Learning-based Model Predictive Control for Safe Exploration

22 March 2018

Papers citing "Learning-based Model Predictive Control for Safe Exploration"

50 / 71 papers shown

Title
Finite-Sample-Based Reachability for Safe Control with Gaussian Process Dynamics Manish Prajapat Johannes Köhler Amon Lahr Andreas Krause M. Zeilinger 38 0 0 12 May 2025
Safe Navigation in Dynamic Environments Using Data-Driven Koopman Operators and Conformal Prediction Kaier Liang Guang Yang Mingyu Cai C. Vasile 47 0 0 01 Apr 2025
ActSafe: Active Exploration with Safety Constraints for Reinforcement Learning Yarden As Bhavya Sukhija Lenart Treven Carmelo Sferrazza Stelian Coros Andreas Krause 33 1 0 12 Oct 2024
Towards safe and tractable Gaussian process-based MPC: Efficient sampling within a sequential quadratic programming framework Manish Prajapat Amon Lahr Johannes Köhler Andreas Krause M. Zeilinger 21 2 0 13 Sep 2024
Enhanced Safety in Autonomous Driving: Integrating Latent State Diffusion Model for End-to-End Navigation Detian Chu Linyuan Bai Jianuo Huang Zhenlong Fang Peng Zhang Wei Kang Haifeng Lin 45 2 0 08 Jul 2024
Learning Autonomous Race Driving with Action Mapping Reinforcement Learning Yuanda Wang Xin Yuan Changyin Sun 42 1 0 21 Jun 2024
Safe and Balanced: A Framework for Constrained Multi-Objective Reinforcement Learning Shangding Gu Bilgehan Sel Yuhao Ding Lu Wang Qingwei Lin Alois Knoll Ming Jin 42 1 0 26 May 2024
Balance Reward and Safety Optimization for Safe Reinforcement Learning: A Perspective of Gradient Manipulation Shangding Gu Bilgehan Sel Yuhao Ding Lu Wang Qingwei Lin Ming Jin Alois Knoll 60 9 0 02 May 2024
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 35 3 0 23 Nov 2023
Model-Assisted Probabilistic Safe Adaptive Control With Meta-Bayesian Learning Shengbo Wang Ke Li Yin Yang Yuting Cao Tingwen Huang S. Wen 25 4 0 03 Jul 2023
Conformal Predictive Safety Filter for RL Controllers in Dynamic Environments Kegan J. Strawn Nora Ayanian Lars Lindemann 32 8 0 05 Jun 2023
Can Learning Deteriorate Control? Analyzing Computational Delays in Gaussian Process-Based Event-Triggered Online Learning X. Dai Armin Lederer Zewen Yang Sandra Hirche 35 13 0 14 May 2023
Error analysis of regularized trigonometric linear regression with unbounded sampling: a statistical learning viewpoint Anna Scampicchio Elena Arcari M. Zeilinger 17 1 0 16 Mar 2023
Deep Model Predictive Control Prabhat Kumar Mishra M. V. Gasparino A. E. B. Velasquez Girish Chowdhary 16 0 0 27 Feb 2023
A Human-Centered Safe Robot Reinforcement Learning Framework with Interactive Behaviors Shangding Gu Alap Kshirsagar Yali Du Guang Chen Jan Peters Alois C. Knoll 34 14 0 25 Feb 2023
Certified Robust Control under Adversarial Perturbations Jinghan Yang Hunmin Kim Wenbin Wan N. Hovakimyan Yevgeniy Vorobeychik AAML 19 1 0 04 Feb 2023
Robust Control for Dynamical Systems With Non-Gaussian Noise via Formal Abstractions Thom S. Badings Licio Romao Alessandro Abate David Parker Hasan A. Poonawala Marielle Stoelinga N. Jansen 37 37 0 04 Jan 2023
Sustainable Online Reinforcement Learning for Auto-bidding Zhiyu Mou Yusen Huo Rongquan Bai Mingzhou Xie Chuan Yu Jian Xu Bo Zheng OffRL OnRL 34 15 0 13 Oct 2022
Learning Control Policies for Stochastic Systems with Reach-avoid Guarantees Dorde Zikelic Mathias Lechner T. Henzinger K. Chatterjee 24 21 0 11 Oct 2022
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online Javier Borquez Kensuke Nakamura Somil Bansal 14 14 0 29 Sep 2022
Trustworthy Reinforcement Learning Against Intrinsic Vulnerabilities: Robustness, Safety, and Generalizability Mengdi Xu Zuxin Liu Peide Huang Wenhao Ding Zhepeng Cen Bo-wen Li Ding Zhao 74 45 0 16 Sep 2022
A stabilizing reinforcement learning approach for sampled systems with partially unknown models Lukas Beckenbach Pavel Osinenko S. Streif OffRL 26 1 0 31 Aug 2022
