Safe control with learned certificates: A survey of neural lyapunov, barrier, and contraction methods for robotics and control
Learning-enabled control systems have demonstrated impressive empirical performance on
challenging control problems in robotics, but this performance comes at the cost of reduced …
challenging control problems in robotics, but this performance comes at the cost of reduced …
Safe control with learned certificates: A survey of neural lyapunov, barrier, and contraction methods
Learning-enabled control systems have demonstrated impressive empirical performance on
challenging control problems in robotics, but this performance comes at the cost of reduced …
challenging control problems in robotics, but this performance comes at the cost of reduced …
Learning stability certificates from data
Many existing tools in nonlinear control theory for establishing stability or safety of a
dynamical system can be distilled to the construction of a certificate function which …
dynamical system can be distilled to the construction of a certificate function which …
A general safety framework for learning-based control in uncertain robotic systems
JF Fisac, AK Akametalu, MN Zeilinger… - … on Automatic Control, 2018 - ieeexplore.ieee.org
The proven efficacy of learning-based control schemes strongly motivates their application
to robotic systems operating in the physical world. However, guaranteeing correct operation …
to robotic systems operating in the physical world. However, guaranteeing correct operation …
Learning control lyapunov functions from counterexamples and demonstrations
H Ravanbakhsh, S Sankaranarayanan - Autonomous Robots, 2019 - Springer
We present a technique for learning control Lyapunov-like functions, which are used in turn
to synthesize controllers for nonlinear dynamical systems that can stabilize the system, or …
to synthesize controllers for nonlinear dynamical systems that can stabilize the system, or …
Neural lyapunov control
We propose new methods for learning control policies and neural network Lyapunov
functions for nonlinear control problems, with provable guarantee of stability. The framework …
functions for nonlinear control problems, with provable guarantee of stability. The framework …
Safe learning in robotics: From learning-based control to safe reinforcement learning
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 …
methods for real-world robotic deployments from both the control and reinforcement learning …
From self-tuning regulators to reinforcement learning and back again
Machine and reinforcement learning (RL) are increasingly being applied to plan and control
the behavior of autonomous systems interacting with the physical world. Examples include …
the behavior of autonomous systems interacting with the physical world. Examples include …
Stabilizing neural control using self-learned almost lyapunov critics
The lack of stability guarantee restricts the practical use of learning-based methods in core
control problems in robotics. We develop new methods for learning neural control policies …
control problems in robotics. We develop new methods for learning neural control policies …
Learning certified control using contraction metric
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 …
any given initial state and under any bounded disturbance to the desired reference …