相关论文: Safe Pontryagin Differentiable Programming

Certified safe control is a growing challenge in robotics, especially when performance and safety objectives must be concurrently achieved. In this work, we extend the barrier state (BaS) concept, recently proposed for safe stabilization of…

In a large-scale distributed machine learning system, coded computing has attracted wide-spread attention since it can effectively alleviate the impact of stragglers. However, several emerging problems greatly limit the performance of coded…

We incorporate safety specifications into dynamic programming. Explicitly, we address the minimization problem of a Markov decision process up to a stopping time with safety constraints. To incorporate safety into dynamic programming, we…

Safe reinforcement learning addresses constrained optimization problems where maximizing performance must be balanced against safety constraints, and Lagrangian methods are a widely used approach for this purpose. However, the effectiveness…

We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…

In real-life scenarios, a Reinforcement Learning (RL) agent aiming to maximise their reward, must often also behave in a safe manner, including at training time. Thus, much attention in recent years has been given to Safe RL, where an agent…

Shielding is a common method used to guarantee the safety of a system under a black-box controller, such as a neural network controller from deep reinforcement learning (DRL), with simpler, verified controllers. Existing shielding methods…

Security-Constrained Optimal Power Flow (SCOPF) plays a crucial role in power grid stability but becomes increasingly complex as systems grow. This paper introduces PDL-SCOPF, a self-supervised end-to-end primal-dual learning framework for…

This paper addresses the problem of safe optimization under a single smooth constraint, a scenario that arises in diverse real-world applications such as robotics and autonomous navigation. The objective of safe optimization is to solve a…

To plan safely in uncertain environments, agents must balance utility with safety constraints. Safe planning problems can be modeled as a chance-constrained partially observable Markov decision process (CC-POMDP) and solutions often use…

We present a methodology to deploy the stochastic policy gradient method, using actor-critic techniques, when the optimal policy is approximated using a parametric optimization problem, allowing one to enforce safety via hard constraints.…

Most machine learning and deep neural network algorithms rely on certain iterative algorithms to optimise their utility/cost functions, e.g. Stochastic Gradient Descent. In distributed learning, the networked nodes have to work…

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,…

Optimizing noisy functions online, when evaluating the objective requires experiments on a deployed system, is a crucial task arising in manufacturing, robotics and many others. Often, constraints on safe inputs are unknown ahead of time,…

Safety remains a central challenge in control of dynamical systems, particularly when the boundaries of unsafe sets are complex (e.g., nonconvex, nonsmooth) or unknown. This paper proposes a learning-enabled framework for safety-critical…

Partially observable Markov decision processes (POMDPs) provide a modeling framework for a variety of sequential decision making under uncertainty scenarios in artificial intelligence (AI). Since the states are not directly observable in a…

In this paper, we investigate the combination of synthesis, model-based learning, and online sampling techniques to obtain safe and near-optimal schedulers for a preemptible task scheduling problem. Our algorithms can handle Markov decision…

Bayesian approaches developed to solve the optimal design of sequential experiments are mathematically elegant but computationally challenging. Recently, techniques using amortization have been proposed to make these Bayesian approaches…

Planning robust executions under uncertainty is a fundamental challenge for building autonomous robots. Partially Observable Markov Decision Processes (POMDPs) provide a standard framework for modeling uncertainty in many applications. In…

Deep reinforcement learning (DRL) has demonstrated remarkable performance in many continuous control tasks. However, a significant obstacle to the real-world application of DRL is the lack of safety guarantees. Although DRL agents can…