Data-Driven Chance Constrained AC-OPF using Hybrid Sparse Gaussian Processes Milena Mitrović A. Lukashevich Petr Vorobev Vladimir Terzija Yury Maximov Deepjyoti Deka 24 1 0 30 Aug 2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functions Wenhao Luo Wen Sun Ashish Kapoor OffRL 43 9 0 29 Jul 2022
Safe Reinforcement Learning via Confidence-Based Filters Sebastian Curi Armin Lederer Sandra Hirche Andreas Krause OffRL 24 4 0 04 Jul 2022
Refining Control Barrier Functions through Hamilton-Jacobi Reachability S. Tonkens Sylvia L. Herbert 26 38 0 26 Apr 2022
Safe Reinforcement Learning Using Black-Box Reachability Analysis Mahmoud Selim Amr Alanwar Shreyas Kousik Grace Gao Marco Pavone Karl H. Johansson 29 33 0 15 Apr 2022
Autonomous Highway Merging in Mixed Traffic Using Reinforcement Learning and Motion Predictive Safety Controller Qianqian Liu Fengying Dang Xiaofan Wang Xiaoqiang Ren 24 13 0 03 Apr 2022
Investigating Compounding Prediction Errors in Learned Dynamics Models Nathan Lambert K. Pister Roberto Calandra AI4CE 19 27 0 17 Mar 2022
Online Weak-form Sparse Identification of Partial Differential Equations Daniel Messenger E. Dall’Anese David M. Bortz 41 13 0 08 Mar 2022
Safe Reinforcement Learning for Legged Locomotion Tsung-Yen Yang Tingnan Zhang Linda Luu Sehoon Ha Jie Tan Wenhao Yu 21 40 0 05 Mar 2022
Saute RL: Almost Surely Safe Reinforcement Learning Using State Augmentation Aivar Sootla Alexander I. Cowen-Rivers Taher Jafferjee Ziyan Wang D. Mguni Jun Wang Haitham Bou-Ammar 32 54 0 14 Feb 2022
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings Adam J. Thorpe T. Lew Meeko Oishi Marco Pavone 25 21 0 08 Feb 2022
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees Kai Hsu Allen Z. Ren D. Nguyen Anirudha Majumdar J. F. Fisac OffRL 26 41 0 20 Jan 2022
Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach Luca Furieri C. Galimberti M. Zakwan Giancarlo Ferrari-Trecate 29 20 0 16 Dec 2021
A note on stabilizing reinforcement learning Pavel Osinenko Grigory Yaremenko I. Osokin 14 2 0 24 Nov 2021
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation T. Lew Apoorva Sharma James Harrison Edward Schmerling Marco Pavone 26 6 0 11 Nov 2021
Sampling-Based Robust Control of Autonomous Systems with Non-Gaussian Noise Heinke Hihn Alessandro Abate Nils Jansen David Parker Hasan A. Poonawala Marielle Stoelinga 27 27 0 25 Oct 2021
Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning Hao-Lun Hsu Qiuhua Huang Sehoon Ha OffRL 42 11 0 29 Sep 2021
Learning Policies with Zero or Bounded Constraint Violation for Constrained MDPs Tao-Wen Liu Ruida Zhou D. Kalathil P. R. Kumar Chao Tian 29 78 0 04 Jun 2021
Learning-enhanced robust controller synthesis with rigorous statistical and control-theoretic guarantees Christian Fiedler C. Scherer Sebastian Trimpe 24 15 0 07 May 2021
Practical and Rigorous Uncertainty Bounds for Gaussian Process Regression Christian Fiedler C. Scherer Sebastian Trimpe GP 26 65 0 06 May 2021
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems Glen Chou N. Ozay Dmitry Berenson 32 25 0 18 Apr 2021
Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty Rohan Sinha James Harrison Spencer M. Richards Marco Pavone 18 22 0 16 Apr 2021
Approximate Robust NMPC using Reinforcement Learning H. Esfahani Arash Bahari Kordabad S. Gros 13 10 0 06 Apr 2021
Provably Correct Training of Neural Network Controllers Using Reachability Analysis Xiaowu Sun Yasser Shoukry 20 7 0 22 Feb 2021
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots Weixuan Zhang M. Tognon Lionel Ott Roland Siegwart Juan I. Nieto 24 7 0 20 Jan 2021
Context-Aware Safe Reinforcement Learning for Non-Stationary Environments Baiming Chen Zuxin Liu Jiacheng Zhu Mengdi Xu Wenhao Ding Ding Zhao 25 35 0 02 Jan 2021
Learning for MPC with Stability & Safety Guarantees S. Gros Mario Zanon 37 29 0 14 Dec 2020
Safely Learning Dynamical Systems from Short Trajectories Amir Ali Ahmadi A. Chaudhry Vikas Sindhwani Stephen Tu 16 4 0 24 Nov 2020