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Provably Correct Training of Neural Network Controllers Using Reachability Analysis

22 February 2021

Papers citing "Provably Correct Training of Neural Network Controllers Using Reachability Analysis"

32 / 32 papers shown

Title
Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning Kai Hsu Vicencc Rubies-Royo Claire Tomlin J. F. Fisac 72 68 0 23 Dec 2021
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers James Ferlez Mahmoud M. Elnaggar Yasser Shoukry C. Fleming AAML 95 33 0 16 Jun 2020
Training robust neural networks using Lipschitz bounds Patricia Pauli Anne Koch J. Berberich Paul Kohler Frank Allgöwer 81 161 0 06 May 2020
Two-Level Lattice Neural Network Architectures for Control of Nonlinear Systems James Ferlez Xiaowu Sun Yasser Shoukry 31 7 0 20 Apr 2020
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties Richard Cheng M. J. Khojasteh Aaron D. Ames J. W. Burdick 68 88 0 11 Apr 2020
Learning Control Barrier Functions from Expert Demonstrations Alexander Robey Haimin Hu Lars Lindemann Hanwen Zhang Dimos V. Dimarogonas Stephen Tu Nikolai Matni 108 208 0 07 Apr 2020
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach Mohit Srinivasan A. Dabholkar Samuel Coogan Patricio Vela 87 128 0 10 Mar 2020
Safe Reinforcement Learning for Autonomous Vehicles through Parallel Constrained Policy Optimization Lu Wen Jingliang Duan Shengbo Eben Li Shaobing Xu H. Peng 55 68 0 03 Mar 2020
Adaptive Control Barrier Functions for Safety-Critical Systems Filippo Ascolani C. Belta Christos G. Cassandras 74 12 0 11 Feb 2020
Robust Regression for Safe Exploration in Control Anqi Liu Guanya Shi Soon-Jo Chung Anima Anandkumar Yisong Yue 76 60 0 13 Jun 2019
Efficient and Accurate Estimation of Lipschitz Constants for Deep Neural Networks Mahyar Fazlyab Alexander Robey Hamed Hassani M. Morari George J. Pappas 109 461 0 12 Jun 2019
Temporal Logic Guided Safe Reinforcement Learning Using Control Barrier Functions Xiao Li C. Belta 30 41 0 23 Mar 2019
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks Richard Cheng G. Orosz R. Murray J. W. Burdick 85 624 0 21 Mar 2019
Algorithms for Verifying Deep Neural Networks Changliu Liu Tomer Arnon Christopher Lazarus Christopher A. Strong Clark W. Barrett Mykel J. Kochenderfer AAML 98 403 0 15 Mar 2019
Lyapunov-based Safe Policy Optimization for Continuous Control Yinlam Chow Ofir Nachum Aleksandra Faust Edgar A. Duénez-Guzmán Mohammad Ghavamzadeh 84 247 0 28 Jan 2019
A predictive safety filter for learning-based control of constrained nonlinear dynamical systems K. P. Wabersich Melanie Zeilinger AI4CE 94 159 0 13 Dec 2018
Neural Lander: Stable Drone Landing Control using Learned Dynamics Guanya Shi Xichen Shi Michael O'Connell Rose Yu Kamyar Azizzadenesheli Anima Anandkumar Yisong Yue Soon-Jo Chung 108 276 0 19 Nov 2018
Formal Verification of Neural Network Controlled Autonomous Systems Xiaowu Sun Haitham Khedr Yasser Shoukry 82 139 0 31 Oct 2018
A Lyapunov-based Approach to Safe Reinforcement Learning Yinlam Chow Ofir Nachum Edgar A. Duénez-Guzmán Mohammad Ghavamzadeh 165 508 0 20 May 2018
Linear model predictive safety certification for learning-based control K. P. Wabersich Melanie Zeilinger 41 169 0 22 Mar 2018
Learning-based Model Predictive Control for Safe Exploration Torsten Koller Felix Berkenkamp M. Turchetta Andreas Krause 62 382 0 22 Mar 2018
Scalable synthesis of safety certificates from data with application to learning-based control K. P. Wabersich Melanie Zeilinger 48 32 0 30 Nov 2017
Safe Learning of Quadrotor Dynamics Using Barrier Certificates Li Wang Evangelos A. Theodorou M. Egerstedt 50 192 0 16 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 553 19,296 0 20 Jul 2017
Trial without Error: Towards Safe Reinforcement Learning via Human Intervention William Saunders Girish Sastry Andreas Stuhlmuller Owain Evans OffRL 70 231 0 17 Jul 2017
Constrained Policy Optimization Joshua Achiam David Held Aviv Tamar Pieter Abbeel 132 1,335 0 30 May 2017
Safe Model-based Reinforcement Learning with Stability Guarantees Felix Berkenkamp M. Turchetta Angela P. Schoellig Andreas Krause 191 853 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 65 498 0 03 May 2017
Safe Exploration in Finite Markov Decision Processes with Gaussian Processes M. Turchetta Felix Berkenkamp Andreas Krause 89 189 0 15 Jun 2016
Bayesian Optimization with Safety Constraints: Safe and Automatic Parameter Tuning in Robotics Felix Berkenkamp Andreas Krause Angela P. Schoellig 150 285 0 14 Feb 2016
On the number of response regions of deep feed forward networks with piece-wise linear activations Razvan Pascanu Guido Montúfar Yoshua Bengio FAtt 124 257 0 20 Dec 2013
Safe Exploration in Markov Decision Processes T. Moldovan Pieter Abbeel 157 311 0 22 May 2012