BarrierNet: A Safety-Guaranteed Layer for Neural Networks

22 November 2021

Wei Xiao

Ramin Hasani

Xiao Li

Daniela Rus

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Papers citing "BarrierNet: A Safety-Guaranteed Layer for Neural Networks"

27 / 27 papers shown

Title
Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions Matthew Kim William Sharpless Hyun Joe Jeong S. Tonkens Somil Bansal Sylvia Herbert 45 0 0 16 May 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 74 0 0 08 Mar 2025
GoTube: Scalable Stochastic Verification of Continuous-Depth Models Sophie Gruenbacher Mathias Lechner Ramin Hasani Daniela Rus T. Henzinger S. Smolka Radu Grosu 36 17 0 18 Jul 2021
Comparison between safety methods control barrier function vs. reachability analysis Zhichao Li 19 29 0 24 Jun 2021
Causal Navigation by Continuous-time Neural Networks Charles J. Vorbach Ramin Hasani Alexander Amini Mathias Lechner Daniela Rus 34 47 0 15 Jun 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 41 24 0 04 May 2021
Event-Triggered Safety-Critical Control for Systems with Unknown Dynamics Wei Xiao C. Belta Christos G. Cassandras 17 12 0 29 Mar 2021
Adversarial Training is Not Ready for Robot Learning Mathias Lechner Ramin Hasani Radu Grosu Daniela Rus T. Henzinger AAML 50 34 0 15 Mar 2021
On The Verification of Neural ODEs with Stochastic Guarantees Sophie Gruenbacher Ramin Hasani Mathias Lechner J. Cyranka S. Smolka Radu Grosu 81 31 0 16 Dec 2020
Lagrangian Reachtubes: The Next Generation Sophie Gruenbacher J. Cyranka Mathias Lechner Md. Ariful Islam S. Smolka Radu Grosu 28 13 0 14 Dec 2020
Learning Safe Neural Network Controllers with Barrier Certificates Hengjun Zhao Xia Zeng Taolue Chen Zhiming Liu Jim Woodcock 75 41 0 18 Sep 2020
Safe Optimal Control Using Stochastic Barrier Functions and Deep Forward-Backward SDEs M. Pereira Ziyi Wang Ioannis Exarchos Evangelos A. Theodorou 20 37 0 02 Sep 2020
Bridging the Gap between Optimal Trajectory Planning and Safety-Critical Control with Applications to Autonomous Vehicles Wei Xiao Christos G. Cassandras C. Belta 14 78 0 17 Aug 2020
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers James Ferlez Mahmoud M. Elnaggar Yasser Shoukry C. Fleming AAML 69 33 0 16 Jun 2020
Neural Certificates for Safe Control Policies Wanxin Jin Zhaoran Wang Zhuoran Yang Shaoshuai Mou 38 82 0 15 Jun 2020
Liquid Time-constant Networks Ramin Hasani Mathias Lechner Alexander Amini Daniela Rus Radu Grosu AI4TS AI4CE 33 220 0 08 Jun 2020
Learning Long-Term Dependencies in Irregularly-Sampled Time Series Mathias Lechner Ramin Hasani AI4TS 34 127 0 08 Jun 2020
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions Jason J. Choi F. Castañeda Claire Tomlin Koushil Sreenath 26 181 0 16 Apr 2020
Learning Control Barrier Functions from Expert Demonstrations Alexander Robey Haimin Hu Lars Lindemann Hanwen Zhang Dimos V. Dimarogonas Stephen Tu Nikolai Matni 66 206 0 07 Apr 2020
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach Mohit Srinivasan A. Dabholkar Samuel Coogan Patricio Vela 48 127 0 10 Mar 2020
Training Neural Network Controllers Using Control Barrier Functions in the Presence of Disturbances Shakiba Yaghoubi Georgios Fainekos S. Sankaranarayanan 47 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 78 241 0 20 Dec 2019
Neural Ordinary Differential Equations T. Chen Yulia Rubanova J. Bettencourt David Duvenaud AI4CE 218 5,024 0 19 Jun 2018
Safe Learning of Quadrotor Dynamics Using Barrier Certificates Li Wang Evangelos A. Theodorou M. Egerstedt 25 192 0 16 Oct 2017
Attention Is All You Need Ashish Vaswani Noam M. Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan Gomez Lukasz Kaiser Illia Polosukhin 3DV 360 129,831 0 12 Jun 2017
OptNet: Differentiable Optimization as a Layer in Neural Networks Brandon Amos J. Zico Kolter 130 952 0 01 Mar 2017
Deep Residual Learning for Image Recognition Kaiming He Xinming Zhang Shaoqing Ren Jian Sun MedIm 1.2K 192,638 0 10 Dec 2015