Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods

23 February 2022

Chuchu Fan

Papers citing "Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods"

32 / 32 papers shown

Title
Learning Neural Control Barrier Functions from Offline Data with Conservatism Ihab Tabbara Hussein Sibai OffRL 57 0 0 01 May 2025
Negative Imaginary Neural ODEs: Learning to Control Mechanical Systems with Stability Guarantees Kanghong Shi Ruigang Wang I. Manchester 24 0 0 28 Apr 2025
Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations Ken-Joel Simmoteit Philipp Schillinger Leonel Rozo 16 0 0 26 Apr 2025
Is Bellman Equation Enough for Learning Control? Haoxiang You Lekan Molu Ian Abraham 68 0 0 04 Mar 2025
Analytical Lyapunov Function Discovery: An RL-based Generative Approach Haohan Zou Jie Feng Hao Zhao Yuanyuan Shi 90 0 0 04 Feb 2025
One Stack, Diverse Vehicles: Checking Safe Portability of Automated Driving Software Vladislav Nenchev 101 0 0 30 Jan 2025
Transformer-Based Fault-Tolerant Control for Fixed-Wing UAVs Using Knowledge Distillation and In-Context Adaptation Francisco Giral Ignacio Gómez Ricardo Vinuesa S. L. Clainche 32 2 0 05 Nov 2024
Pareto Control Barrier Function for Inner Safe Set Maximization Under Input Constraints Xiaoyang Cao Zhe Fu Alexandre M. Bayen 21 0 0 05 Oct 2024
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation Taekyung Kim Robin Inho Kee Dimitra Panagou 36 6 0 22 Sep 2024
Neural Control Barrier Functions for Safe Navigation Marvin Harms M. Kulkarni Nikhil Khedekar Martin Jacquet Kostas Alexis 38 7 0 29 Jul 2024
Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey Milan Ganai Sicun Gao Sylvia L. Herbert 32 6 0 12 Jul 2024
Preparing for Black Swans: The Antifragility Imperative for Machine Learning Ming Jin 34 2 0 18 May 2024
Mobius Transformation-Based Circular Motion Control for Unicycle Robots in Nonconcentric Circular Geofences Shubham Singh Anoop Jain 14 0 0 11 May 2024
Learning Stable and Passive Neural Differential Equations Jing Cheng Ruigang Wang I. Manchester 24 3 0 19 Apr 2024
Safe Distributed Control of Multi-Robot Systems with Communication Delays Luca Ballotta Rajat Talak AI4CE 16 1 0 14 Feb 2024
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control Songyuan Zhang Oswin So Kunal Garg Chuchu Fan AI4CE 31 22 0 25 Jan 2024
Learning Performance-Oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation Shaoru Chen Mahyar Fazlyab 27 6 0 11 Jan 2024
Physics-Informed Neural Network Lyapunov Functions: PDE Characterization, Learning, and Verification Jun Liu Yiming Meng Maxwell Fitzsimmons Rui Zhou 21 16 0 14 Dec 2023
Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems Jason J. Choi F. Castañeda Wonsuhk Jung Bike Zhang Claire J. Tomlin K. Sreenath 25 3 0 23 Nov 2023
Detection of Unknown-Unknowns in Human-in-Plant Human-in-Loop Systems Using Physics Guided Process Models Aranyak Maity Ayan Banerjee S. Gupta 11 2 0 05 Sep 2023
Neural Operators of Backstepping Controller and Observer Gain Functions for Reaction-Diffusion PDEs Miroslav Krstic Luke Bhan Yuanyuan Shi 36 28 0 18 Mar 2023
Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving Ryan K. Cosner Yuxiao Chen Karen Leung Marco Pavone 20 9 0 06 Mar 2023
Data-Driven Control with Inherent Lyapunov Stability Youngjae Min Spencer M. Richards Navid Azizan 11 7 0 06 Mar 2023
Closed-loop Analysis of Vision-based Autonomous Systems: A Case Study C. Păsăreanu Ravi Mangal D. Gopinath Sinem Getir Yaman Calum Imrie R. Calinescu Huafeng Yu 17 29 0 06 Feb 2023
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems Nicholas Rober Sydney M. Katz Chelsea Sidrane Esen Yel Michael Everett Mykel J. Kochenderfer Jonathan P. How 24 26 0 28 Sep 2022
Enforcing safety for vision-based controllers via Control Barrier Functions and Neural Radiance Fields Mukun Tong Charles Dawson Chuchu Fan 38 29 0 25 Sep 2022
Example When Local Optimal Policies Contain Unstable Control B. Song Jean-Jacques E. Slotine Quang-Cuong Pham 34 1 0 15 Sep 2022
Lyapunov-Net: A Deep Neural Network Architecture for Lyapunov Function Approximation Nathan Gaby Fumin Zhang X. Ye PINN 32 38 0 27 Sep 2021
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson Zengyi Qin Sicun Gao Chuchu Fan 109 171 0 14 Sep 2021
Reactive and Safe Road User Simulations using Neural Barrier Certificates Yue Meng Zengyi Qin Chuchu Fan 29 20 0 14 Sep 2021
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 107 78 0 04 Mar 2019
Control Design along Trajectories with Sums of Squares Programming Anirudha Majumdar Amir Ali Ahmadi Russ Tedrake 97 139 0 02 Oct 2012