Lyapunov-based Safe Policy Optimization for Continuous Control

28 January 2019

Yinlam Chow

Ofir Nachum

Aleksandra Faust

Edgar A. Duénez-Guzmán

Mohammad Ghavamzadeh

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Papers citing "Lyapunov-based Safe Policy Optimization for Continuous Control"

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From Text to Trajectory: Exploring Complex Constraint Representation and Decomposition in Safe Reinforcement Learning Pusen Dong Tianchen Zhu Yue Qiu Haoyi Zhou Jianxin Li 86 1 0 24 Feb 2025
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Embedding Safety into RL: A New Take on Trust Region Methods Nikola Milosevic Johannes Müller Nico Scherf 25 1 0 05 Nov 2024
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
Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey Milan Ganai Sicun Gao Sylvia Herbert 40 6 0 12 Jul 2024
GenSafe: A Generalizable Safety Enhancer for Safe Reinforcement Learning Algorithms Based on Reduced Order Markov Decision Process Model Zhehua Zhou Xuan Xie Jiayang Song Zhan Shu Lei Ma 47 1 0 06 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
Intervention-Assisted Policy Gradient Methods for Online Stochastic Queuing Network Optimization: Technical Report Jerrod Wigmore B. Shrader E. Modiano OffRL 32 1 0 05 Apr 2024
A safe exploration approach to constrained Markov decision processes Tingting Ni Maryam Kamgarpour 39 3 0 01 Dec 2023
Evaluation of Safety Constraints in Autonomous Navigation with Deep Reinforcement Learning Brian Angulo G. Gorbov Aleksandr I. Panov Konstantin Yakovlev 18 0 0 27 Jul 2023
Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions Desong Du Shao-Fu Han Naiming Qi Haitham Bou-Ammar Jun Wang Wei Pan 37 15 0 16 May 2023
Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives Siyu Teng Xuemin Hu Peng Deng Bai Li Yuchen Li ... Yunfeng Ai Lingxi Li Zhe Xuanyuan F. Zhu Long Chen 40 336 0 17 Mar 2023
Efficient Exploration Using Extra Safety Budget in Constrained Policy Optimization Haotian Xu Shengjie Wang Zhaolei Wang Yunzhe Zhang Qing Zhuo Yang Gao Tao Zhang 18 0 0 28 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
A Policy Optimization Method Towards Optimal-time Stability Shengjie Wang Lan Fengb Xiang Zheng Yu-wen Cao Oluwatosin Oseni Haotian Xu Tao Zhang Yang Gao 39 1 0 02 Jan 2023
Quantile Constrained Reinforcement Learning: A Reinforcement Learning Framework Constraining Outage Probability Whiyoung Jung Myungsik Cho Jongeui Park Young-Jin Sung 35 4 0 28 Nov 2022
Policy Optimization with Advantage Regularization for Long-Term Fairness in Decision Systems Eric Yang Yu Zhizhen Qin Min Kyung Lee Sicun Gao OffRL 37 15 0 22 Oct 2022
Neural ODEs as Feedback Policies for Nonlinear Optimal Control I. O. Sandoval Panagiotis Petsagkourakis Ehecatl Antonio del Rio Chanona 25 9 0 20 Oct 2022
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization T. Lew Sumeet Singh M. Prats Jeffrey Bingham Jonathan Weisz ... Fei Xia Peng Xu Tingnan Zhang Jie Tan Montserrat Gonzalez 35 15 0 19 Oct 2022
Neurosymbolic Motion and Task Planning for Linear Temporal Logic Tasks Xiaowu Sun Yasser Shoukry 48 11 0 11 Oct 2022
Benchmarking Reinforcement Learning Techniques for Autonomous Navigation Zifan Xu Bo Liu Xuesu Xiao Anirudh Nair Peter Stone 36 42 0 10 Oct 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 Risk-Sensitive Approach to Policy Optimization Jared Markowitz Ryan W. Gardner Ashley J. Llorens R. Arora I-J. Wang OffRL 29 6 0 19 Aug 2022
