相关论文: Safe Pontryagin Differentiable Programming

Differential privacy (DP) techniques can be applied to the federated learning model to statistically guarantee data privacy against inference attacks to communication among the learning agents. While ensuring strong data privacy, however,…

We propose integrating an approximation of a predictive control barrier function (PCBF) in a safety filter framework, resulting in a prediction horizon independent formulation. The PCBF is defined through the value function of an optimal…

Safety assurance is uncompromisable for safety-critical environments with the presence of drastic model uncertainties (e.g., distributional shift), especially with humans in the loop. However, incorporating uncertainty in safe learning will…

This paper targets the efficient construction of a safety shield for decision making in scenarios that incorporate uncertainty. Markov decision processes (MDPs) are prominent models to capture such planning problems. Reinforcement learning…

We address the problem of safely learning controlled stochastic dynamics from discrete-time trajectory observations, ensuring system trajectories remain within predefined safe regions during both training and deployment. Safety-critical…

High-level penetration of intermittent renewable energy sources (RESs) has introduced significant uncertainties into modern power systems. In order to rapidly and economically respond to the fluctuations of power system operating state,…

Safety filtering is an effective method for enforcing constraints in safety-critical systems, but existing methods typically assume perfect state information. This limitation is especially problematic for systems that rely on neural network…

Differential Dynamic Programming (DDP) is an efficient computational tool for solving nonlinear optimal control problems. It was originally designed as a single shooting method and thus is sensitive to the initial guess supplied. This work…

Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…

Safe reinforcement learning tasks are a challenging domain despite being very common in the real world. The widely adopted CMDP model constrains the risks in expectation, which makes room for dangerous behaviors in long-tail states. In…

Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…

Primal-dual methods have a natural application in Safe Reinforcement Learning (SRL), posed as a constrained policy optimization problem. In practice however, applying primal-dual methods to SRL is challenging, due to the inter-dependency of…

Optimization algorithms are pivotal in advancing various scientific and industrial fields but often encounter obstacles such as trapping in local minima, saddle points, and plateaus (flat regions), which makes the convergence to reasonable…

The rise of computer vision applications in the real world puts the security of the deep neural networks at risk. Recent works demonstrate that convolutional neural networks are susceptible to adversarial examples - where the input images…

To design effective digital interventions, experimenters face the challenge of learning decision policies that balance multiple objectives using offline data. Often, they aim to develop policies that maximize goal outcomes, while ensuring…

Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge. While Dynamic Movement Primitives…

In this draft article, we consider the problem of achieving safe control of a dynamic system for which the safety index or (control barrier function (loosely)) has relative degree equal to two. We consider parameter affine nonlinear dynamic…

Safe and economic operation of networked systems is often challenging. Optimization-based schemes are frequently considered, since they achieve near-optimality while ensuring safety via the explicit consideration of constraints. In…

Safety and robustness are two desired properties for any reinforcement learning algorithm. CMDPs can handle additional safety constraints and RMDPs can perform well under model uncertainties. In this paper, we propose to unite these two…

Semidefinite programming (SDP) is a powerful framework from convex optimization that has striking potential for data science applications. This paper develops a provably correct randomized algorithm for solving large, weakly constrained SDP…