Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations

18 November 2021

Stephen Tu

Papers citing "Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations"

30 / 30 papers shown

Title
Formal Verification and Control with Conformal Prediction Lars Lindemann Yiqi Zhao Xinyi Yu George J. Pappas Jyotirmoy Deshmukh 657 17 0 31 Aug 2024
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory Glen Chou N. Ozay Dmitry Berenson 53 22 0 14 Jun 2022
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson Zengyi Qin Sicun Gao Chuchu Fan 143 175 0 14 Sep 2021
Safe Value Functions P. Massiani Steve Heim Friedrich Solowjow Sebastian Trimpe 43 15 0 25 May 2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety Noel Csomay-Shanklin Ryan K. Cosner Min Dai Andrew J. Taylor Aaron D. Ames 44 24 0 04 May 2021
Data-Driven Robust Barrier Functions for Safe, Long-Term Operation Y. Emam Paul Glotfelter S. Wilson Gennaro Notomista M. Egerstedt 32 25 0 15 Apr 2021
Learning Robust Hybrid Control Barrier Functions for Uncertain Systems Alexander Robey Lars Lindemann Stephen Tu Nikolai Matni 51 39 0 16 Jan 2021
Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates Zengyi Qin Kai Zhang Yuxiao Chen Jingkai Chen Chuchu Fan 48 133 0 14 Jan 2021
Learning Certified Control using Contraction Metric Dawei Sun Susmit Jha Chuchu Fan 47 75 0 25 Nov 2020
Learning Hybrid Control Barrier Functions from Data Lars Lindemann Haimin Hu Alexander Robey Hanwen Zhang Dimos V. Dimarogonas Stephen Tu Nikolai Matni 70 51 0 08 Nov 2020
Learning Barrier Functions with Memory for Robust Safe Navigation Kehan Long Cheng Qian Jorge Cortés Nikolay Atanasov 59 56 0 03 Nov 2020
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions Sarah Dean Andrew J. Taylor Ryan K. Cosner Benjamin Recht Aaron D. Ames 65 86 0 30 Oct 2020
Learning Safe Neural Network Controllers with Barrier Certificates Hengjun Zhao Xia Zeng Taolue Chen Zhiming Liu Jim Woodcock 82 42 0 18 Sep 2020
Learning Stability Certificates from Data Nicholas M. Boffi Stephen Tu Nikolai Matni Jean-Jacques E. Slotine Vikas Sindhwani 46 96 0 13 Aug 2020
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers James Ferlez Mahmoud M. Elnaggar Yasser Shoukry C. Fleming AAML 84 33 0 16 Jun 2020
Neural Certificates for Safe Control Policies Wanxin Jin Zhaoran Wang Zhuoran Yang Shaoshuai Mou 63 83 0 15 Jun 2020
Probably Approximately Correct Constrained Learning Luiz F. O. Chamon Alejandro Ribeiro 39 41 0 09 Jun 2020
Neural Lyapunov Control Ya-Chien Chang Nima Roohi Sicun Gao 63 305 0 01 May 2020
Learning Control Barrier Functions from Expert Demonstrations Alexander Robey Haimin Hu Lars Lindemann Hanwen Zhang Dimos V. Dimarogonas Stephen Tu Nikolai Matni 80 207 0 07 Apr 2020
Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems Matteo Saveriano Dongheui Lee 52 65 0 25 Mar 2020
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach Mohit Srinivasan A. Dabholkar Samuel Coogan Patricio Vela 81 128 0 10 Mar 2020
Training Neural Network Controllers Using Control Barrier Functions in the Presence of Disturbances Shakiba Yaghoubi Georgios Fainekos S. Sankaranarayanan 60 42 0 18 Jan 2020
Learning for Safety-Critical Control with Control Barrier Functions Andrew J. Taylor Andrew W. Singletary Yisong Yue Aaron D. Ames 87 242 0 20 Dec 2019
Robust Guarantees for Perception-Based Control Sarah Dean Nikolai Matni Benjamin Recht Vickie Ye 69 80 0 08 Jul 2019
Efficient and Accurate Estimation of Lipschitz Constants for Deep Neural Networks Mahyar Fazlyab Alexander Robey Hamed Hassani M. Morari George J. Pappas 87 456 0 12 Jun 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 68 617 0 21 Mar 2019
Control Barrier Functions for Systems with High Relative Degree Wei Xiao C. Belta 51 282 0 12 Mar 2019
Lipschitz regularity of deep neural networks: analysis and efficient estimation Kevin Scaman Aladin Virmaux 77 529 0 28 May 2018
CARLA: An Open Urban Driving Simulator Alexey Dosovitskiy G. Ros Felipe Codevilla Antonio M. López V. Koltun VLM 133 5,146 0 10 Nov 2017
Safe Learning of Quadrotor Dynamics Using Barrier Certificates Li Wang Evangelos A. Theodorou M. Egerstedt 37 192 0 16 Oct 2017