Learning Safe, Generalizable Perception-based Hybrid Control with
Certificates

Learning Safe, Generalizable Perception-based Hybrid Control with Certificates

4 January 2022

Bethany Lowenkamp

Chuchu Fan

Papers citing "Learning Safe, Generalizable Perception-based Hybrid Control with Certificates"

19 / 19 papers shown

Title
Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis Zeyuan Feng Le Qiu Somil Bansal 35 0 0 04 May 2025
RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation Satyajeet Das Yifan Xue Haoming Li Nadia Figueroa 35 0 0 04 May 2025
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions Nazar Misyats Marvin Harms Morten Nissov Martin Jacquet Kostas Alexis 39 0 0 22 Apr 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 64 0 0 08 Mar 2025
Logically Constrained Robotics Transformers for Enhanced Perception-Action Planning Parv Kapoor Sai H. Vemprala Ashish Kapoor 42 1 0 09 Aug 2024
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments Kehan Long Yinzhuang Yi Zhirui Dai Sylvia Herbert Jorge Cortés Nikolay Atanasov 143 4 0 28 May 2024
Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller Mingxin Yu Chenning Yu M.-Mahdi Naddaf-Sh Devesh Upadhyay Sicun Gao Chuchu Fan 45 4 0 01 Apr 2024
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception Anushri Dixit Zhiting Mei Meghan Booker Mariko Storey-Matsutani Mariko Storey-Matsutani Allen Z. Ren Ola Shorinwa Anirudha Majumdar 36 5 0 13 Mar 2024
N-MPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images Martin Jacquet Kostas Alexis 40 10 0 20 Feb 2024
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control Songyuan Zhang Oswin So Kunal Garg Chuchu Fan AI4CE 51 22 0 25 Jan 2024
State-Wise Safe Reinforcement Learning With Pixel Observations S. Zhan Yixuan Wang Qingyuan Wu Ruochen Jiao Chao Huang Qi Zhu 48 10 0 03 Nov 2023
Closed-loop Analysis of Vision-based Autonomous Systems: A Case Study C. Păsăreanu Ravi Mangal D. Gopinath Sinem Getir Yaman Calum Imrie R. Calinescu Huafeng Yu 32 29 0 06 Feb 2023
Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning Andrea Tagliabue Jonathan P. How 26 5 0 18 Oct 2022
Barrier functions enable safety-conscious force-feedback control Charles Dawson A. Garrett Falk Pollok Yang Zhang Chuchu Fan 32 2 0 25 Sep 2022
Enforcing safety for vision-based controllers via Control Barrier Functions and Neural Radiance Fields Mukun Tong Charles Dawson Chuchu Fan 53 29 0 25 Sep 2022
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory Glen Chou N. Ozay Dmitry Berenson 21 22 0 14 Jun 2022
Refining Control Barrier Functions through Hamilton-Jacobi Reachability S. Tonkens Sylvia Herbert 34 38 0 26 Apr 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 41 232 0 23 Feb 2022
Overcoming Exploration: Deep Reinforcement Learning for Continuous Control in Cluttered Environments from Temporal Logic Specifications Mingyu Cai Erfan Aasi C. Belta C. Vasile 32 24 0 28 Jan 2022