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As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectives, which makes their co-optimization difficult.…

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…

The problem of safely learning and controlling a dynamical system - i.e., of stabilizing an originally (partially) unknown system while ensuring that it does not leave a prescribed 'safe set' - has recently received tremendous attention in…

Merely pursuing performance may adversely affect the safety, while a conservative policy for safe exploration will degrade the performance. How to balance the safety and performance in learning-based control problems is an interesting yet…

Ensuring safety via safety filters in real-world robotics presents significant challenges, particularly when the system dynamics is complex or unavailable. To handle this issue, learning-based safety filters recently gained popularity,…

The difficulty of identifying the physical model of complex systems has led to exploring methods that do not rely on such complex modeling of the systems. Deep reinforcement learning has been the pioneer for solving this problem without the…

The proven efficacy of learning-based control schemes strongly motivates their application to robotic systems operating in the physical world. However, guaranteeing correct operation during the learning process is currently an unresolved…

This paper presents a safety-critical reinforcement learning framework for nonlinear dynamical systems with continuous state and input spaces operating under explicit physical constraints. Hard safety constraints are enforced independently…

Learning-based control approaches have shown great promise in performing complex tasks directly from high-dimensional perception data for real robotic systems. Nonetheless, the learned controllers can behave unexpectedly if the trajectories…

Safe control techniques, such as Hamilton-Jacobi reachability, provide principled methods for synthesizing safety-preserving robot policies but typically assume hand-designed state spaces and full observability. Recent work has relaxed…

In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…

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…

Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…

Control barrier functions (CBFs) have become a popular tool to enforce safety of a control system. CBFs are commonly utilized in a quadratic program formulation (CBF-QP) as safety-critical constraints. A class $\mathcal{K}$ function in CBFs…

Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…

Safety is an essential component for deploying reinforcement learning (RL) algorithms in real-world scenarios, and is critical during the learning process itself. A natural first approach toward safe RL is to manually specify constraints on…

Recent learning-based safety filters have outperformed conventional methods, such as hand-crafted Control Barrier Functions (CBFs), by effectively adapting to complex constraints. However, these learning-based approaches lack formal safety…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

Reinforcement learning (RL) controllers are flexible and performant but rarely guarantee safety. Safety filters impart hard safety guarantees to RL controllers while maintaining flexibility. However, safety filters can cause undesired…

This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs…