相关论文: Safe Control with Learned Certificates: A Survey o…

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…

Learning-based methods provide a promising approach to solving highly non-linear control tasks that are often challenging for classical control methods. To ensure the satisfaction of a safety property, learning-based methods jointly learn a…

Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…

This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…

Stability certificates play a critical role in ensuring the safety and reliability of robotic systems. However, deriving these certificates for complex, unknown systems has traditionally required explicit knowledge of system dynamics, often…

This paper develops an approach to learn a policy of a dynamical system that is guaranteed to be both provably safe and goal-reaching. Here, the safety means that a policy must not drive the state of the system to any unsafe region, while…

Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…

Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…

This tutorial paper focuses on safe physics-informed machine learning in the context of dynamics and control, providing a comprehensive overview of how to integrate physical models and safety guarantees. As machine learning techniques…

Learning algorithms have shown considerable prowess in simulation by allowing robots to adapt to uncertain environments and improve their performance. However, such algorithms are rarely used in practice on safety-critical systems, since…

To provide safety guarantees for learning-based control systems, recent work has developed formal verification methods to apply after training ends. However, if the trained policy does not meet the specifications, or there is conservatism…

Reinforcement learning is a powerful technique for developing new robot behaviors. However, typical lack of safety guarantees constitutes a hurdle for its practical application on real robots. To address this issue, safe reinforcement…

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…

Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize constraint-based safety certificates, which can be leveraged to…

Learning-based methods could provide solutions to many of the long-standing challenges in control. However, the neural networks (NNs) commonly used in modern learning approaches present substantial challenges for analyzing the resulting…

Safety is the major consideration in controlling complex dynamical systems using reinforcement learning (RL), where the safety certificate can provide provable safety guarantee. A valid safety certificate is an energy function indicating…

In this discussion paper, we survey recent research surrounding robustness of machine learning models. As learning algorithms become increasingly more popular in data-driven control systems, their robustness to data uncertainty must be…

In this survey, we review the recent advances in control design methods for robotic multi-agent systems (MAS), focussing on learning-based methods with safety considerations. We start by reviewing various notions of safety and liveness…