On the Robustness of Safe Reinforcement Learning under Observational Perturbations Zuxin Liu Zijian Guo Zhepeng Cen Huan Zhang Jie Tan Bo-wen Li Ding Zhao OOD OffRL 45 35 0 29 May 2022
Constrained Reinforcement Learning for Short Video Recommendation Qingpeng Cai Ruohan Zhan Chi Zhang Jie Zheng Guangwei Ding Pinghua Gong Dong Zheng Peng Jiang 30 6 0 26 May 2022
A Review of Safe Reinforcement Learning: Methods, Theory and Applications Shangding Gu Longyu Yang Yali Du Guang Chen Florian Walter Jun Wang Alois C. Knoll OffRL AI4TS 117 241 0 20 May 2022
Road Traffic Law Adaptive Decision-making for Self-Driving Vehicles Jiaxin Liu Wenhui Zhou Hong Wang Zhong Cao Wen-Hui Yu Cheng-Yu Zhao Ding Zhao Diange Yang Jun Li 30 23 0 25 Apr 2022
Safe Reinforcement Learning for Legged Locomotion Tsung-Yen Yang Tingnan Zhang Linda Luu Sehoon Ha Jie Tan Wenhao Yu 26 40 0 05 Mar 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 41 231 0 23 Feb 2022
A Globally Convergent Evolutionary Strategy for Stochastic Constrained Optimization with Applications to Reinforcement Learning Youssef Diouane Aurelien Lucchi Vihang Patil 29 3 0 21 Feb 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
Towards Safe Reinforcement Learning with a Safety Editor Policy Haonan Yu Wei-ping Xu Haichao Zhang OffRL 69 31 0 28 Jan 2022
Conservative Distributional Reinforcement Learning with Safety Constraints Hengrui Zhang Youfang Lin Sheng Han Shuo Wang Kai Lv OffRL 21 5 0 18 Jan 2022
Model-Based Safe Reinforcement Learning with Time-Varying State and Control Constraints: An Application to Intelligent Vehicles Xinglong Zhang Yaoqian Peng Biao Luo Wei Pan Xin Xu Haibin Xie 27 11 0 18 Dec 2021
Safe Autonomous Racing via Approximate Reachability on Ego-vision Bingqing Chen Jonathan M Francis Jean Oh Eric Nyberg Sylvia Herbert 56 14 0 14 Oct 2021
Safe Reinforcement Learning Using Robust Control Barrier Functions Y. Emam Gennaro Notomista Paul Glotfelter Z. Kira M. Egerstedt OffRL 16 39 0 11 Oct 2021
Multi-Agent Constrained Policy Optimisation Shangding Gu J. Kuba Munning Wen Ruiqing Chen Ziyan Wang Zheng Tian Jun Wang Alois Knoll Yaodong Yang 98 49 0 06 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
Safe Deep Reinforcement Learning for Multi-Agent Systems with Continuous Action Spaces Ziyad Sheebaelhamd Konstantinos Zisis Athina Nisioti Dimitris Gkouletsos Dario Pavllo Jonas Köhler AI4CE 24 16 0 09 Aug 2021
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics Ya-Chien Chang Sicun Gao 13 57 0 11 Jul 2021
Safe Reinforcement Learning Using Advantage-Based Intervention Nolan Wagener Byron Boots Ching-An Cheng 34 52 0 16 Jun 2021
Lyapunov Barrier Policy Optimization Harshit S. Sikchi Wenxuan Zhou David Held 34 14 0 16 Mar 2021
Maximum Entropy RL (Provably) Solves Some Robust RL Problems Benjamin Eysenbach Sergey Levine OOD 50 175 0 10 Mar 2021
Provably Correct Training of Neural Network Controllers Using Reachability Analysis Xiaowu Sun Yasser Shoukry 20 7 0 22 Feb 2021
Differentiable Trust Region Layers for Deep Reinforcement Learning Fabian Otto P. Becker Ngo Anh Vien Hanna Ziesche Gerhard Neumann OffRL 41 19 0 22 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
CRPO: A New Approach for Safe Reinforcement Learning with Convergence Guarantee Tengyu Xu Yingbin Liang Guanghui Lan 47 122 0 11 Nov 2020
Learning to be Safe: Deep RL with a Safety Critic K. Srinivasan Benjamin Eysenbach Sehoon Ha Jie Tan Chelsea Finn OffRL 33 143 0 27 Oct 2020
Responsive Safety in Reinforcement Learning by PID Lagrangian Methods Adam Stooke Joshua Achiam Pieter Abbeel 31 287 0 08 Jul 2020