相关论文: Safety-Aware Preference-Based Learning for Safety-…

This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree…

Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic environments remains a…

This letter presents contact-safe Model-based Reinforcement Learning (MBRL) for robot applications that achieves contact-safe behaviors in the learning process. In typical MBRL, we cannot expect the data-driven model to generate accurate…

Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time,…

Preference-based reinforcement learning (PbRL) is a suitable approach for style adaptation of pre-trained robotic behavior: adapting the robot's policy to follow human user preferences while still being able to perform the original task.…

Optimal control methods provide solutions to safety-critical problems but easily become intractable. Control Barrier Functions (CBFs) have emerged as a popular technique that facilitates their solution by provably guaranteeing safety,…

Control Barrier Functions (CBFs) have become a popular tool for enforcing set invariance in safety-critical control systems. While guaranteeing safety, most CBF approaches are myopic in the sense that they solve an optimization problem at…

Safety and stability are two critical concerns in pursuit-evasion (PE) problems in an obstacle-rich environment. Most existing works combine control barrier functions (CBFs) and reinforcement learning (RL) to provide an efficient and safe…

Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack of guarantees on the safety or…

Offline Preference-based Reinforcement Learning (PbRL) learns rewards and policies aligned with human preferences without the need for extensive reward engineering and direct interaction with human annotators. However, ensuring safety…

Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have received increasing attention in both optimization-based and…

This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…

Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…

This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…

Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often…

Safety filters constructed from control barrier functions (CBFs) are commonly appended to pre-trained neural network controllers to enforce safety requirements. However, this decoupled design with hand-tuned, fixed CBF parameters often…

Reinforcement learning (RL) agents need to explore their environment to learn optimal behaviors and achieve maximum rewards. However, exploration can be risky when training RL directly on real systems, while simulation-based training…

This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

In the field of control engineering, the connection between Signal Temporal Logic (STL) and time-varying Control Barrier Functions (CBF) has attracted considerable attention. CBFs have demonstrated notable success in ensuring the safety of…