrea Del Prete 102 6 0 12 May 2023
ISAACS: Iterative Soft Adversarial Actor-Critic for SafetyConference on Learning for Dynamics & Control (L4DC), 2022 Kai Hsu D. Nguyen J. F. Fisac 201 40 0 06 Dec 2022
Safe Model-Based Reinforcement Learning with an Uncertainty-Aware Reachability CertificateIEEE Transactions on Automation Science and Engineering (T-ASE), 2022 Dongjie Yu Wenjun Zou Yujie Yang Haitong Ma Sheng Li Jingliang Duan Jianyu Chen 140 18 0 14 Oct 2022
Neurosymbolic Motion and Task Planning for Linear Temporal Logic TasksIEEE Transactions on robotics (TRO), 2022 Xiaowu Sun Yasser Shoukry 143 14 0 11 Oct 2022
Synthesize Efficient Safety Certificates for Learning-Based Safe Control using Magnitude RegularizationIEEE International Conference on Robotics and Automation (ICRA), 2022 Haotian Zheng Haitong Ma Sifa Zheng Shengbo Eben Li Jianqiang Wang 133 2 0 23 Sep 2022
Reachability Constrained Reinforcement LearningInternational Conference on Machine Learning (ICML), 2022 Dongjie Yu Haitong Ma Sheng Li Jianyu Chen 223 74 0 16 May 2022
Infinite-Horizon Reach-Avoid Zero-Sum Games via Deep Reinforcement Learning Jingqi Li Donggun Lee Somayeh Sojoudi Claire Tomlin 192 12 0 18 Mar 2022
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization GuaranteesArtificial Intelligence (AIJ), 2022 Kai Hsu Allen Z. Ren D. Nguyen Anirudha Majumdar J. F. Fisac OffRL 224 53 0 20 Jan 2022
Safe Autonomous Racing via Approximate Reachability on Ego-vision Bingqing Chen Jonathan M Francis Jean Oh Eric Nyberg Sylvia Herbert 173 15 0 14 Oct 2021
Continuous-Time Fitted Value Iteration for Robust Policies M. Lutter Boris Belousov Shie Mannor Dieter Fox Animesh Garg Jan Peters 199 10 0 05 Oct 2021
SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction Haimin Hu Kensuke Nakamura J. F. Fisac 260 28 0 02 Oct 2021
Safe Value FunctionsIEEE Transactions on Automatic Control (IEEE TAC), 2021 P. Massiani Steve Heim Friedrich Solowjow Sebastian Trimpe 256 17 0 25 May 2021
Provably Correct Training of Neural Network Controllers Using Reachability Analysis Xiaowu Sun Yasser Shoukry 173 7 0 22 Feb 2021