相关论文: A Satisficing Control Design Framework with Safety…

Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…

In this work, we study verification and synthesis problems for safety specifications over unknown discrete-time stochastic systems. When a model of the system is available, barrier certificates have been successfully applied for ensuring…

Providing finite-time probabilistic safety and reach-avoid guarantees is crucial for safety-critical stochastic systems. Existing state-of-the-art barrier methods often rely on a restrictive boundedness assumption for auxiliary functions,…

We propose a data-driven method to establish probabilistic performance guarantees for parametric optimization problems solved via iterative algorithms. Our approach addresses two key challenges: providing convergence guarantees to…

This paper addresses the problem of model-free reinforcement learning for Robust Markov Decision Process (RMDP) with large state spaces. The goal of the RMDP framework is to find a policy that is robust against the parameter uncertainties…

Providing safety guarantees for stochastic dynamical systems is a central problem in various fields, including control theory, machine learning, and robotics. Existing methods either employ Stochastic Barrier Functions (SBFs) or rely on…

This paper addresses the challenge of synthesizing safety-critical controllers for high-order nonlinear systems, where constructing valid Control Barrier Functions (CBFs) remains computationally intractable. Leveraging layered control, we…

The safety of training task policies and their subsequent application using reinforcement learning (RL) methods has become a focal point in the field of safe RL. A central challenge in this area remains the establishment of theoretical…

We propose a computationally efficient approach to safe reinforcement learning (RL) for frequency regulation in power systems with high levels of variable renewable energy resources. The approach draws on set-theoretic control techniques to…

This work addresses the critical challenge of guaranteeing safety for complex dynamical systems where precise mathematical models are uncertain and data measurements are corrupted by noise. We develop a physics-informed, direct data-driven…

Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…

We investigate the problem of synthesizing distributionally robust control policies for stochastic systems under safety and reach-avoid specifications. Using a game-theoretical framework, we consider the setting where the probability…

We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…

This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk-informed safe…

In safety-critical domains, reinforcement learning (RL) agents must often satisfy strict, zero-cost safety constraints while accomplishing tasks. Existing model-free methods frequently either fail to achieve near-zero safety violations or…

In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that…

End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…

Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods,…

The uncertainties in plant dynamics remain a challenge for nonlinear control problems. This paper develops a ternary policy iteration (TPI) algorithm for solving nonlinear robust control problems with bounded uncertainties. The controller…

Toward scalable quantum computing, the control of quantum systems needs to be robust against both coherent errors induced by parametric uncertainties and incoherent errors induced by environmental decoherence. This poses significant…