Reinforcement Learning for Safety-Critical Control under Model
Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

16 April 2020

Koushil Sreenath

Papers citing "Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions"

12 / 12 papers shown

Title
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation Yishu Li Wen Hui Leng Yiming Fang Ben Eisner David Held AI4CE 73 1 0 31 Dec 2024
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning F. Castañeda Mathias Wulfman Ayush Agrawal T. Westenbroek Claire Tomlin S. Sastry Koushil Sreenath 19 5 0 15 Apr 2020
Learning for Safety-Critical Control with Control Barrier Functions Andrew J. Taylor Andrew W. Singletary Yisong Yue Aaron D. Ames 82 241 0 20 Dec 2019
Feedback Linearization for Unknown Systems via Reinforcement Learning T. Westenbroek David Fridovich-Keil Eric Mazumdar Shreyas Arora Valmik Prabhu S. Shankar Sastry Claire Tomlin 33 28 0 29 Oct 2019
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 148 78 0 04 Mar 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 67 1,294 0 24 Jan 2019
The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems Spencer M. Richards Felix Berkenkamp Andreas Krause 31 227 0 02 Aug 2018
Safe Model-based Reinforcement Learning with Stability Guarantees Felix Berkenkamp M. Turchetta Angela P. Schoellig Andreas Krause 126 845 0 23 May 2017
A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems J. F. Fisac Anayo K. Akametalu Melanie Zeilinger Shahab Kaynama J. Gillula Claire Tomlin 44 494 0 03 May 2017
Goal-Driven Dynamics Learning via Bayesian Optimization Somil Bansal Roberto Calandra Ted Xiao Sergey Levine Claire Tomlin 40 113 0 27 Mar 2017
End-to-End Training of Deep Visuomotor Policies Sergey Levine Chelsea Finn Trevor Darrell Pieter Abbeel BDL 222 3,418 0 02 Apr 2015
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs Kevin S. Galloway Koushil Sreenath Aaron D. Ames J. Grizzle 52 165 0 28 Feb 2013